+ python -m lidar_slam --no-model /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 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: True 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 0.003133365 Adjusted end_distance from 9.223372036854776e+18 to 372.893133365 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003133365 meters Centerline goodness : 0.092552 Centerline is valid? [0, False] SLAMing on 0.033133365 meters Centerline goodness : 0.092552 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 1.00000000e+00 6.33290480e-17 1.25202710e-16 -6.50595029e-14] [-4.79098693e-18 1.00000000e+00 -4.46225627e-17 -1.17195750e-14] [ 1.75077298e-16 7.05648596e-17 1.00000000e+00 5.13367018e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.063133365 meters Centerline goodness : 0.128098 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999813e-01 -4.57623330e-05 -6.09156434e-04 4.53853621e-03] [ 4.57964113e-05 9.99999997e-01 5.59296088e-05 -3.62314090e-04] [ 6.09153873e-04 -5.59574955e-05 9.99999813e-01 -1.51949993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.093133365 meters Centerline goodness : 0.130542 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99998055e-01 -3.57237216e-04 -1.93948612e-03 2.09081112e-02] [ 3.57236647e-04 9.99999936e-01 -6.39757623e-07 -1.50991842e-03] [ 1.93948623e-03 -5.30991397e-08 9.99998119e-01 -1.10293877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123133365 meters Centerline goodness : 0.138317 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99996683e-01 -3.10469242e-04 -2.55701448e-03 2.57026538e-02] [ 3.11143649e-04 9.99999917e-01 2.63354090e-04 -3.25874562e-03] [ 2.55693251e-03 -2.64148815e-04 9.99996696e-01 -1.29714511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.153133365 meters Centerline goodness : 0.148659 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99994330e-01 -6.97971678e-04 -3.29426918e-03 3.25737767e-02] [ 6.98041173e-04 9.99999756e-01 1.99459371e-05 -3.52955257e-03] [ 3.29425446e-03 -2.22453596e-05 9.99994574e-01 -1.63269893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183133365 meters Centerline goodness : 0.167383 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 9.99988910e-01 -8.31675337e-04 -4.63550552e-03 4.75660093e-02] [ 8.33181991e-04 9.99999601e-01 3.23103060e-04 -7.78549056e-03] [ 4.63523495e-03 -3.26961697e-04 9.99989204e-01 -2.40942603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.213133365 meters Centerline goodness : 0.158560 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 9.99986044e-01 -6.85856092e-04 -5.23842717e-03 5.23653775e-02] [ 6.89577631e-04 9.99999511e-01 7.08657573e-04 -1.06136486e-02] [ 5.23793857e-03 -7.12259985e-04 9.99986028e-01 -2.60120842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243133365 meters Centerline goodness : 0.160832 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.03 [[ 9.99983345e-01 -5.81321072e-04 -5.74204502e-03 5.64891200e-02] [ 5.86583233e-04 9.99999410e-01 9.14784729e-04 -1.21794597e-02] [ 5.74150984e-03 -9.18137681e-04 9.99983096e-01 -2.78830516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.273133365 meters Centerline goodness : 0.152125 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.04 [[ 9.99975325e-01 1.91604571e-04 -7.02232767e-03 7.15106239e-02] [-1.81841092e-04 9.99999016e-01 1.39096004e-03 -1.32847789e-02] [ 7.02258727e-03 -1.38964877e-03 9.99974376e-01 -3.69166795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.303133365 meters Centerline goodness : 0.051988 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.04 [[ 9.99968827e-01 7.75575688e-04 -7.85765169e-03 8.07356519e-02] [-7.62050982e-04 9.99998223e-01 1.72406260e-03 -1.32833752e-02] [ 7.85897487e-03 -1.71802093e-03 9.99967642e-01 -4.30374082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33313336499999996 meters Centerline goodness : 0.158933 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.04 [[ 9.99964822e-01 7.61862535e-04 -8.35310244e-03 8.49810558e-02] [-7.49862433e-04 9.99998683e-01 1.43964197e-03 -1.15455921e-02] [ 8.35418825e-03 -1.43332765e-03 9.99964076e-01 -4.48041218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.363133365 meters Centerline goodness : 0.194353 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.05 [[ 0.99995347 0.00159263 -0.00951418 0.09860746] [-0.00157548 0.99999712 0.00180979 -0.01048162] [ 0.00951703 -0.00179471 0.9999531 -0.05115572] [ 0. 0. 0. 1. ]] SLAMing on 0.393133365 meters Centerline goodness : 0.052405 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.05 [[ 0.99994916 0.00137871 -0.00998871 0.10278182] [-0.00136407 0.99999799 0.00147154 -0.00839072] [ 0.00999072 -0.00145784 0.99994903 -0.05293183] [ 0. 0. 0. 1. ]] SLAMing on 0.423133365 meters Centerline goodness : 0.282508 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.06 [[ 0.99993739 0.00169129 -0.0110617 0.11631774] [-0.00167388 0.99999735 0.00158215 -0.00688965] [ 0.01106434 -0.00156353 0.99993757 -0.06020967] [ 0. 0. 0. 1. ]] SLAMing on 0.45313336499999995 meters Centerline goodness : 0.056608 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.06 [[ 0.99993238 0.00146858 -0.01153574 0.1204007 ] [-0.00145358 0.99999809 0.00130838 -0.00505373] [ 0.01153764 -0.00129153 0.99993261 -0.06215064] [ 0. 0. 0. 1. ]] SLAMing on 0.483133365 meters Centerline goodness : 0.052964 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.06 [[ 0.99992752 0.00127224 -0.01197197 0.12455828] [-0.00125944 0.99999863 0.00107627 -0.00354033] [ 0.01197332 -0.00106112 0.99992775 -0.06399441] [ 0. 0. 0. 1. ]] SLAMing on 0.5131333650000001 meters Centerline goodness : 0.323718 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.07 [[ 9.99921856e-01 1.13394660e-03 -1.24497200e-02 1.28417035e-01] [-1.12300331e-03 9.99998977e-01 8.85954780e-04 -2.22537662e-03] [ 1.24507119e-02 -8.71904472e-04 9.99922107e-01 -6.53523464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5431333650000001 meters Centerline goodness : 0.260943 Centerline is valid? [False, False] Translation: X:0.17, Y:0.00, Z:-0.07 [[ 9.99984606e-01 2.26642700e-03 -5.06462657e-03 1.66275567e-01] [-2.26179910e-03 9.99997020e-01 9.19310217e-04 4.51064826e-03] [ 5.06669502e-03 -9.07840898e-04 9.99986752e-01 -6.73995440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.573133365 meters Centerline goodness : 0.310286 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.07 [[ 9.99982834e-01 1.88779446e-03 -5.54694454e-03 1.70382492e-01] [-1.88669296e-03 9.99998199e-01 2.03803212e-04 9.47949798e-03] [ 5.54731929e-03 -1.93334333e-04 9.99984595e-01 -6.94378184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.603133365 meters Centerline goodness : 0.449231 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.07 [[ 9.99980132e-01 1.45459901e-03 -6.13346698e-03 1.75379310e-01] [-1.45843424e-03 9.99998744e-01 -6.20869524e-04 1.48181464e-02] [ 6.13255616e-03 6.29802447e-04 9.99980997e-01 -7.17688929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6331333650000001 meters Centerline goodness : 0.325228 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.08 [[ 9.99974438e-01 1.92991833e-03 -6.88474051e-03 1.88404339e-01] [-1.93609962e-03 9.99997729e-01 -8.91272351e-04 2.17145225e-02] [ 6.88300479e-03 9.04579111e-04 9.99975903e-01 -7.81762352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.663133365 meters Centerline goodness : 0.275870 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.08 [[ 0.9999728 0.00147854 -0.00722552 0.19173939] [-0.00149065 0.99999749 -0.0016708 0.02738848] [ 0.00722303 0.00168152 0.9999725 -0.07910441] [ 0. 0. 0. 1. ]] SLAMing on 0.693133365 meters Centerline goodness : 0.327684 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.08 [[ 9.99970845e-01 9.53926582e-04 -7.57627614e-03 1.94944856e-01] [-9.73293306e-04 9.99996268e-01 -2.55295717e-03 3.37375974e-02] [ 7.57381253e-03 2.56025667e-03 9.99968041e-01 -8.05415824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.723133365 meters Centerline goodness : 0.378340 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.08 [[ 9.99968457e-01 4.49065624e-04 -7.92992365e-03 1.98130641e-01] [-4.76231850e-04 9.99994024e-01 -3.42423069e-03 4.00266375e-02] [ 7.92833856e-03 3.42789917e-03 9.99962695e-01 -8.23408973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.753133365 meters Centerline goodness : 0.365637 Centerline is valid? [False, False] Translation: X:0.21, Y:0.05, Z:-0.09 [[ 9.99961410e-01 -3.15988549e-04 -8.77945371e-03 2.07120350e-01] [ 2.71841095e-04 9.99987316e-01 -5.02923508e-03 5.12266720e-02] [ 8.78093153e-03 5.02665438e-03 9.99948813e-01 -8.62515350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7831333650000001 meters Centerline goodness : 0.092927 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.09 [[ 9.99958358e-01 -8.44748954e-04 -9.08671046e-03 2.09761310e-01] [ 7.91280858e-04 9.99982363e-01 -5.88619473e-03 5.72114825e-02] [ 9.09152256e-03 5.87875948e-03 9.99941390e-01 -8.75890009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.813133365 meters Centerline goodness : 0.325982 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.09 [[ 0.99995533 -0.00134923 -0.00935552 0.21226339] [ 0.00128716 0.99997714 -0.00663731 0.06277566] [ 0.00936426 0.00662497 0.99993421 -0.08858801] [ 0. 0. 0. 1. ]] SLAMing on 0.843133365 meters Centerline goodness : 0.324226 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.09 [[ 0.9999518 -0.00176803 -0.00965758 0.2144991 ] [ 0.00169876 0.99997281 -0.00717653 0.06700641] [ 0.00967 0.00715977 0.99992761 -0.08881681] [ 0. 0. 0. 1. ]] SLAMing on 0.873133365 meters Centerline goodness : 0.304002 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.09 [[ 0.99994688 -0.00292843 -0.00988254 0.2204663 ] [ 0.00284753 0.9999624 -0.008191 0.07340438] [ 0.00990615 0.00816243 0.99991762 -0.08980869] [ 0. 0. 0. 1. ]] SLAMing on 0.903133365 meters Centerline goodness : 0.322988 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.09 [[ 0.9999422 -0.00315927 -0.01027649 0.2234598 ] [ 0.00307375 0.9999606 -0.00832712 0.07436918] [ 0.0103024 0.00829505 0.99991252 -0.09074765] [ 0. 0. 0. 1. ]] SLAMing on 0.933133365 meters Centerline goodness : 0.135787 Centerline is valid? [False, False] Translation: X:0.23, Y:0.08, Z:-0.09 [[ 0.99993661 -0.00343715 -0.01072248 0.22689526] [ 0.00334636 0.9999585 -0.00847314 0.07510812] [ 0.01075116 0.00843672 0.99990661 -0.09202373] [ 0. 0. 0. 1. ]] SLAMing on 0.963133365 meters Centerline goodness : 0.062943 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.10 [[ 0.99992133 -0.00508133 -0.011468 0.23639323] [ 0.00497386 0.99994363 -0.0093804 0.0782136 ] [ 0.01151502 0.00932262 0.99989024 -0.0957668 ] [ 0. 0. 0. 1. ]] SLAMing on 0.993133365 meters Centerline goodness : 0.065848 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:-0.10 [[ 0.99991533 -0.00522776 -0.0119168 0.23979995] [ 0.0051209 0.99994656 -0.00898026 0.07581063] [ 0.01196311 0.00891847 0.99988867 -0.09611475] [ 0. 0. 0. 1. ]] SLAMing on 1.023133365 meters Centerline goodness : 0.065534 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.12 [[ 0.99997491 -0.00675595 0.00212763 0.22543088] [ 0.00676999 0.99995489 -0.00666201 0.070083 ] [-0.00208252 0.00667624 0.99997555 -0.11595445] [ 0. 0. 0. 1. ]] SLAMing on 1.053133365 meters Centerline goodness : 0.068667 Centerline is valid? [False, False] Translation: X:0.23, Y:0.07, Z:-0.12 [[ 0.9999651 -0.00818004 0.00169779 0.23409782] [ 0.00819167 0.99994222 -0.00696069 0.06740878] [-0.00164076 0.00697435 0.99997433 -0.11962338] [ 0. 0. 0. 1. ]] SLAMing on 1.0831333650000001 meters Centerline goodness : 0.079952 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.12 [[ 0.99996624 -0.00809718 0.00139642 0.23681401] [ 0.00810634 0.99994477 -0.00668939 0.06585737] [-0.00134218 0.00670049 0.99997665 -0.12095824] [ 0. 0. 0. 1. ]] SLAMing on 1.113133365 meters Centerline goodness : 0.073428 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.12 [[ 0.99996687 -0.00806197 0.00112408 0.23933712] [ 0.0080692 0.99994579 -0.00658008 0.06534173] [-0.00107097 0.00658894 0.99997772 -0.12203123] [ 0. 0. 0. 1. ]] SLAMing on 1.143133365 meters Centerline goodness : 0.073428 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:-0.12 [[ 0.99996687 -0.00806197 0.00112408 0.23933712] [ 0.0080692 0.99994579 -0.00658008 0.06534173] [-0.00107097 0.00658894 0.99997772 -0.12203123] [ 0. 0. 0. 1. ]] SLAMing on 1.173133365 meters Centerline goodness : 0.057446 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:-0.13 [[ 9.99987423e-01 -4.98571616e-03 5.43898021e-04 2.48271776e-01] [ 4.98726601e-03 9.99983398e-01 -2.88640274e-03 6.19631709e-02] [-5.29498206e-04 2.88907901e-03 9.99995686e-01 -1.26174382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.203133365 meters Centerline goodness : 0.073938 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:-0.13 [[ 9.99987738e-01 -4.94274565e-03 3.06253564e-04 2.50541724e-01] [ 4.94366263e-03 9.99983069e-01 -3.06951112e-03 6.35186125e-02] [-2.91076566e-04 3.07098750e-03 9.99995242e-01 -1.27437369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.233133365 meters Centerline goodness : 0.072970 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.13 [[ 9.99987780e-01 -4.94295744e-03 8.29156758e-05 2.52548345e-01] [ 4.94320430e-03 9.99982330e-01 -3.30214022e-03 6.54552236e-02] [-6.65918722e-05 3.30250973e-03 9.99994544e-01 -1.28455022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.263133365 meters Centerline goodness : 0.082458 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:-0.13 [[ 9.99988363e-01 -4.79791049e-03 5.04219473e-04 2.54909818e-01] [ 4.79950748e-03 9.99983313e-01 -3.21526859e-03 6.63915365e-02] [-4.88784488e-04 3.21765117e-03 9.99994704e-01 -1.28756034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.293133365 meters Centerline goodness : 0.073867 Centerline is valid? [False, False] Translation: X:0.26, Y:0.07, Z:-0.13 [[ 9.99988648e-01 -4.75348191e-03 3.29052184e-04 2.57185712e-01] [ 4.75447052e-03 9.99983979e-01 -3.07184528e-03 6.57849306e-02] [-3.14444951e-04 3.07337487e-03 9.99995228e-01 -1.29655528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.323133365 meters Centerline goodness : 0.073933 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.13 [[ 9.99989143e-01 -4.65741084e-03 1.49248189e-04 2.59104202e-01] [ 4.65781000e-03 9.99985243e-01 -2.79616020e-03 6.43283435e-02] [-1.36223119e-04 2.79682501e-03 9.99996080e-01 -1.30332051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.353133365 meters Centerline goodness : 0.073793 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.13 [[ 9.99988684e-01 -4.75669883e-03 8.16423967e-05 2.63686510e-01] [ 4.75686604e-03 9.99986294e-01 -2.18730201e-03 6.04207298e-02] [-7.12369408e-05 2.18766562e-03 9.99997605e-01 -1.31148241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.383133365 meters Centerline goodness : 0.074947 Centerline is valid? [False, False] Translation: X:0.27, Y:0.06, Z:-0.13 [[ 9.99989020e-01 -4.67928066e-03 -2.53217555e-04 2.66402906e-01] [ 4.67882359e-03 9.99987476e-01 -1.77648782e-03 5.77701733e-02] [ 2.61527069e-04 1.77528355e-03 9.99998390e-01 -1.32480221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.413133365 meters Centerline goodness : 0.074860 Centerline is valid? [False, False] Translation: X:0.27, Y:0.05, Z:-0.13 [[ 9.99989213e-01 -4.60115467e-03 -6.34725255e-04 2.69335884e-01] [ 4.60032248e-03 9.99988565e-01 -1.30638973e-03 5.45963690e-02] [ 6.40728898e-04 1.30345569e-03 9.99998945e-01 -1.33705163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.443133365 meters Centerline goodness : 0.073814 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.14 [[ 0.9999844 -0.00544986 -0.00122671 0.27537493] [ 0.0054477 0.99998362 -0.00175571 0.05405581] [ 0.00123626 0.001749 0.99999771 -0.13726808] [ 0. 0. 0. 1. ]] SLAMing on 1.473133365 meters Centerline goodness : 0.075057 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.14 [[ 9.99983304e-01 -5.69389994e-03 -9.85962557e-04 2.78487482e-01] [ 5.69301245e-03 9.99983389e-01 -9.00603237e-04 4.83038261e-02] [ 9.91074124e-04 8.94975103e-04 9.99999108e-01 -1.37362525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.503133365 meters Centerline goodness : 0.074478 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.14 [[ 9.99983732e-01 -5.59584642e-03 -1.10535497e-03 2.80386822e-01] [ 5.59543302e-03 9.99984274e-01 -3.76735433e-04 4.54414248e-02] [ 1.10744574e-03 3.70544365e-04 9.99999318e-01 -1.38002158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.533133365 meters Centerline goodness : 0.112029 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.14 [[ 9.99984227e-01 -5.47621646e-03 -1.24811956e-03 2.82333065e-01] [ 5.47646339e-03 9.99984985e-01 1.94510852e-04 4.23473630e-02] [ 1.24703564e-03 -2.01343065e-04 9.99999202e-01 -1.38475161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.563133365 meters Centerline goodness : 0.068394 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.14 [[ 9.99986293e-01 -5.18830652e-03 -7.03056343e-04 2.84434564e-01] [ 5.18919275e-03 9.99985736e-01 1.26464574e-03 3.63441911e-02] [ 6.96484946e-04 -1.26827670e-03 9.99998953e-01 -1.38728020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.593133365 meters Centerline goodness : 0.156612 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99987066e-01 -5.02005620e-03 -8.16495391e-04 2.86460271e-01] [ 5.02143775e-03 9.99985949e-01 1.69889467e-03 3.38883242e-02] [ 8.07955372e-04 -1.70297267e-03 9.99998224e-01 -1.39941686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.623133365 meters Centerline goodness : 0.108219 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99987845e-01 -4.84578197e-03 -9.09534626e-04 2.88166918e-01] [ 4.84765240e-03 9.99986117e-01 2.06566137e-03 3.20237947e-02] [ 8.99512254e-04 -2.07004537e-03 9.99997453e-01 -1.40887982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.653133365 meters Centerline goodness : 0.121853 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99990204e-01 -4.42345836e-03 1.58811830e-04 2.89476414e-01] [ 4.42298108e-03 9.99986044e-01 2.88944740e-03 2.83650577e-02] [-1.71590963e-04 -2.88871667e-03 9.99995813e-01 -1.41345941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.683133365 meters Centerline goodness : 0.050022 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99991084e-01 -4.22142835e-03 1.02937668e-04 2.91301175e-01] [ 4.22107495e-03 9.99985905e-01 3.22075351e-03 2.69595975e-02] [-1.16532398e-04 -3.22029029e-03 9.99994808e-01 -1.42287203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.713133365 meters Centerline goodness : 0.050388 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.14 [[ 9.99991915e-01 -4.02043725e-03 7.37292940e-05 2.92732100e-01] [ 4.02014633e-03 9.99985461e-01 3.59379690e-03 2.51771710e-02] [-8.81768570e-05 -3.59347144e-03 9.99993540e-01 -1.42812081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.743133365 meters Centerline goodness : 0.495494 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:-0.14 [[ 9.99992691e-01 -3.82252498e-03 7.44943479e-05 2.94358664e-01] [ 3.82220650e-03 9.99985139e-01 3.88755103e-03 2.38614635e-02] [-8.93535017e-05 -3.88723788e-03 9.99992441e-01 -1.43799675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.773133365 meters Centerline goodness : 0.119346 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.15 [[ 9.99990607e-01 4.24820380e-03 8.59585975e-04 3.21614365e-01] [-4.24964675e-03 9.99989553e-01 1.68385959e-03 2.25576802e-02] [-8.52423616e-04 -1.68749671e-03 9.99998213e-01 -1.46542960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8031333649999999 meters Centerline goodness : 0.470027 Centerline is valid? [False, False] Translation: X:0.32, Y:0.02, Z:-0.15 [[ 9.99990370e-01 4.34290859e-03 6.31687414e-04 3.24379791e-01] [-4.34388884e-03 9.99989350e-01 1.55879079e-03 2.43495305e-02] [-6.24911000e-04 -1.56151976e-03 9.99998586e-01 -1.48409807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.833133365 meters Centerline goodness : 0.083514 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 9.99990281e-01 4.38494435e-03 4.58914164e-04 3.26680056e-01] [-4.38558792e-03 9.99989388e-01 1.41089462e-03 2.61761361e-02] [-4.52722600e-04 -1.41289352e-03 9.99998899e-01 -1.49926735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.863133365 meters Centerline goodness : 0.203988 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 9.99990311e-01 4.38547624e-03 3.80995838e-04 3.28812929e-01] [-4.38597349e-03 9.99989518e-01 1.31424542e-03 2.78102195e-02] [-3.75228252e-04 -1.31590372e-03 9.99999064e-01 -1.51494776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.893133365 meters Centerline goodness : 0.490059 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 0.99998951 0.00440372 0.001263 0.33035488] [-0.00440577 0.99998897 0.00162628 0.02765391] [-0.00125583 -0.00163183 0.99999788 -0.15173475] [ 0. 0. 0. 1. ]] SLAMing on 1.923133365 meters Centerline goodness : 0.140283 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 0.99998961 0.00441293 0.00114153 0.33254329] [-0.00441502 0.99998857 0.00183529 0.02650965] [-0.00113342 -0.00184031 0.99999766 -0.15279997] [ 0. 0. 0. 1. ]] SLAMing on 1.953133365 meters Centerline goodness : 0.477135 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.15 [[ 9.99989908e-01 4.38267193e-03 9.88399331e-04 3.34954382e-01] [-4.38459451e-03 9.99988484e-01 1.95144312e-03 2.63609280e-02] [-9.79835413e-04 -1.95575715e-03 9.99997607e-01 -1.54184065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.983133365 meters Centerline goodness : 0.085855 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.16 [[ 9.99990739e-01 4.20466662e-03 9.17486142e-04 3.37376189e-01] [-4.20624046e-03 9.99989674e-01 1.72024629e-03 2.88691186e-02] [-9.10243606e-04 -1.72408953e-03 9.99998099e-01 -1.55978616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.043133365 meters Centerline goodness : 0.541749 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.16 [[ 0.99997806 0.0063616 0.00184833 0.34728393] [-0.00636984 0.99996964 0.00448778 0.03489802] [-0.00181972 -0.00449946 0.99998822 -0.16172717] [ 0. 0. 0. 1. ]] SLAMing on 2.073133365 meters Centerline goodness : 0.114587 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.16 [[ 0.99997901 0.00619777 0.00188939 0.34903139] [-0.00620589 0.99997142 0.00431883 0.03697903] [-0.00186257 -0.00433046 0.99998889 -0.1624054 ] [ 0. 0. 0. 1. ]] SLAMing on 2.103133365 meters Centerline goodness : 0.542100 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.16 [[ 0.99998168 0.00551615 0.00249255 0.35238024] [-0.00552562 0.99997748 0.00380858 0.04208344] [-0.00247149 -0.00382228 0.99998964 -0.1642988 ] [ 0. 0. 0. 1. ]] SLAMing on 2.133133365 meters Centerline goodness : 0.544067 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.17 [[ 0.99998346 0.00523889 0.00237347 0.35480284] [-0.00524759 0.99997948 0.00367477 0.04339345] [-0.00235417 -0.00368716 0.99999043 -0.16553647] [ 0. 0. 0. 1. ]] SLAMing on 2.163133365 meters Centerline goodness : 0.058542 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.17 [[ 0.99998523 0.00495532 0.00223443 0.35760463] [-0.00496336 0.99998117 0.0036079 0.04382312] [-0.0022165 -0.00361894 0.999991 -0.16701511] [ 0. 0. 0. 1. ]] SLAMing on 2.193133365 meters Centerline goodness : 0.086549 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.17 [[ 0.99998656 0.00474232 0.0020935 0.36029303] [-0.00474998 0.999982 0.00366698 0.04350544] [-0.00207607 -0.00367688 0.99999109 -0.16816693] [ 0. 0. 0. 1. ]] SLAMing on 2.223133365 meters Centerline goodness : 0.055415 Centerline is valid? [False, False] Translation: X:0.36, Y:0.04, Z:-0.17 [[ 0.99998765 0.00449217 0.00212794 0.3627767 ] [-0.00450007 0.99998295 0.00372228 0.04333638] [-0.00211119 -0.00373181 0.99999081 -0.16904562] [ 0. 0. 0. 1. ]] SLAMing on 2.253133365 meters Centerline goodness : 0.063988 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.17 [[ 0.99998339 -0.00238148 0.00524846 0.38695991] [ 0.00234451 0.99997249 0.00703772 0.04850575] [-0.00526507 -0.00702529 0.99996146 -0.17239334] [ 0. 0. 0. 1. ]] SLAMing on 2.283133365 meters Centerline goodness : 0.090204 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.17 [[ 0.99998302 -0.00261184 0.00520905 0.38934223] [ 0.0025758 0.99997279 0.00691328 0.05021176] [-0.00522696 -0.00689975 0.99996254 -0.17365537] [ 0. 0. 0. 1. ]] SLAMing on 2.313133365 meters Centerline goodness : 0.070592 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.18 [[ 0.99998245 -0.00281884 0.00521003 0.39194777] [ 0.00278367 0.99997338 0.00674479 0.05141844] [-0.0052289 -0.00673017 0.99996368 -0.17603557] [ 0. 0. 0. 1. ]] SLAMing on 2.343133365 meters Centerline goodness : 0.098460 Centerline is valid? [False, False] Translation: X:0.39, Y:0.05, Z:-0.18 [[ 0.99998195 -0.00300532 0.00520207 0.39480132] [ 0.00297088 0.9999737 0.00661587 0.05221796] [-0.00522181 -0.0066003 0.99996458 -0.17893629] [ 0. 0. 0. 1. ]] SLAMing on 2.373133365 meters Centerline goodness : 0.516142 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:-0.18 [[ 0.99997915 -0.00332169 0.00553699 0.39926178] [ 0.0032854 0.99997315 0.00655007 0.05411008] [-0.00555859 -0.00653174 0.99996322 -0.18095274] [ 0. 0. 0. 1. ]] SLAMing on 2.403133365 meters Centerline goodness : 0.083938 Centerline is valid? [False, False] Translation: X:0.40, Y:0.05, Z:-0.18 [[ 0.9999772 -0.00342936 0.00581771 0.40153596] [ 0.00339085 0.99997237 0.00661551 0.05463329] [-0.00584023 -0.00659563 0.99996119 -0.1822112 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4331333649999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.463133365 meters Centerline goodness : 0.073940 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.19 [[ 0.99996787 -0.00496388 0.00629404 0.41125869] [ 0.00492693 0.99997062 0.00587266 0.05705143] [-0.006323 -0.00584146 0.99996295 -0.18764576] [ 0. 0. 0. 1. ]] SLAMing on 2.493133365 meters Centerline goodness : 0.136612 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.19 [[ 0.99996061 -0.00496797 0.00735527 0.41595079] [ 0.00492033 0.9999669 0.00648013 0.05469991] [-0.00738722 -0.00644369 0.99995195 -0.18996773] [ 0. 0. 0. 1. ]] SLAMing on 2.523133365 meters Centerline goodness : 0.174181 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.19 [[ 0.99995969 -0.00497255 0.00747623 0.41847344] [ 0.00492363 0.99996644 0.00654816 0.05470002] [-0.00750854 -0.00651109 0.99995061 -0.19168897] [ 0. 0. 0. 1. ]] SLAMing on 2.553133365 meters Centerline goodness : 0.144134 Centerline is valid? [False, False] Translation: X:0.42, Y:0.06, Z:-0.19 [[ 0.99995843 -0.00494275 0.00766195 0.42132428] [ 0.00489267 0.99996663 0.00654191 0.05512803] [-0.00769403 -0.00650415 0.99994925 -0.19372855] [ 0. 0. 0. 1. ]] SLAMing on 2.583133365 meters Centerline goodness : 0.116867 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:-0.20 [[ 0.99990587 0.00281175 0.01342902 0.44496943] [-0.00287121 0.99998615 0.00441078 0.05480893] [-0.01341644 -0.00444892 0.9999001 -0.19956171] [ 0. 0. 0. 1. ]] SLAMing on 2.613133365 meters Centerline goodness : 0.138356 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.20 [[ 0.9999034 0.00292247 0.01358851 0.4478947 ] [-0.00297848 0.99998714 0.00410359 0.05702411] [-0.01357634 -0.00414366 0.99989925 -0.20102624] [ 0. 0. 0. 1. ]] SLAMing on 2.6431333649999997 meters Centerline goodness : 0.093330 Centerline is valid? [False, False] Translation: X:0.45, Y:0.06, Z:-0.20 [[ 0.99990098 0.00302536 0.01374294 0.45086934] [-0.0030781 0.99998797 0.00381824 0.05938941] [-0.01373122 -0.00386016 0.99989827 -0.20325916] [ 0. 0. 0. 1. ]] SLAMing on 2.673133365 meters Centerline goodness : 0.092132 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.21 [[ 0.99990533 0.0039866 0.01316952 0.45979478] [-0.00404378 0.9999825 0.00431855 0.06006784] [-0.01315207 -0.0043714 0.99990395 -0.20998872] [ 0. 0. 0. 1. ]] SLAMing on 2.703133365 meters Centerline goodness : 0.474557 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.21 [[ 0.99990203 0.00406412 0.01339445 0.46234301] [-0.00412109 0.99998257 0.00422868 0.06073629] [-0.01337704 -0.00428347 0.99990135 -0.21146887] [ 0. 0. 0. 1. ]] SLAMing on 2.733133365 meters Centerline goodness : 0.097971 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.21 [[ 0.99995752 0.005536 0.00736909 0.5153454 ] [-0.00556705 0.99997568 0.00420007 0.06222401] [-0.00734566 -0.00424091 0.99996403 -0.21074727] [ 0. 0. 0. 1. ]] SLAMing on 2.763133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.793133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.853133365 meters Centerline goodness : 0.467038 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.22 [[ 0.99980587 0.01587612 0.01166964 0.59607153] [-0.01592829 0.9998635 0.00439084 0.06950694] [-0.01159834 -0.00457586 0.99992227 -0.21850282] [ 0. 0. 0. 1. ]] SLAMing on 2.883133365 meters Centerline goodness : 0.461363 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.22 [[ 0.99981301 0.01548511 0.0115829 0.59979421] [-0.01552629 0.99987343 0.00347371 0.07526477] [-0.01152764 -0.0036529 0.99992688 -0.2221892 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9131333649999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 2.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.093133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.153133365 meters Centerline goodness : 0.060734 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:-0.22 [[ 0.99986154 0.00122665 0.01659526 0.77591778] [-0.00131412 0.9999853 0.0052608 0.10790104] [-0.01658857 -0.00528188 0.99984845 -0.22249014] [ 0. 0. 0. 1. ]] SLAMing on 3.1831333649999998 meters Centerline goodness : 0.137437 Centerline is valid? [False, False] Translation: X:0.80, Y:0.11, Z:-0.22 [[ 0.99989263 -0.00551575 0.01357601 0.80392066] [ 0.00543973 0.99996936 0.00562991 0.11243924] [-0.01360664 -0.00555545 0.99989199 -0.22109918] [ 0. 0. 0. 1. ]] SLAMing on 3.213133365 meters Centerline goodness : 0.065428 Centerline is valid? [False, False] Translation: X:0.81, Y:0.12, Z:-0.23 [[ 0.99989647 -0.00684651 0.01265578 0.81179967] [ 0.00679047 0.99996697 0.00446555 0.11596369] [-0.01268593 -0.00437915 0.99990994 -0.22610225] [ 0. 0. 0. 1. ]] SLAMing on 3.243133365 meters Centerline goodness : 0.066427 Centerline is valid? [False, False] Translation: X:0.82, Y:0.12, Z:-0.23 [[ 0.99989672 -0.0076339 0.0121764 0.81757524] [ 0.00758867 0.99996415 0.0037565 0.11851442] [-0.01220464 -0.00366371 0.99991881 -0.23012696] [ 0. 0. 0. 1. ]] SLAMing on 3.273133365 meters Centerline goodness : 0.066367 Centerline is valid? [False, False] Translation: X:0.82, Y:0.12, Z:-0.23 [[ 0.99989731 -0.00779888 0.01202282 0.82102751] [ 0.00775643 0.99996353 0.00357374 0.11976408] [-0.01205025 -0.00348011 0.99992134 -0.23235351] [ 0. 0. 0. 1. ]] SLAMing on 3.303133365 meters Centerline goodness : 0.064617 Centerline is valid? [False, False] Translation: X:0.85, Y:0.12, Z:-0.24 [[ 0.99996247 -0.00366492 0.00785053 0.84791471] [ 0.00364198 0.99998906 0.00293482 0.1179977 ] [-0.0078612 -0.00290612 0.99996488 -0.23708174] [ 0. 0. 0. 1. ]] SLAMing on 3.333133365 meters Centerline goodness : 0.064919 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:-0.24 [[ 0.99996677 -0.00143531 0.0080243 0.85933417] [ 0.00139589 0.99998694 0.00491594 0.12322591] [-0.00803125 -0.00490458 0.99995572 -0.24099455] [ 0. 0. 0. 1. ]] SLAMing on 3.363133365 meters Centerline goodness : 0.496785 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:-0.25 [[ 9.99976588e-01 2.03335545e-04 6.83971918e-03 8.69847064e-01] [-2.41617950e-04 9.99984309e-01 5.59671198e-03 1.28087781e-01] [-6.83847385e-03 -5.59823355e-03 9.99960947e-01 -2.47779902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3931333649999997 meters Centerline goodness : 0.068374 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.25 [[ 0.99998177 0.00202174 0.00569032 0.87953051] [-0.00205812 0.99997744 0.00639429 0.13304116] [-0.00567726 -0.00640589 0.99996337 -0.25383253] [ 0. 0. 0. 1. ]] SLAMing on 3.423133365 meters Centerline goodness : 0.068206 Centerline is valid? [False, False] Translation: X:0.89, Y:0.14, Z:-0.26 [[ 0.99996523 0.00530247 0.00643532 0.88687861] [-0.00535848 0.99994765 0.00871641 0.14155979] [-0.00638876 -0.00875059 0.9999413 -0.25557038] [ 0. 0. 0. 1. ]] SLAMing on 3.453133365 meters Centerline goodness : 0.066811 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.26 [[ 9.99974670e-01 7.07645646e-03 -7.63323827e-04 9.28464951e-01] [-7.07017691e-03 9.99943503e-01 7.93744247e-03 1.49911430e-01] [ 8.19449668e-04 -7.93184458e-03 9.99968207e-01 -2.55502338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.483133365 meters Centerline goodness : 0.155296 Centerline is valid? [False, False] Translation: X:0.93, Y:0.16, Z:-0.26 [[ 0.99997478 0.00698727 -0.00127336 0.9324166 ] [-0.00697805 0.9999504 0.00710657 0.15777985] [ 0.00132295 -0.0070975 0.99997394 -0.25736225] [ 0. 0. 0. 1. ]] SLAMing on 3.513133365 meters Centerline goodness : 0.066426 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:-0.26 [[ 0.99997632 0.00668717 -0.00162296 0.93558289] [-0.00667685 0.99995797 0.00628263 0.16522292] [ 0.0016649 -0.00627164 0.99997895 -0.25915969] [ 0. 0. 0. 1. ]] SLAMing on 3.543133365 meters Centerline goodness : 0.066660 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.26 [[ 9.99984268e-01 5.60159571e-03 -2.92613054e-04 9.39559633e-01] [-5.60006184e-03 9.99971803e-01 5.00327798e-03 1.75089308e-01] [ 3.20631144e-04 -5.00156062e-03 9.99987441e-01 -2.58968685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.573133365 meters Centerline goodness : 0.093596 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.26 [[ 9.99986293e-01 5.21345054e-03 -4.82833301e-04 9.42488297e-01] [-5.21111102e-03 9.99975254e-01 4.72614491e-03 1.77458920e-01] [ 5.07460875e-04 -4.72356404e-03 9.99988715e-01 -2.59497620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6031333649999997 meters Centerline goodness : 0.095805 Centerline is valid? [False, False] Translation: X:0.95, Y:0.18, Z:-0.26 [[ 9.99988688e-01 4.71828285e-03 -6.01908512e-04 9.45594102e-01] [-4.71548736e-03 9.99978466e-01 4.56418718e-03 1.80106959e-01] [ 6.23430677e-04 -4.56129726e-03 9.99989403e-01 -2.59697032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.633133365 meters Centerline goodness : 0.433110 Centerline is valid? [False, False] Translation: X:0.95, Y:0.18, Z:-0.26 [[ 9.99990854e-01 4.22095283e-03 -6.89441333e-04 9.48509919e-01] [-4.21789240e-03 9.99981505e-01 4.38172207e-03 1.83008486e-01] [ 7.07923624e-04 -4.37877400e-03 9.99990163e-01 -2.59940670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6631333649999998 meters Centerline goodness : 0.230070 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.26 [[ 0.99999469 0.00302989 0.00120202 0.95179056] [-0.00303435 0.99998847 0.00372271 0.19014471] [-0.00119072 -0.00372634 0.99999235 -0.25908 ] [ 0. 0. 0. 1. ]] SLAMing on 3.693133365 meters Centerline goodness : 0.132529 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.26 [[ 9.99996050e-01 2.68378658e-03 8.34552840e-04 9.54009775e-01] [-2.68636323e-03 9.99991581e-01 3.10182086e-03 1.93912388e-01] [-8.26221189e-04 -3.10405052e-03 9.99994841e-01 -2.59948482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.723133365 meters Centerline goodness : 0.102018 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 9.99997155e-01 2.33753809e-03 4.74302728e-04 9.56341554e-01] [-2.33867855e-03 9.99994341e-01 2.41835623e-03 1.98196238e-01] [-4.68647044e-04 -2.41945860e-03 9.99996963e-01 -2.61189539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.753133365 meters Centerline goodness : 0.366426 Centerline is valid? [False, False] Translation: X:0.96, Y:0.20, Z:-0.26 [[ 9.99997911e-01 2.03172211e-03 2.24936670e-04 9.57893349e-01] [-2.03211492e-03 9.99996386e-01 1.76006982e-03 2.02522246e-01] [-2.21359884e-04 -1.76052324e-03 9.99998426e-01 -2.61843625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.783133365 meters Centerline goodness : 0.107605 Centerline is valid? [False, False] Translation: X:0.96, Y:0.21, Z:-0.26 [[ 9.99998628e-01 1.65667590e-03 -9.46531855e-06 9.60532868e-01] [-1.65666520e-03 9.99998091e-01 1.03637761e-03 2.08115552e-01] [ 1.11822423e-05 -1.03636051e-03 9.99999463e-01 -2.63296827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.813133365 meters Centerline goodness : 0.149030 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 9.99997025e-01 9.62483177e-04 2.24129206e-03 9.62267089e-01] [-9.62700047e-04 9.99999532e-01 9.56844123e-05 2.15521573e-01] [-2.24119892e-03 -9.78418196e-05 9.99997484e-01 -2.63031052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.843133365 meters Centerline goodness : 0.147469 Centerline is valid? [False, False] Translation: X:0.96, Y:0.22, Z:-0.26 [[ 9.99996984e-01 6.79661737e-04 2.35990419e-03 9.64224222e-01] [-6.79295965e-04 9.99999757e-01 -1.55792161e-04 2.17778273e-01] [-2.36000950e-03 1.54188618e-04 9.99997203e-01 -2.63592941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8731333649999997 meters Centerline goodness : 0.081468 Centerline is valid? [False, False] Translation: X:0.97, Y:0.22, Z:-0.26 [[ 9.99997196e-01 4.48232934e-04 2.32541813e-03 9.66103855e-01] [-4.47311253e-04 9.99999821e-01 -3.96855679e-04 2.19581135e-01] [-2.32559560e-03 3.95814381e-04 9.99997217e-01 -2.64221600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.903133365 meters Centerline goodness : 0.109659 Centerline is valid? [False, False] Translation: X:0.97, Y:0.22, Z:-0.26 [[ 9.99988104e-01 2.52979977e-06 4.87773598e-03 9.67122995e-01] [ 1.49726876e-06 9.99999659e-01 -8.25598162e-04 2.23042633e-01] [-4.87773640e-03 8.25595643e-04 9.99987763e-01 -2.64298003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9331333649999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.963133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 3.993133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.023133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.083133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.1131333649999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.143133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 4.173133365 meters Centerline goodness : 0.092862 Centerline is valid? [False, False] Translation: X:1.10, Y:0.25, Z:-0.27 [[ 9.99600541e-01 1.53697049e-02 2.37177082e-02 1.10499616e+00] [-1.53848488e-02 9.99881542e-01 4.56154378e-04 2.46992633e-01] [-2.37078877e-02 -8.20865518e-04 9.99718592e-01 -2.66391398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203133365 meters Centerline goodness : 0.170593 Centerline is valid? [False, False] Translation: X:1.11, Y:0.25, Z:-0.27 [[ 9.99602243e-01 1.54064676e-02 2.36219416e-02 1.10603961e+00] [-1.54115918e-02 9.99881234e-01 3.48815855e-05 2.50132000e-01] [-2.36185987e-02 -3.98919434e-04 9.99720962e-01 -2.66593675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.233133365 meters Centerline goodness : 0.170718 Centerline is valid? [False, False] Translation: X:1.10, Y:0.25, Z:-0.27 [[ 0.99945743 0.01908374 0.02684498 1.1046634 ] [-0.01918662 0.99980951 0.00357978 0.25309578] [-0.02677155 -0.0040929 0.9996332 -0.26717694] [ 0. 0. 0. 1. ]] SLAMing on 4.263133365 meters Centerline goodness : 0.172117 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.27 [[ 0.99945973 0.01908124 0.02676113 1.10566988] [-0.01917107 0.9998114 0.0031043 0.25703168] [-0.02669685 -0.00361566 0.99963704 -0.26781549] [ 0. 0. 0. 1. ]] SLAMing on 4.293133365 meters Centerline goodness : 0.171641 Centerline is valid? [False, False] Translation: X:1.13, Y:0.27, Z:-0.27 [[ 0.99962943 0.01464392 0.02294706 1.13104013] [-0.01475222 0.99988079 0.00455727 0.26598733] [-0.02287758 -0.0048941 0.99972629 -0.26982023] [ 0. 0. 0. 1. ]] SLAMing on 4.323133365 meters Centerline goodness : 0.176004 Centerline is valid? [False, False] Translation: X:1.11, Y:0.27, Z:-0.27 [[ 0.99962276 0.00877655 0.02602531 1.11237469] [-0.00891039 0.99994764 0.0050312 0.27318294] [-0.02597979 -0.0052612 0.99964862 -0.27210624] [ 0. 0. 0. 1. ]] SLAMing on 4.353133365 meters Centerline goodness : 0.177709 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.27 [[ 0.99955459 0.00838187 0.0286419 1.11097611] [-0.00851428 0.99995361 0.00450386 0.27677874] [-0.02860282 -0.00474572 0.99957959 -0.27190188] [ 0. 0. 0. 1. ]] SLAMing on 4.383133365 meters Centerline goodness : 0.178859 Centerline is valid? [False, False] Translation: X:1.11, Y:0.28, Z:-0.27 [[ 0.99956053 0.00820285 0.02848597 1.11206599] [-0.00832678 0.99995637 0.00423446 0.27846969] [-0.02844999 -0.00446979 0.99958522 -0.27208139] [ 0. 0. 0. 1. ]] SLAMing on 4.413133365 meters Centerline goodness : 0.076325 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 0.99951517 0.00138739 0.03110455 1.09177375] [-0.00155043 0.99998518 0.00521822 0.28325079] [-0.03109685 -0.00526391 0.99950251 -0.27406825] [ 0. 0. 0. 1. ]] SLAMing on 4.443133365 meters Centerline goodness : 0.076241 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 0.99952038 0.00120584 0.03094438 1.09295919] [-0.00136532 0.99998589 0.00513305 0.28358147] [-0.03093775 -0.00517283 0.99950793 -0.2743397 ] [ 0. 0. 0. 1. ]] SLAMing on 4.473133365 meters Centerline goodness : 0.076147 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 9.99425695e-01 2.62240880e-04 3.38852644e-02 1.09035003e+00] [-4.26635559e-04 9.99988175e-01 4.84437009e-03 2.83403746e-01] [-3.38835933e-02 -4.85604460e-03 9.99413989e-01 -2.74368465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503133365 meters Centerline goodness : 0.078549 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.27 [[ 9.99434489e-01 1.15565914e-04 3.36257169e-02 1.09176375e+00] [-2.78693406e-04 9.99988216e-01 4.84662528e-03 2.83037156e-01] [-3.36247605e-02 -4.85325573e-03 9.99422744e-01 -2.74836449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.533133365 meters Centerline goodness : 0.092819 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.28 [[ 9.99442912e-01 1.58502838e-05 3.33746323e-02 1.09301152e+00] [-1.77274933e-04 9.99988301e-01 4.83379337e-03 2.82865303e-01] [-3.33741653e-02 -4.83701701e-03 9.99431222e-01 -2.75429835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563133365 meters Centerline goodness : 0.070391 Centerline is valid? [False, False] Translation: X:1.05, Y:0.28, Z:-0.28 [[ 9.99201120e-01 -4.56637555e-04 3.99613927e-02 1.05206604e+00] [ 2.57060435e-04 9.99987471e-01 4.99924414e-03 2.80414129e-01] [-3.99631749e-02 -4.98497785e-03 9.99188718e-01 -2.77632151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.593133365 meters Centerline goodness : 0.070702 Centerline is valid? [False, False] Translation: X:1.05, Y:0.28, Z:-0.28 [[ 9.99121792e-01 -5.01072298e-04 4.18974236e-02 1.05123370e+00] [ 2.96356492e-04 9.99987989e-01 4.89218747e-03 2.81919860e-01] [-4.18993718e-02 -4.87547454e-03 9.99109940e-01 -2.78427435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623133365 meters Centerline goodness : 0.069281 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.28 [[ 0.99907218 0.00674412 0.0425359 1.03248347] [-0.00688791 0.99997105 0.00323496 0.27727756] [-0.04251285 -0.00352494 0.9990897 -0.27950938] [ 0. 0. 0. 1. ]] SLAMing on 4.6531333649999995 meters Centerline goodness : 0.068976 Centerline is valid? [False, False] Translation: X:1.03, Y:0.28, Z:-0.28 [[ 0.99906801 0.00671616 0.04263811 1.03279392] [-0.0068587 0.99997137 0.00319767 0.27740511] [-0.04261541 -0.00348713 0.99908547 -0.27920089] [ 0. 0. 0. 1. ]] SLAMing on 4.683133365 meters Centerline goodness : 0.076686 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98966448e-01 -6.62107105e-04 4.54488429e-02 1.01080971e+00] [ 4.71209329e-04 9.99991023e-01 4.21086302e-03 2.80821023e-01] [-4.54512229e-02 -4.18509496e-03 9.98957793e-01 -2.79521803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.713133365 meters Centerline goodness : 0.077359 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98970994e-01 -6.51851067e-04 4.53489559e-02 1.01144619e+00] [ 4.53730550e-04 9.99990309e-01 4.37895620e-03 2.79962111e-01] [-4.53513708e-02 -4.35387402e-03 9.98961609e-01 -2.79703735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743133365 meters Centerline goodness : 0.199907 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98972994e-01 -6.44424045e-04 4.53049781e-02 1.01189681e+00] [ 4.37389615e-04 9.99989418e-01 4.57955884e-03 2.78705971e-01] [-4.53074498e-02 -4.55503968e-03 9.98962705e-01 -2.80006724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.773133365 meters Centerline goodness : 0.199418 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98937643e-01 -7.65488960e-04 4.60760180e-02 1.01185681e+00] [ 5.39758249e-04 9.99987794e-01 4.91133550e-03 2.76360653e-01] [-4.60792152e-02 -4.88124800e-03 9.98925863e-01 -2.80032897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803133365 meters Centerline goodness : 0.076654 Centerline is valid? [False, False] Translation: X:1.01, Y:0.28, Z:-0.28 [[ 9.98942092e-01 -7.13432189e-04 4.59802964e-02 1.01229103e+00] [ 4.78049997e-04 9.99986727e-01 5.12998988e-03 2.75369861e-01] [-4.59833460e-02 -5.10258194e-03 9.98929174e-01 -2.79846384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.833133365 meters Centerline goodness : 0.185077 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.98945182e-01 -6.82001469e-04 4.59135914e-02 1.01256683e+00] [ 4.38551431e-04 9.99985794e-01 5.31221656e-03 2.74579031e-01] [-4.59165621e-02 -5.28647767e-03 9.98931290e-01 -2.79643186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8631333649999995 meters Centerline goodness : 0.185606 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.98949332e-01 -6.31840964e-04 4.58239411e-02 1.01299494e+00] [ 3.81326432e-04 9.99984937e-01 5.47542740e-03 2.73862900e-01] [-4.58267104e-02 -5.45220066e-03 9.98934525e-01 -2.79750338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.893133365 meters Centerline goodness : 0.164894 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99439333e-01 -4.74653985e-04 3.34782650e-02 1.00917843e+00] [ 3.06689155e-04 9.99987342e-01 5.02208740e-03 2.70861120e-01] [-3.34802250e-02 -5.00900426e-03 9.99426828e-01 -2.75456641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923133365 meters Centerline goodness : 0.167026 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99442785e-01 -4.38251517e-04 3.33755466e-02 1.00957351e+00] [ 2.69024226e-04 9.99987087e-01 5.07471946e-03 2.70627168e-01] [-3.33773396e-02 -5.06291292e-03 9.99429998e-01 -2.75846606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.953133365 meters Centerline goodness : 0.206668 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99445319e-01 -4.11431768e-04 3.32999215e-02 1.00993637e+00] [ 2.42749873e-04 9.99987121e-01 5.06941871e-03 2.70794231e-01] [-3.33015784e-02 -5.05852325e-03 9.99432547e-01 -2.75928804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983133365 meters Centerline goodness : 0.206668 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99445319e-01 -4.11431768e-04 3.32999215e-02 1.00993637e+00] [ 2.42749873e-04 9.99987121e-01 5.06941871e-03 2.70794231e-01] [-3.33015784e-02 -5.05852325e-03 9.99432547e-01 -2.75928804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.013133365 meters Centerline goodness : 0.164960 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99444899e-01 -4.28046582e-04 3.33123254e-02 1.01001073e+00] [ 2.62334601e-04 9.99987572e-01 4.97870626e-03 2.71260795e-01] [-3.33140425e-02 -4.96720360e-03 9.99432590e-01 -2.75869923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043133365 meters Centerline goodness : 0.206491 Centerline is valid? [False, False] Translation: X:1.01, Y:0.27, Z:-0.28 [[ 9.99431977e-01 -4.65720227e-04 3.36972908e-02 1.01000171e+00] [ 3.01465455e-04 9.99988051e-01 4.87933725e-03 2.71799899e-01] [-3.36991606e-02 -4.86640711e-03 9.99420174e-01 -2.75779818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0731333649999995 meters Centerline goodness : 0.196031 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99469249e-01 -6.61538276e-04 3.25696687e-02 9.68745530e-01] [ 5.14608913e-04 9.99989655e-01 4.51940882e-03 2.68881788e-01] [-3.25723216e-02 -4.50024950e-03 9.99459250e-01 -2.75724374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.103133365 meters Centerline goodness : 0.167118 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99472957e-01 -6.47084378e-04 3.24559524e-02 9.69168034e-01] [ 5.00503051e-04 9.99989640e-01 4.52423666e-03 2.68898617e-01] [-3.24585437e-02 -4.50560789e-03 9.99462927e-01 -2.75911677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.133133365 meters Centerline goodness : 0.175524 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99476778e-01 -6.23531712e-04 3.23385510e-02 9.69608375e-01] [ 4.76148832e-04 9.99989467e-01 4.56499873e-03 2.68824783e-01] [-3.23410568e-02 -4.54721226e-03 9.99466547e-01 -2.76238940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163133365 meters Centerline goodness : 0.176207 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99474328e-01 -6.80508808e-04 3.24130213e-02 9.70005069e-01] [ 5.36345711e-04 9.99989927e-01 4.45617776e-03 2.69377971e-01] [-3.24157273e-02 -4.43645069e-03 9.99464626e-01 -2.76513274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.193133365 meters Centerline goodness : 0.195728 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99478656e-01 -7.51568598e-04 3.22777334e-02 9.70284572e-01] [ 6.14088220e-04 9.99990699e-01 4.26899674e-03 2.70081734e-01] [-3.22806416e-02 -4.24694975e-03 9.99469821e-01 -2.76478858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223133365 meters Centerline goodness : 0.272418 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99482250e-01 -7.81181020e-04 3.21655477e-02 9.70529306e-01] [ 6.51504714e-04 9.99991620e-01 4.04181135e-03 2.71348099e-01] [-3.21684355e-02 -4.01876269e-03 9.99474383e-01 -2.76511061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.253133365 meters Centerline goodness : 0.210034 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 9.99487695e-01 -7.36526261e-04 3.19969433e-02 9.71005816e-01] [ 6.14815439e-04 9.99992540e-01 3.81349866e-03 2.73084602e-01] [-3.19995133e-02 -3.79187277e-03 9.99480692e-01 -2.76820936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283133364999999 meters Centerline goodness : 0.256311 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 0.99948193 0.00297172 0.03204746 0.9712348 ] [-0.00321405 0.99996661 0.00751283 0.2741166 ] [-0.03202406 -0.00761194 0.99945811 -0.27709953] [ 0. 0. 0. 1. ]] SLAMing on 5.313133365 meters Centerline goodness : 0.257540 Centerline is valid? [False, False] Translation: X:0.97, Y:0.28, Z:-0.28 [[ 0.99948506 0.00291914 0.03195456 0.97141348] [-0.00315368 0.99996844 0.00729183 0.2751817 ] [-0.03193227 -0.00738885 0.99946272 -0.27696066] [ 0. 0. 0. 1. ]] SLAMing on 5.343133365 meters Centerline goodness : 0.248210 Centerline is valid? [False, False] Translation: X:0.97, Y:0.28, Z:-0.28 [[ 0.99948787 0.002856 0.03187242 0.97144719] [-0.00308662 0.9999694 0.00718875 0.27546743] [-0.03185091 -0.00728344 0.99946609 -0.27663471] [ 0. 0. 0. 1. ]] SLAMing on 5.373133365 meters Centerline goodness : 0.253854 Centerline is valid? [False, False] Translation: X:0.97, Y:0.28, Z:-0.28 [[ 0.99949049 0.0028271 0.03179251 0.97143549] [-0.00305819 0.99996924 0.00722263 0.2751133 ] [-0.03177111 -0.00731618 0.99946839 -0.27619405] [ 0. 0. 0. 1. ]] SLAMing on 5.4031333649999995 meters Centerline goodness : 0.245937 Centerline is valid? [False, False] Translation: X:0.97, Y:0.27, Z:-0.28 [[ 0.9994936 0.00278534 0.03169831 0.97186318] [-0.00302462 0.99996728 0.00750309 0.27372416] [-0.03167637 -0.00759516 0.99946932 -0.27607031] [ 0. 0. 0. 1. ]] SLAMing on 5.433133365 meters Centerline goodness : 0.134229 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956283 -0.00507551 0.02912727 0.95202524] [ 0.00481876 0.99994898 0.00887831 0.27407847] [-0.02917084 -0.00873407 0.99953628 -0.27596525] [ 0. 0. 0. 1. ]] SLAMing on 5.463133365 meters Centerline goodness : 0.217835 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956644 -0.00506037 0.02900565 0.95248508] [ 0.00479784 0.99994696 0.00911362 0.2726242 ] [-0.02905023 -0.0089705 0.9995377 -0.27625163] [ 0. 0. 0. 1. ]] SLAMing on 5.493133365 meters Centerline goodness : 0.210862 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956928 -0.00502159 0.02891423 0.95275239] [ 0.00475175 0.99994459 0.00939371 0.27100824] [-0.0289598 -0.00925227 0.99953776 -0.27624489] [ 0. 0. 0. 1. ]] SLAMing on 5.523133365 meters Centerline goodness : 0.135514 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956922 -0.00484506 0.02894655 0.95257809] [ 0.00456162 0.99994108 0.00985005 0.2689355 ] [-0.02899256 -0.00971376 0.99953243 -0.27576192] [ 0. 0. 0. 1. ]] SLAMing on 5.553133365 meters Centerline goodness : 0.147261 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.9995683 -0.00474375 0.02899507 0.95247418] [ 0.00445815 0.99994099 0.00990665 0.26898839] [-0.02904035 -0.00977311 0.99953046 -0.27581588] [ 0. 0. 0. 1. ]] SLAMing on 5.583133365 meters Centerline goodness : 0.204306 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99956829 -0.00463626 0.02901273 0.95248759] [ 0.00434769 0.99994053 0.01000137 0.26871784] [-0.02905737 -0.00987091 0.99952901 -0.27599605] [ 0. 0. 0. 1. ]] SLAMing on 5.6131333649999995 meters Centerline goodness : 0.204649 Centerline is valid? [False, False] Translation: X:0.95, Y:0.27, Z:-0.28 [[ 0.99957482 -0.00448128 0.02881156 0.95329462] [ 0.00418771 0.99993879 0.01024154 0.2674055 ] [-0.02885569 -0.01011653 0.99953239 -0.27686924] [ 0. 0. 0. 1. ]] SLAMing on 5.643133365 meters Centerline goodness : 0.224953 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.28 [[ 0.99961701 0.00382426 0.02740826 0.9338253 ] [-0.00408106 0.99994824 0.00931959 0.26077416] [-0.02737121 -0.00942788 0.99958088 -0.27681287] [ 0. 0. 0. 1. ]] SLAMing on 5.673133365 meters Centerline goodness : 0.285431 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.28 [[ 0.9996214 0.00394802 0.02723012 0.93424076] [-0.00420853 0.99994586 0.00951644 0.26004368] [-0.02719108 -0.00962744 0.99958389 -0.27692169] [ 0. 0. 0. 1. ]] SLAMing on 5.703133365 meters Centerline goodness : 0.177068 Centerline is valid? [False, False] Translation: X:0.93, Y:0.26, Z:-0.28 [[ 0.99962064 0.00411215 0.0272334 0.93450118] [-0.00438466 0.99994084 0.00995443 0.25786887] [-0.02719085 -0.01007007 0.99957954 -0.27741781] [ 0. 0. 0. 1. ]] SLAMing on 5.733133365 meters Centerline goodness : 0.133355 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.28 [[ 0.9996817 -0.00417698 0.02488062 0.91371201] [ 0.00390312 0.99993138 0.01104537 0.25767828] [-0.02492505 -0.01094474 0.99962941 -0.27690282] [ 0. 0. 0. 1. ]] SLAMing on 5.763133365 meters Centerline goodness : 0.206566 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.28 [[ 0.99968247 -0.00408831 0.02486447 0.91373941] [ 0.00380571 0.99992775 0.01140268 0.25589222] [-0.02490929 -0.01130443 0.9996258 -0.2767557 ] [ 0. 0. 0. 1. ]] SLAMing on 5.793133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 5.8231333649999995 meters Centerline goodness : 0.097778 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.28 [[ 0.99968575 -0.00401256 0.02474466 0.91418896] [ 0.00371657 0.99992114 0.01199619 0.25254463] [-0.02479084 -0.01190046 0.99962183 -0.27687123] [ 0. 0. 0. 1. ]] SLAMing on 5.853133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 5.883133365 meters Centerline goodness : 0.195615 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.28 [[ 0.9997029 -0.00386457 0.02406625 0.91647446] [ 0.00357683 0.99992175 0.01198766 0.25313751] [-0.02411069 -0.01189802 0.99963849 -0.27857477] [ 0. 0. 0. 1. ]] SLAMing on 5.913133365 meters Centerline goodness : 0.191053 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.28 [[ 0.9997072 -0.00389023 0.02388245 0.91706807] [ 0.00360694 0.99992276 0.0118935 0.25357087] [-0.02392688 -0.01180387 0.99964402 -0.27896222] [ 0. 0. 0. 1. ]] SLAMing on 5.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 5.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 6.003133365 meters Centerline goodness : 0.106271 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.99967102 -0.00579963 0.02498439 0.91149967] [ 0.00554032 0.9999302 0.01043571 0.25105203] [-0.02504317 -0.01029386 0.99963337 -0.27440764] [ 0. 0. 0. 1. ]] SLAMing on 6.033133364999999 meters Centerline goodness : 0.121190 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.9996711 -0.00576057 0.02498997 0.9114882 ] [ 0.00549425 0.99992752 0.01071285 0.24953218] [-0.02504987 -0.01057203 0.9996303 -0.27425076] [ 0. 0. 0. 1. ]] SLAMing on 6.063133365 meters Centerline goodness : 0.181962 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.99967289 -0.0058957 0.02488697 0.91216681] [ 0.0056251 0.99992445 0.01092906 0.24732607] [-0.02494953 -0.0107855 0.99963053 -0.27483278] [ 0. 0. 0. 1. ]] SLAMing on 6.093133365 meters Centerline goodness : 0.188892 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.28 [[ 0.99967472 -0.0058649 0.02482036 0.91246874] [ 0.00559224 0.99992342 0.01104041 0.24670975] [-0.02488321 -0.01089802 0.99963096 -0.27508383] [ 0. 0. 0. 1. ]] SLAMing on 6.123133365 meters Centerline goodness : 0.184087 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.27 [[ 0.99967538 -0.00578299 0.02481322 0.91235641] [ 0.00550724 0.99992248 0.01116696 0.24636864] [-0.02487587 -0.01102668 0.99962973 -0.2748478 ] [ 0. 0. 0. 1. ]] SLAMing on 6.1531333649999995 meters Centerline goodness : 0.176493 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99968498 0.00315341 0.02489988 0.89063033] [-0.00342479 0.99993512 0.0108638 0.24048714] [-0.024864 -0.01094565 0.99963092 -0.27392606] [ 0. 0. 0. 1. ]] SLAMing on 6.183133365 meters Centerline goodness : 0.103399 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99968267 0.00314138 0.02499364 0.89031897] [-0.00340918 0.99993716 0.01067945 0.24149964] [-0.02495852 -0.01076127 0.99963057 -0.27381309] [ 0. 0. 0. 1. ]] SLAMing on 6.213133365 meters Centerline goodness : 0.177062 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99968486 0.00319954 0.02489886 0.89054133] [-0.00346132 0.99993912 0.01047769 0.2427894 ] [-0.02486382 -0.01056057 0.99963507 -0.2740155 ] [ 0. 0. 0. 1. ]] SLAMing on 6.243133365 meters Centerline goodness : 0.171103 Centerline is valid? [False, False] Translation: X:0.89, Y:0.25, Z:-0.28 [[ 0.9996921 0.00334294 0.02458708 0.89168078] [-0.00359336 0.99994206 0.01014763 0.2451588 ] [-0.02455173 -0.01023286 0.99964619 -0.27505514] [ 0. 0. 0. 1. ]] SLAMing on 6.273133365 meters Centerline goodness : 0.172814 Centerline is valid? [False, False] Translation: X:0.89, Y:0.25, Z:-0.28 [[ 0.99969365 0.00329168 0.02453085 0.89193605] [-0.00353856 0.99994346 0.01002765 0.24563052] [-0.02449646 -0.01011138 0.99964878 -0.27533258] [ 0. 0. 0. 1. ]] SLAMing on 6.303133365 meters Centerline goodness : 0.168268 Centerline is valid? [False, False] Translation: X:0.89, Y:0.25, Z:-0.28 [[ 0.99969418 0.00325808 0.02451375 0.89190121] [-0.00350485 0.99994355 0.01003054 0.24535793] [-0.02447968 -0.01011339 0.99964917 -0.27518568] [ 0. 0. 0. 1. ]] SLAMing on 6.333133365 meters Centerline goodness : 0.169670 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 0.99969433 0.00329383 0.0245029 0.8917527 ] [-0.00354638 0.99994097 0.01027055 0.24395713] [-0.02446762 -0.01035431 0.999647 -0.2747921 ] [ 0. 0. 0. 1. ]] SLAMing on 6.3631333649999995 meters Centerline goodness : 0.169484 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.27 [[ 9.99702259e-01 -3.78186156e-04 2.43977395e-02 8.91867778e-01] [ 2.15415708e-04 9.99977707e-01 6.67382138e-03 2.43160186e-01] [-2.43997195e-02 -6.66657866e-03 9.99680054e-01 -2.74687799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.393133365 meters Centerline goodness : 0.168197 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.28 [[ 9.99710164e-01 -3.66074083e-04 2.40718447e-02 8.92906482e-01] [ 2.00860990e-04 9.99976413e-01 6.86539303e-03 2.42076713e-01] [-2.40737901e-02 -6.85856810e-03 9.99686657e-01 -2.75136331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423133365 meters Centerline goodness : 0.167478 Centerline is valid? [False, False] Translation: X:0.89, Y:0.24, Z:-0.28 [[ 9.99717428e-01 -3.41197642e-04 2.37686445e-02 8.93813164e-01] [ 1.74277856e-04 9.99975313e-01 7.02440602e-03 2.41259956e-01] [-2.37704544e-02 -7.01827877e-03 9.99692807e-01 -2.75470803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.453133365 meters Centerline goodness : 0.163992 Centerline is valid? [False, False] Translation: X:0.90, Y:0.24, Z:-0.28 [[ 9.99727608e-01 -3.98955617e-04 2.33356005e-02 8.95010474e-01] [ 2.29818775e-04 9.99973690e-01 7.25025036e-03 2.39793188e-01] [-2.33378791e-02 -7.24291250e-03 9.99701397e-01 -2.75737845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.483133365 meters Centerline goodness : 0.090697 Centerline is valid? [False, False] Translation: X:0.87, Y:0.24, Z:-0.27 [[ 0.99972916 0.00561049 0.02258606 0.8718603 ] [-0.00570792 0.99997467 0.00425177 0.23560873] [-0.02256163 -0.00437953 0.99973586 -0.27402185] [ 0. 0. 0. 1. ]] SLAMing on 6.513133365 meters Centerline goodness : 0.161304 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.27 [[ 0.99973205 0.0056128 0.02245709 0.87213026] [-0.00571427 0.99997374 0.00445677 0.23440484] [-0.02243149 -0.00458391 0.99973787 -0.27392163] [ 0. 0. 0. 1. ]] SLAMing on 6.543133365 meters Centerline goodness : 0.169466 Centerline is valid? [False, False] Translation: X:0.87, Y:0.23, Z:-0.27 [[ 0.99973633 0.00564977 0.02225649 0.87275777] [-0.00575576 0.99997239 0.00470083 0.2330796 ] [-0.02222932 -0.00482769 0.99974124 -0.27412407] [ 0. 0. 0. 1. ]] SLAMing on 6.5731333649999995 meters Centerline goodness : 0.179007 Centerline is valid? [False, False] Translation: X:0.88, Y:0.23, Z:-0.28 [[ 0.99976539 0.00542861 0.0209688 0.87626122] [-0.00553452 0.99997221 0.0049957 0.23048227] [-0.0209411 -0.00511058 0.99976765 -0.27503229] [ 0. 0. 0. 1. ]] SLAMing on 6.603133365 meters Centerline goodness : 0.161791 Centerline is valid? [False, False] Translation: X:0.88, Y:0.23, Z:-0.28 [[ 0.99977147 0.00547813 0.02066405 0.87707482] [-0.00558928 0.9999702 0.00532503 0.22869986] [-0.02063426 -0.00543931 0.99977229 -0.27516277] [ 0. 0. 0. 1. ]] SLAMing on 6.633133365 meters Centerline goodness : 0.155604 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.27 [[ 0.99979782 -0.00362093 0.01977896 0.85455767] [ 0.00350374 0.99997612 0.0059564 0.22883711] [-0.01980005 -0.0058859 0.99978663 -0.27428488] [ 0. 0. 0. 1. ]] SLAMing on 6.663133365 meters Centerline goodness : 0.176251 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.27 [[ 0.99979377 -0.00358907 0.01998862 0.85385391] [ 0.00346213 0.99997365 0.00638145 0.226401 ] [-0.020011 -0.00631093 0.99977984 -0.27367699] [ 0. 0. 0. 1. ]] SLAMing on 6.693133365 meters Centerline goodness : 0.087416 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.27 [[ 0.99978437 -0.00368886 0.02043519 0.85248376] [ 0.00354529 0.99996881 0.00705731 0.2218338 ] [-0.02046059 -0.00698334 0.99976627 -0.27283305] [ 0. 0. 0. 1. ]] SLAMing on 6.723133365 meters Centerline goodness : 0.100242 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.27 [[ 0.99981555 0.00251258 0.01904088 0.82997147] [-0.00259633 0.99998706 0.00437525 0.21670934] [-0.01902964 -0.00442387 0.99980913 -0.27141982] [ 0. 0. 0. 1. ]] SLAMing on 6.753133365 meters Centerline goodness : 0.161273 Centerline is valid? [False, False] Translation: X:0.85, Y:0.22, Z:-0.27 [[ 0.99980602 -0.00573469 0.01884237 0.85021632] [ 0.00563429 0.99996967 0.00537744 0.2193008 ] [-0.01887263 -0.00527024 0.99980801 -0.27120851] [ 0. 0. 0. 1. ]] SLAMing on 6.783133364999999 meters Centerline goodness : 0.163466 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.27 [[ 0.99983923 0.00196763 0.01782268 0.83198194] [-0.00204553 0.99998843 0.00435348 0.20826731] [-0.01781391 -0.00438924 0.99983169 -0.27215397] [ 0. 0. 0. 1. ]] SLAMing on 6.813133365 meters Centerline goodness : 0.109233 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.27 [[ 0.99984085 0.00213606 0.0177118 0.83216833] [-0.00222385 0.99998533 0.0049386 0.2053255 ] [-0.01770099 -0.0049772 0.99983094 -0.27195752] [ 0. 0. 0. 1. ]] SLAMing on 6.843133365 meters Centerline goodness : 0.109233 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.27 [[ 0.99984085 0.00213606 0.0177118 0.83216833] [-0.00222385 0.99998533 0.0049386 0.2053255 ] [-0.01770099 -0.0049772 0.99983094 -0.27195752] [ 0. 0. 0. 1. ]] SLAMing on 6.873133365 meters Centerline goodness : 0.107135 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.27 [[ 0.9998763 0.0012681 0.01567712 0.78728977] [-0.00134473 0.9999872 0.00487822 0.19899181] [-0.01567073 -0.0048987 0.99986521 -0.26993781] [ 0. 0. 0. 1. ]] SLAMing on 6.9031333649999995 meters Centerline goodness : 0.164540 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.27 [[ 0.9998754 0.00143273 0.01572013 0.78702683] [-0.00152017 0.99998344 0.00555137 0.19552612] [-0.01571192 -0.00557458 0.99986102 -0.26953828] [ 0. 0. 0. 1. ]] SLAMing on 6.933133365 meters Centerline goodness : 0.160895 Centerline is valid? [False, False] Translation: X:0.78, Y:0.19, Z:-0.27 [[ 0.99986534 -0.0014989 0.01634175 0.78438448] [ 0.00144299 0.99999307 0.00343219 0.18886049] [-0.01634678 -0.00340815 0.99986057 -0.26775013] [ 0. 0. 0. 1. ]] SLAMing on 6.963133365 meters Centerline goodness : 0.119601 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.27 [[ 0.99986414 -0.00126423 0.01643499 0.78409128] [ 0.00119523 0.99999043 0.00420739 0.18496511] [-0.01644015 -0.00418718 0.99985608 -0.2674533 ] [ 0. 0. 0. 1. ]] SLAMing on 6.993133364999999 meters Centerline goodness : 0.159177 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.27 [[ 9.99864013e-01 -9.94682275e-04 1.64610638e-02 7.83975356e-01] [ 9.12201486e-04 9.99986997e-01 5.01740982e-03 1.81073674e-01] [-1.64658405e-02 -5.00171171e-03 9.99851919e-01 -2.67246817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.023133365 meters Centerline goodness : 0.148315 Centerline is valid? [False, False] Translation: X:0.78, Y:0.18, Z:-0.27 [[ 9.99865078e-01 -6.88767397e-04 1.64119146e-02 7.84114897e-01] [ 5.92382374e-04 9.99982555e-01 5.87700674e-03 1.77031540e-01] [-1.64156761e-02 -5.86649168e-03 9.99848043e-01 -2.67163506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.053133365 meters Centerline goodness : 0.116866 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:-0.27 [[ 0.99987893 -0.00169386 0.01546803 0.78729474] [ 0.00160404 0.99998179 0.00581694 0.1671269 ] [-0.0154776 -0.00579142 0.99986344 -0.26833954] [ 0. 0. 0. 1. ]] SLAMing on 7.083133365 meters Centerline goodness : 0.107245 Centerline is valid? [False, False] Translation: X:0.77, Y:0.16, Z:-0.27 [[ 0.99987452 0.00618048 0.01458559 0.76923085] [-0.00625327 0.9999682 0.00495017 0.15737977] [-0.01455453 -0.00504076 0.99988137 -0.26969598] [ 0. 0. 0. 1. ]] SLAMing on 7.1131333649999995 meters Centerline goodness : 0.107156 Centerline is valid? [False, False] Translation: X:0.77, Y:0.15, Z:-0.27 [[ 0.99987605 0.00642462 0.01437416 0.76983897] [-0.00650563 0.99996318 0.00559612 0.1543446 ] [-0.01433768 -0.00568893 0.99988103 -0.26987119] [ 0. 0. 0. 1. ]] SLAMing on 7.143133365 meters Centerline goodness : 0.154297 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:-0.27 [[ 0.99988754 -0.00148689 0.01492296 0.78918697] [ 0.00138654 0.99997637 0.00673317 0.15598465] [-0.01493262 -0.00671173 0.99986598 -0.26935371] [ 0. 0. 0. 1. ]] SLAMing on 7.173133365 meters Centerline goodness : 0.120772 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 0.99988435 -0.00132441 0.01515006 0.78844791] [ 0.00121731 0.99997422 0.00707648 0.15432147] [-0.01515904 -0.00705722 0.99986019 -0.26894203] [ 0. 0. 0. 1. ]] SLAMing on 7.203133364999999 meters Centerline goodness : 0.138890 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99871355e-01 -8.97886173e-04 1.60145876e-02 7.86177167e-01] [ 7.75609056e-04 9.99970514e-01 7.63993572e-03 1.51967979e-01] [-1.60209752e-02 -7.62653182e-03 9.99842570e-01 -2.68472211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.233133365 meters Centerline goodness : 0.124626 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99869633e-01 -8.12144280e-04 1.61262751e-02 7.86093154e-01] [ 6.87160076e-04 9.99969698e-01 7.75437458e-03 1.51501217e-01] [-1.61320841e-02 -7.74228233e-03 9.99839894e-01 -2.68782880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263133365 meters Centerline goodness : 0.123644 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99869867e-01 -7.00470816e-04 1.61170059e-02 7.86325878e-01] [ 5.73656456e-04 9.99968854e-01 7.87163540e-03 1.51066269e-01] [-1.61220178e-02 -7.86136541e-03 9.99839127e-01 -2.69179373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.293133365 meters Centerline goodness : 0.140242 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99872817e-01 -5.43013490e-04 1.59391143e-02 7.87252342e-01] [ 4.13756780e-04 9.99967015e-01 8.11158132e-03 1.49773641e-01] [-1.59429932e-02 -8.10395475e-03 9.99840061e-01 -2.70081990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3231333649999995 meters Centerline goodness : 0.125282 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.27 [[ 0.9998531 0.00742685 0.01544716 0.76781483] [-0.00753657 0.9999467 0.00705705 0.1434301 ] [-0.01539393 -0.00717243 0.99985578 -0.27105835] [ 0. 0. 0. 1. ]] SLAMing on 7.353133365 meters Centerline goodness : 0.148077 Centerline is valid? [False, False] Translation: X:0.79, Y:0.15, Z:-0.27 [[ 9.99882663e-01 -2.72836253e-04 1.53161861e-02 7.87563766e-01] [ 1.53782829e-04 9.99969773e-01 7.77368597e-03 1.48619193e-01] [-1.53178441e-02 -7.77041846e-03 9.99852481e-01 -2.70876157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383133365 meters Centerline goodness : 0.122631 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.27 [[ 0.99986567 0.00792331 0.01434812 0.76772992] [-0.00802075 0.99994507 0.00674692 0.14321432] [-0.01429388 -0.0068611 0.9998743 -0.27206587] [ 0. 0. 0. 1. ]] SLAMing on 7.413133365 meters Centerline goodness : 0.137354 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.27 [[ 0.99992252 0.00209975 0.01226958 0.78330619] [-0.00219867 0.99996515 0.00805416 0.14825376] [-0.01225224 -0.00808051 0.99989229 -0.26930624] [ 0. 0. 0. 1. ]] SLAMing on 7.443133365 meters Centerline goodness : 0.147247 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.27 [[ 0.99992358 0.00215964 0.01217252 0.78351396] [-0.00225879 0.99996434 0.00813733 0.14801737] [-0.01215451 -0.0081642 0.9998928 -0.26930333] [ 0. 0. 0. 1. ]] SLAMing on 7.473133365 meters Centerline goodness : 0.122542 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:-0.27 [[ 0.99992672 0.00228058 0.01188935 0.78430526] [-0.00238137 0.9999613 0.00846969 0.14619031] [-0.01186957 -0.00849738 0.99989345 -0.26944032] [ 0. 0. 0. 1. ]] SLAMing on 7.503133365 meters Centerline goodness : 0.136454 Centerline is valid? [False, False] Translation: X:0.78, Y:0.14, Z:-0.27 [[ 0.99992912 0.00233555 0.01167511 0.78490561] [-0.00243717 0.99995921 0.00869736 0.14482496] [-0.01165432 -0.00872519 0.99989402 -0.26956291] [ 0. 0. 0. 1. ]] SLAMing on 7.533133364999999 meters Centerline goodness : 0.121576 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 0.99993106 0.00242055 0.01148985 0.78558515] [-0.00252325 0.99995692 0.00893225 0.14373664] [-0.01146774 -0.00896062 0.99989409 -0.26993628] [ 0. 0. 0. 1. ]] SLAMing on 7.563133365 meters Centerline goodness : 0.138048 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 0.99993251 0.00249205 0.01134721 0.78619347] [-0.00259542 0.99995518 0.00910453 0.14298936] [-0.01132401 -0.00913336 0.99989417 -0.27036768] [ 0. 0. 0. 1. ]] SLAMing on 7.593133365 meters Centerline goodness : 0.119768 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 9.99937779e-01 -1.12979613e-04 1.11546101e-02 7.86886766e-01] [ 4.20830745e-05 9.99979801e-01 6.35583624e-03 1.41971260e-01] [-1.11551029e-02 -6.35497135e-03 9.99917586e-01 -2.70785451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623133365 meters Centerline goodness : 0.130604 Centerline is valid? [False, False] Translation: X:0.77, Y:0.14, Z:-0.27 [[ 0.99990739 0.00755695 0.01131838 0.76714794] [-0.00761741 0.9999569 0.00530746 0.1351878 ] [-0.01127779 -0.00539319 0.99992186 -0.271579 ] [ 0. 0. 0. 1. ]] SLAMing on 7.6531333649999995 meters Centerline goodness : 0.137253 Centerline is valid? [False, False] Translation: X:0.77, Y:0.13, Z:-0.27 [[ 0.99990606 0.00760306 0.01140473 0.76675898] [-0.00766528 0.99995592 0.00542224 0.13469189] [-0.011363 -0.00550915 0.99992026 -0.27126687] [ 0. 0. 0. 1. ]] SLAMing on 7.683133365 meters Centerline goodness : 0.134827 Centerline is valid? [False, False] Translation: X:0.77, Y:0.13, Z:-0.27 [[ 0.99990333 0.00775053 0.01154351 0.7661891 ] [-0.00781678 0.99995318 0.00570466 0.13379738] [-0.01149875 -0.00579434 0.9999171 -0.27086172] [ 0. 0. 0. 1. ]] SLAMing on 7.713133365 meters Centerline goodness : 0.123604 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.27 [[ 0.99994308 -0.00141244 0.01057544 0.74478666] [ 0.00134563 0.99997911 0.0063214 0.13557703] [-0.01058415 -0.00630681 0.9999241 -0.27105774] [ 0. 0. 0. 1. ]] SLAMing on 7.743133364999999 meters Centerline goodness : 0.119299 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 0.99992232 -0.00112897 0.01241325 0.78880176] [ 0.00106112 0.99998447 0.00547128 0.13927284] [-0.01241923 -0.00545768 0.99990798 -0.27239121] [ 0. 0. 0. 1. ]] SLAMing on 7.773133365 meters Centerline goodness : 0.121425 Centerline is valid? [False, False] Translation: X:0.79, Y:0.14, Z:-0.27 [[ 9.99921923e-01 -1.06199833e-03 1.24506719e-02 7.88589188e-01] [ 9.91452992e-04 9.99983429e-01 5.67079049e-03 1.38238178e-01] [-1.24564879e-02 -5.65800348e-03 9.99906407e-01 -2.72157425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803133365 meters Centerline goodness : 0.140055 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99922727e-01 -1.00010614e-03 1.23911556e-02 7.88526356e-01] [ 9.22313768e-04 9.99979842e-01 6.28218101e-03 1.34830722e-01] [-1.23971887e-02 -6.27026703e-03 9.99903492e-01 -2.71644012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.833133365 meters Centerline goodness : 0.143138 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99924959e-01 -9.17929478e-04 1.22161352e-02 7.88861969e-01] [ 8.35274951e-04 9.99976739e-01 6.76939582e-03 1.32173011e-01] [-1.22220648e-02 -6.75868401e-03 9.99902466e-01 -2.71371438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8631333649999995 meters Centerline goodness : 0.142149 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99927123e-01 -8.60104602e-04 1.20419337e-02 7.89206929e-01] [ 7.72696185e-04 9.99973337e-01 7.26144141e-03 1.29304158e-01] [-1.20478582e-02 -7.25160747e-03 9.99901127e-01 -2.71059347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.893133365 meters Centerline goodness : 0.144397 Centerline is valid? [False, False] Translation: X:0.79, Y:0.13, Z:-0.27 [[ 9.99930019e-01 -7.67626680e-04 1.18054262e-02 7.89751996e-01] [ 6.76272470e-04 9.99969814e-01 7.74036982e-03 1.26641286e-01] [-1.18110116e-02 -7.73184446e-03 9.99900354e-01 -2.70943633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923133365 meters Centerline goodness : 0.140716 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:-0.27 [[ 9.99932448e-01 -5.90669410e-04 1.16082500e-02 7.90374186e-01] [ 4.93912463e-04 9.99965131e-01 8.33628804e-03 1.23645881e-01] [-1.16127692e-02 -8.32999145e-03 9.99897872e-01 -2.71085164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.953133364999999 meters Centerline goodness : 0.123675 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:-0.27 [[ 9.99934529e-01 -5.62105347e-04 1.14289676e-02 7.91079585e-01] [ 4.65959973e-04 9.99964499e-01 8.41335180e-03 1.23200410e-01] [-1.14332910e-02 -8.40747553e-03 9.99899292e-01 -2.71551702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.983133365 meters Centerline goodness : 0.429550 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:-0.27 [[ 9.99936808e-01 -5.67420957e-04 1.12275577e-02 7.91742813e-01] [ 4.73829071e-04 9.99965136e-01 8.33681266e-03 1.23566121e-01] [-1.12318967e-02 -8.33096590e-03 9.99902215e-01 -2.71878263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.013133365 meters Centerline goodness : 0.143481 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996627 -0.00120731 0.00812467 0.74701819] [ 0.00113728 0.99996222 0.0086179 0.11989544] [-0.00813476 -0.00860837 0.99992986 -0.27009035] [ 0. 0. 0. 1. ]] SLAMing on 8.043133365 meters Centerline goodness : 0.144566 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996711 -0.00124043 0.00801493 0.74732109] [ 0.00117248 0.99996338 0.00847699 0.12057215] [-0.00802516 -0.00846731 0.99993195 -0.27021819] [ 0. 0. 0. 1. ]] SLAMing on 8.073133365 meters Centerline goodness : 0.145798 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996637 -0.00134842 0.00808976 0.74695496] [ 0.00128347 0.99996695 0.00802839 0.12291274] [-0.00810032 -0.00801774 0.99993505 -0.27003634] [ 0. 0. 0. 1. ]] SLAMing on 8.103133365 meters Centerline goodness : 0.148747 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.27 [[ 0.99996489 -0.0014894 0.00824619 0.74638891] [ 0.00142641 0.99996981 0.00763875 0.1247488 ] [-0.00825732 -0.00762672 0.99993682 -0.26977415] [ 0. 0. 0. 1. ]] SLAMing on 8.133133364999999 meters Centerline goodness : 0.149973 Centerline is valid? [False, False] Translation: X:0.70, Y:0.12, Z:-0.27 [[ 0.99997924 -0.00227743 0.00602704 0.69946037] [ 0.00223179 0.99996887 0.00756776 0.12320568] [-0.00604408 -0.00755415 0.9999532 -0.26719042] [ 0. 0. 0. 1. ]] SLAMing on 8.163133365 meters Centerline goodness : 0.144141 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996647 -0.00133955 0.00807843 0.74218655] [ 0.00128204 0.99997383 0.00712034 0.12987186] [-0.00808776 -0.00710974 0.99994202 -0.26775175] [ 0. 0. 0. 1. ]] SLAMing on 8.193133365 meters Centerline goodness : 0.124386 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996608 -0.00156698 0.00808577 0.74201226] [ 0.00151324 0.99997676 0.00664778 0.13200116] [-0.008096 -0.00663532 0.99994521 -0.26759954] [ 0. 0. 0. 1. ]] SLAMing on 8.223133364999999 meters Centerline goodness : 0.152385 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996812 -0.00169891 0.00780176 0.74263742] [ 0.00164769 0.99997708 0.00656734 0.13206956] [-0.00781274 -0.00655428 0.999948 -0.26749686] [ 0. 0. 0. 1. ]] SLAMing on 8.253133365 meters Centerline goodness : 0.150413 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99996962 -0.0022113 0.00747393 0.74319891] [ 0.00216258 0.9999764 0.00652103 0.13079971] [-0.00748817 -0.00650467 0.99995081 -0.26697722] [ 0. 0. 0. 1. ]] SLAMing on 8.283133365 meters Centerline goodness : 0.125836 Centerline is valid? [False, False] Translation: X:0.74, Y:0.13, Z:-0.27 [[ 0.99997054 -0.00226771 0.00733337 0.74327202] [ 0.00221761 0.9999742 0.00683253 0.1289138 ] [-0.00734867 -0.00681606 0.99994977 -0.26643007] [ 0. 0. 0. 1. ]] SLAMing on 8.313133365 meters Centerline goodness : 0.124638 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.27 [[ 0.99996115 0.00262876 0.00841315 0.72105446] [-0.00266118 0.99998907 0.00384548 0.1228137 ] [-0.00840295 -0.00386772 0.99995721 -0.26607277] [ 0. 0. 0. 1. ]] SLAMing on 8.343133365 meters Centerline goodness : 0.123196 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.27 [[ 0.99996059 0.00259982 0.008489 0.72060077] [-0.00263596 0.9999875 0.00424801 0.12028244] [-0.00847785 -0.00427022 0.99995494 -0.26548732] [ 0. 0. 0. 1. ]] SLAMing on 8.373133365 meters Centerline goodness : 0.144586 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.26 [[ 9.99956632e-01 1.18276327e-04 9.31234388e-03 7.17454572e-01] [-1.40059811e-04 9.99997256e-01 2.33858785e-03 1.15563677e-01] [-9.31204173e-03 -2.33979071e-03 9.99953905e-01 -2.64006368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403133365 meters Centerline goodness : 0.146723 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 9.99956492e-01 2.38687768e-04 9.32512464e-03 7.17532165e-01] [-2.63879666e-04 9.99996319e-01 2.70037093e-03 1.13798409e-01] [-9.32444577e-03 -2.70271415e-03 9.99952874e-01 -2.64135125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.433133365 meters Centerline goodness : 0.147204 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 9.99956533e-01 3.19995845e-04 9.31822807e-03 7.17530038e-01] [-3.47432468e-04 9.99995609e-01 2.94293363e-03 1.12482804e-01] [-9.31724543e-03 -2.94604316e-03 9.99952254e-01 -2.64067660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463133365 meters Centerline goodness : 0.124840 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 9.99956939e-01 3.95538669e-04 9.27164154e-03 7.17593519e-01] [-4.25087708e-04 9.99994837e-01 3.18528034e-03 1.11150500e-01] [-9.27033377e-03 -3.18908444e-03 9.99951944e-01 -2.63952318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.493133365 meters Centerline goodness : 0.145452 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.26 [[ 9.99945930e-01 6.17422025e-03 8.36755971e-03 6.95784241e-01] [-6.17845162e-03 9.99980798e-01 4.79931133e-04 1.04283517e-01] [-8.36443583e-03 -5.31603746e-04 9.99964876e-01 -2.63248631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523133365 meters Centerline goodness : 0.146496 Centerline is valid? [False, False] Translation: X:0.72, Y:0.11, Z:-0.26 [[ 0.99996632 -0.00142367 0.00808304 0.71509862] [ 0.00141017 0.9999976 0.00167538 0.10674686] [-0.00808541 -0.00166393 0.99996593 -0.26194085] [ 0. 0. 0. 1. ]] SLAMing on 8.553133364999999 meters Centerline goodness : 0.141239 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.26 [[ 9.99949604e-01 6.27144840e-03 7.83958415e-03 6.95831570e-01] [-6.27857413e-03 9.99979898e-01 8.84661480e-04 9.85162634e-02] [-7.83387845e-03 -9.33838306e-04 9.99968879e-01 -2.62917182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583133365 meters Centerline goodness : 0.142679 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.26 [[ 0.99996449 0.00266923 0.00799384 0.69528648] [-0.00265016 0.99999362 -0.00239582 0.09551563] [-0.00800018 0.00237455 0.99996518 -0.26267285] [ 0. 0. 0. 1. ]] SLAMing on 8.613133365 meters Centerline goodness : 0.038761 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.26 [[ 0.99996479 0.00277322 0.00792042 0.69544456] [-0.0027575 0.99999421 -0.00199427 0.09320778] [-0.00792591 0.00197236 0.99996664 -0.26260837] [ 0. 0. 0. 1. ]] SLAMing on 8.643133365 meters Centerline goodness : 0.145903 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.26 [[ 0.99996345 0.00291504 0.00803719 0.69510403] [-0.00290233 0.99999452 -0.00159211 0.09119135] [-0.00804179 0.00156873 0.99996643 -0.26248355] [ 0. 0. 0. 1. ]] SLAMing on 8.673133365 meters Centerline goodness : 0.143691 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.26 [[ 9.99961373e-01 3.23198292e-03 8.17359552e-03 6.94802785e-01] [-3.22535793e-03 9.99994459e-01 -8.23587620e-04 8.75905572e-02] [-8.17621205e-03 7.97193036e-04 9.99966256e-01 -2.62474590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703133365 meters Centerline goodness : 0.145495 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.26 [[ 9.99962399e-01 3.33107459e-03 8.00657561e-03 6.95379359e-01] [-3.32683415e-03 9.99994319e-01 -5.42879529e-04 8.61170915e-02] [-8.00833849e-03 5.16222567e-04 9.99967799e-01 -2.62753801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.733133365 meters Centerline goodness : 0.142678 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:-0.26 [[ 9.99967855e-01 -5.30103852e-03 6.01570365e-03 6.75586392e-01] [ 5.29653522e-03 9.99985681e-01 7.64275901e-04 8.73944528e-02] [-6.01966897e-03 -7.32388947e-04 9.99981613e-01 -2.62926440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763133365 meters Centerline goodness : 0.142678 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:-0.26 [[ 9.99967855e-01 -5.30103852e-03 6.01570365e-03 6.75586392e-01] [ 5.29653522e-03 9.99985681e-01 7.64275901e-04 8.73944528e-02] [-6.01966897e-03 -7.32388947e-04 9.99981613e-01 -2.62926440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.793133365 meters Centerline goodness : 0.143256 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.26 [[ 9.99982907e-01 3.17576993e-03 4.90926688e-03 6.95922430e-01] [-3.17511410e-03 9.99994949e-01 -1.41377400e-04 8.32112360e-02] [-4.90969107e-03 1.25787501e-04 9.99987939e-01 -2.61707465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823133365 meters Centerline goodness : 0.134693 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.26 [[ 9.99983771e-01 3.29285499e-03 4.64912079e-03 6.96811002e-01] [-3.29312465e-03 9.99994576e-01 5.03479883e-05 8.23629989e-02] [-4.64892978e-03 -6.56573055e-05 9.99989192e-01 -2.62169995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.853133365 meters Centerline goodness : 0.139459 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.26 [[ 0.99997811 -0.00535382 0.00388797 0.67627398] [ 0.00534848 0.99998474 0.0013812 0.08471269] [-0.00389531 -0.00136037 0.99999149 -0.2624963 ] [ 0. 0. 0. 1. ]] SLAMing on 8.883133364999999 meters Centerline goodness : 0.137888 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.26 [[ 0.99997825 -0.0052648 0.00397279 0.67588729] [ 0.00525867 0.99998497 0.0015519 0.08406037] [-0.0039809 -0.00153098 0.9999909 -0.26219718] [ 0. 0. 0. 1. ]] SLAMing on 8.913133365 meters Centerline goodness : 0.141628 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.26 [[ 9.99985791e-01 2.20692707e-03 4.85261548e-03 6.56378420e-01] [-2.21131322e-03 9.99997151e-01 8.98692744e-04 7.72420949e-02] [-4.85061830e-03 -9.09410627e-04 9.99987822e-01 -2.63496314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943133365 meters Centerline goodness : 0.146060 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.26 [[ 0.99998534 0.00222798 0.00493567 0.65607091] [-0.0022333 0.99999693 0.00107345 0.07609737] [-0.00493326 -0.00108446 0.99998724 -0.26325598] [ 0. 0. 0. 1. ]] SLAMing on 8.973133364999999 meters Centerline goodness : 0.145459 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.26 [[ 0.99998486 0.00224111 0.00502577 0.65557947] [-0.0022476 0.99999665 0.00128534 0.07459883] [-0.00502287 -0.00129662 0.99998654 -0.26277597] [ 0. 0. 0. 1. ]] SLAMing on 9.003133365 meters Centerline goodness : 0.143424 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.26 [[ 0.99998505 0.00234712 0.00493902 0.65550827] [-0.00235575 0.99999571 0.00174252 0.07211178] [-0.00493491 -0.00175413 0.99998628 -0.26226434] [ 0. 0. 0. 1. ]] SLAMing on 9.033133365 meters Centerline goodness : 0.140419 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.26 [[ 0.99998585 0.00242875 0.00473361 0.65611416] [-0.00243804 0.99999511 0.00195643 0.07110158] [-0.00472883 -0.00196794 0.99998688 -0.26245002] [ 0. 0. 0. 1. ]] SLAMing on 9.063133365 meters Centerline goodness : 0.144592 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997505 -0.00625084 0.00329013 0.63607048] [ 0.0062399 0.99997501 0.00332459 0.07288328] [-0.00331083 -0.00330397 0.99998906 -0.26276237] [ 0. 0. 0. 1. ]] SLAMing on 9.093133365 meters Centerline goodness : 0.141660 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997551 -0.00616689 0.00330843 0.6359255 ] [ 0.00615529 0.99997491 0.00350618 0.07204151] [-0.00332997 -0.00348573 0.99998838 -0.26256929] [ 0. 0. 0. 1. ]] SLAMing on 9.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 9.153133365 meters Centerline goodness : 0.140847 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997626 -0.00592047 0.00352439 0.63535557] [ 0.00590715 0.99997542 0.00377671 0.07096456] [-0.00354666 -0.0037558 0.99998666 -0.26248834] [ 0. 0. 0. 1. ]] SLAMing on 9.183133365 meters Centerline goodness : 0.132932 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.26 [[ 0.99997637 -0.0058276 0.0036471 0.63521389] [ 0.00581382 0.99997596 0.00377745 0.07143118] [-0.00366903 -0.00375616 0.99998621 -0.2627659 ] [ 0. 0. 0. 1. ]] SLAMing on 9.213133365 meters Centerline goodness : 0.136225 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.26 [[ 0.99998862 0.00204877 0.00430848 0.61502377] [-0.00206165 0.99999342 0.00298574 0.06648519] [-0.00430233 -0.00299459 0.99998626 -0.26427802] [ 0. 0. 0. 1. ]] SLAMing on 9.243133365 meters Centerline goodness : 0.142702 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.26 [[ 0.99998739 0.00210532 0.00455933 0.61425884] [-0.00211902 0.99999325 0.00300107 0.06663752] [-0.00455298 -0.00301069 0.9999851 -0.2640199 ] [ 0. 0. 0. 1. ]] SLAMing on 9.273133365 meters Centerline goodness : 0.136169 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.26 [[ 0.99998634 0.00217587 0.00475208 0.61360352] [-0.00219086 0.99999263 0.00315166 0.06586022] [-0.00474519 -0.00316203 0.99998374 -0.2636697 ] [ 0. 0. 0. 1. ]] SLAMing on 9.303133364999999 meters Centerline goodness : 0.137375 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.26 [[ 0.99998729 0.00217535 0.0045487 0.61434981] [-0.00218993 0.99999247 0.00320361 0.06537887] [-0.00454169 -0.00321353 0.99998452 -0.26410586] [ 0. 0. 0. 1. ]] SLAMing on 9.333133365 meters Centerline goodness : 0.139772 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.26 [[ 0.99998774 0.00216103 0.00445446 0.61483127] [-0.00217552 0.99999236 0.00324915 0.06481862] [-0.0044474 -0.0032588 0.9999848 -0.26451451] [ 0. 0. 0. 1. ]] SLAMing on 9.363133365 meters Centerline goodness : 0.142932 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998809 0.00220526 0.00435359 0.61518439] [-0.00222054 0.99999138 0.00350853 0.06316165] [-0.00434582 -0.00351815 0.99998437 -0.26470036] [ 0. 0. 0. 1. ]] SLAMing on 9.393133364999999 meters Centerline goodness : 0.155934 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998811 0.00227135 0.00431501 0.61525687] [-0.00228732 0.99999055 0.00369829 0.06234384] [-0.00430657 -0.00370811 0.99998385 -0.26464839] [ 0. 0. 0. 1. ]] SLAMing on 9.423133365 meters Centerline goodness : 0.153333 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998809 0.00235477 0.00427592 0.61538795] [-0.00237148 0.99998956 0.00390641 0.06146451] [-0.00426667 -0.0039165 0.99998323 -0.26469418] [ 0. 0. 0. 1. ]] SLAMing on 9.453133365 meters Centerline goodness : 0.143424 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.26 [[ 0.99998841 0.00240508 0.00416977 0.61565855] [-0.00242224 0.9999886 0.00411447 0.06028506] [-0.00415983 -0.00412452 0.99998284 -0.26466231] [ 0. 0. 0. 1. ]] SLAMing on 9.483133365 meters Centerline goodness : 0.139225 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.26 [[ 9.99988219e-01 -1.26822084e-03 4.68537189e-03 6.14353261e-01] [ 1.26564929e-03 9.99999047e-01 5.51770824e-04 5.87133807e-02] [-4.68606719e-03 -5.45834286e-04 9.99988871e-01 -2.64540509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.513133365 meters Centerline goodness : 0.133576 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.26 [[ 9.99989356e-01 -1.24489711e-03 4.44282071e-03 6.14981322e-01] [ 1.24154479e-03 9.99998943e-01 7.57224876e-04 5.73212966e-02] [-4.44375868e-03 -7.51700855e-04 9.99989844e-01 -2.64615548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543133365 meters Centerline goodness : 0.136424 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.27 [[ 9.99973609e-01 6.34305704e-03 3.54212569e-03 5.96076380e-01] [-6.34264765e-03 9.99979877e-01 -1.26800193e-04 5.00888923e-02] [-3.54285872e-03 1.04330391e-04 9.99993719e-01 -2.65802033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.573133365 meters Centerline goodness : 0.133032 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.26 [[ 9.99995442e-01 -8.66134509e-04 2.89223658e-03 6.15570099e-01] [ 8.62825774e-04 9.99998972e-01 1.14505773e-03 5.29104945e-02] [-2.89322538e-03 -1.14255701e-03 9.99995162e-01 -2.64807499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603133365 meters Centerline goodness : 0.125896 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.26 [[ 9.99995641e-01 -7.96825033e-04 2.84312046e-03 6.15645408e-01] [ 7.92945783e-04 9.99998754e-01 1.36530028e-03 5.16115261e-02] [-2.84420483e-03 -1.36303989e-03 9.99995026e-01 -2.64719370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.633133364999999 meters Centerline goodness : 0.150316 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.26 [[ 9.99970692e-01 6.57129628e-03 3.92859268e-03 6.36465491e-01] [-6.56733211e-03 9.99977914e-01 -1.02110564e-03 4.90345301e-02] [-3.93521589e-03 9.95275340e-04 9.99991762e-01 -2.64790087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663133365 meters Centerline goodness : 0.151454 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.27 [[ 9.99991988e-01 -2.22053774e-03 3.33072368e-03 6.16543996e-01] [ 2.21899238e-03 9.99997429e-01 4.67593578e-04 4.99692113e-02] [-3.33175342e-03 -4.60198981e-04 9.99994344e-01 -2.65490647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.693133365 meters Centerline goodness : 0.155926 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998759 0.00338716 0.00365398 0.59333017] [-0.00337997 0.99999234 -0.00197228 0.04343924] [-0.00366063 0.0019599 0.99999138 -0.26478954] [ 0. 0. 0. 1. ]] SLAMing on 9.723133364999999 meters Centerline goodness : 0.133335 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998792 0.00342401 0.00352554 0.59355101] [-0.0034175 0.99999245 -0.00185106 0.04261661] [-0.00353185 0.00183899 0.99999207 -0.26463218] [ 0. 0. 0. 1. ]] SLAMing on 9.753133365 meters Centerline goodness : 0.155167 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998776 0.00345811 0.00353769 0.59338633] [-0.00345177 0.99999243 -0.00179628 0.04233443] [-0.00354388 0.00178405 0.99999213 -0.26442086] [ 0. 0. 0. 1. ]] SLAMing on 9.783133365 meters Centerline goodness : 0.117889 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998721 0.00354499 0.00360767 0.59299618] [-0.00353869 0.99999221 -0.00175078 0.04259145] [-0.00361385 0.00173799 0.99999196 -0.26404446] [ 0. 0. 0. 1. ]] SLAMing on 9.813133365 meters Centerline goodness : 0.131060 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.26 [[ 0.99998388 0.00377539 0.00424133 0.59115251] [-0.00376822 0.99999146 -0.00169816 0.04341525] [-0.00424771 0.00168215 0.99998956 -0.26354543] [ 0. 0. 0. 1. ]] SLAMing on 9.843133365 meters Centerline goodness : 0.130183 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99978166e-01 -5.01114394e-03 4.30767203e-03 5.71302860e-01] [ 5.01345426e-03 9.99987294e-01 -5.25695748e-04 4.67716574e-02] [-4.30498296e-03 5.47280586e-04 9.99990584e-01 -2.64637398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.873133365 meters Centerline goodness : 0.134385 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.27 [[ 0.99998846 0.0024978 0.00410374 0.55147263] [-0.00249157 0.99999574 -0.00152351 0.04087943] [-0.00410753 0.00151327 0.99999042 -0.26559549] [ 0. 0. 0. 1. ]] SLAMing on 9.903133365 meters Centerline goodness : 0.134333 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99979264e-01 -4.81912463e-03 4.27176779e-03 5.71014285e-01] [ 4.82123998e-03 9.99988260e-01 -4.85034024e-04 4.66008734e-02] [-4.26938020e-03 5.05619184e-04 9.99990758e-01 -2.64683958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.933133365 meters Centerline goodness : 0.135776 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99978969e-01 -4.84067583e-03 4.31610177e-03 5.70882818e-01] [ 4.84291339e-03 9.99988144e-01 -5.08120880e-04 4.66892808e-02] [-4.31359095e-03 5.29012701e-04 9.99990556e-01 -2.64645969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963133365 meters Centerline goodness : 0.137314 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.26 [[ 9.99979102e-01 -4.82458741e-03 4.30342473e-03 5.70810478e-01] [ 4.82644531e-03 9.99988264e-01 -4.21444834e-04 4.62229739e-02] [-4.30134092e-03 4.42206271e-04 9.99990651e-01 -2.64482648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.993133365 meters Centerline goodness : 0.138997 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99978271e-01 -4.90523584e-03 4.40401340e-03 5.70239831e-01] [ 4.90631254e-03 9.99987937e-01 -2.33712374e-04 4.47645120e-02] [-4.40281385e-03 2.55314762e-04 9.99990275e-01 -2.63861060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023133365 meters Centerline goodness : 0.141950 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99978273e-01 -4.85011919e-03 4.46425730e-03 5.69846747e-01] [ 4.85040495e-03 9.99988235e-01 -5.31871134e-05 4.39623271e-02] [-4.46394681e-03 7.48394135e-05 9.99990034e-01 -2.63429552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.053133364999999 meters Centerline goodness : 0.132949 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99978659e-01 -4.79992319e-03 4.43185728e-03 5.69834274e-01] [ 4.79942004e-03 9.99988475e-01 1.24158073e-04 4.31726892e-02] [-4.43240216e-03 -1.02885078e-04 9.99990172e-01 -2.63297579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083133365 meters Centerline goodness : 0.120641 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99979470e-01 -4.77425992e-03 4.27379002e-03 5.70371381e-01] [ 4.77316849e-03 9.99988573e-01 2.65540572e-04 4.23931090e-02] [-4.27500894e-03 -2.45135601e-04 9.99990832e-01 -2.63568132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.113133365 meters Centerline goodness : 0.121045 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.26 [[ 9.99981552e-01 -4.83520539e-03 3.67637138e-03 5.72331749e-01] [ 4.83440256e-03 9.99988288e-01 2.27230797e-04 4.23103653e-02] [-3.67742703e-03 -2.09453546e-04 9.99993216e-01 -2.64508343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143133364999999 meters Centerline goodness : 0.130973 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.27 [[ 9.99982161e-01 -4.87897017e-03 3.44578735e-03 5.73227821e-01] [ 4.87859442e-03 9.99988093e-01 1.17445458e-04 4.27568473e-02] [-3.44631933e-03 -1.00632764e-04 9.99994056e-01 -2.65064197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.173133365 meters Centerline goodness : 0.123411 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.27 [[ 9.99982731e-01 -4.88664703e-03 3.26463554e-03 5.73908060e-01] [ 4.88637943e-03 9.99988058e-01 8.99387934e-05 4.28170614e-02] [-3.26503605e-03 -7.39849923e-05 9.99994667e-01 -2.65544484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203133365 meters Centerline goodness : 0.184364 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.27 [[ 9.99982916e-01 -4.93453116e-03 3.13334313e-03 5.74386790e-01] [ 4.93450340e-03 9.99987825e-01 1.65908892e-05 4.29067869e-02] [-3.13338685e-03 -1.12911337e-06 9.99995091e-01 -2.65831024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.233133365 meters Centerline goodness : 0.137805 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.27 [[ 0.99999379 0.00234889 0.00262791 0.55620863] [-0.00234544 0.99999638 -0.00131501 0.03710155] [-0.00263098 0.00130884 0.99999568 -0.26756305] [ 0. 0. 0. 1. ]] SLAMing on 10.263133365 meters Centerline goodness : 0.152517 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.27 [[ 0.99999426 0.00229958 0.0024865 0.55670953] [-0.00229614 0.9999964 -0.00138501 0.03728117] [-0.00248968 0.0013793 0.99999595 -0.26782338] [ 0. 0. 0. 1. ]] SLAMing on 10.293133365 meters Centerline goodness : 0.152237 Centerline is valid? [False, False] Translation: X:0.56, Y:0.04, Z:-0.27 [[ 0.9999944 0.00227893 0.0024514 0.55686018] [-0.00227544 0.99999639 -0.00142697 0.03739663] [-0.00245464 0.00142138 0.99999598 -0.26792781] [ 0. 0. 0. 1. ]] SLAMing on 10.323133365 meters Centerline goodness : 0.144945 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 9.99973901e-01 -6.84281430e-03 2.31817609e-03 5.35188506e-01] [ 6.84448812e-03 9.99976321e-01 -7.14880449e-04 4.09554082e-02] [-2.31322940e-03 7.30728520e-04 9.99997057e-01 -2.67582520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.353133365 meters Centerline goodness : 0.143555 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:-0.27 [[ 9.99973766e-01 -6.80855447e-03 2.47201518e-03 5.34625168e-01] [ 6.81035933e-03 9.99976548e-01 -7.22435727e-04 4.12088219e-02] [-2.46703846e-03 7.39252086e-04 9.99996684e-01 -2.67319016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383133364999999 meters Centerline goodness : 0.143441 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995706e-01 9.98828245e-04 2.75498424e-03 5.14221130e-01] [-9.95296784e-04 9.99998682e-01 -1.28291766e-03 3.55983030e-02] [-2.75626202e-03 1.28017012e-03 9.99995382e-01 -2.67978257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.413133365 meters Centerline goodness : 0.139378 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998149 -0.00471508 0.00384512 0.53559396] [ 0.00470939 0.99998781 0.00148654 0.03870735] [-0.00385208 -0.0014684 0.9999915 -0.2686024 ] [ 0. 0. 0. 1. ]] SLAMing on 10.443133365 meters Centerline goodness : 0.142240 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998114 -0.00460449 0.00406328 0.53505244] [ 0.0045976 0.99998798 0.00170361 0.0379033 ] [-0.00407108 -0.0016849 0.99999029 -0.26856696] [ 0. 0. 0. 1. ]] SLAMing on 10.473133364999999 meters Centerline goodness : 0.180721 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998149 -0.00460177 0.00398083 0.53525241] [ 0.00459486 0.99998793 0.00174272 0.03764719] [-0.0039888 -0.0017244 0.99999056 -0.26858926] [ 0. 0. 0. 1. ]] SLAMing on 10.503133365 meters Centerline goodness : 0.122110 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.27 [[ 0.99998154 -0.00455843 0.00401697 0.53501964] [ 0.00455103 0.99998793 0.00184903 0.03714557] [-0.00402535 -0.00183071 0.99999022 -0.26833289] [ 0. 0. 0. 1. ]] SLAMing on 10.533133365 meters Centerline goodness : 0.141160 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 9.99980887e-01 1.81129635e-03 5.91140995e-03 5.17075749e-01] [-1.81548479e-03 9.99998105e-01 7.03245741e-04 3.10670357e-02] [-5.91012496e-03 -7.13964375e-04 9.99982280e-01 -2.70394792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563133364999999 meters Centerline goodness : 0.124344 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 9.99978500e-01 1.83830714e-03 6.29442799e-03 5.15602711e-01] [-1.84253210e-03 9.99998081e-01 6.65489717e-04 3.14632334e-02] [-6.29319254e-03 -6.77073094e-04 9.99979968e-01 -2.69436136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.593133365 meters Centerline goodness : 0.161600 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 9.99977365e-01 1.82093605e-03 6.47716254e-03 5.15222687e-01] [-1.82452445e-03 9.99998185e-01 5.48141367e-04 3.22102659e-02] [-6.47615266e-03 -5.59946702e-04 9.99978873e-01 -2.69553603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623133365 meters Centerline goodness : 0.136000 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99976194e-01 1.78072191e-03 6.66642144e-03 5.14949935e-01] [-1.78332848e-03 9.99998336e-01 3.85077065e-04 3.30719497e-02] [-6.66572463e-03 -3.96956317e-04 9.99977705e-01 -2.69894831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.653133365 meters Centerline goodness : 0.136000 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99976194e-01 1.78072191e-03 6.66642144e-03 5.14949935e-01] [-1.78332848e-03 9.99998336e-01 3.85077065e-04 3.30719497e-02] [-6.66572463e-03 -3.96956317e-04 9.99977705e-01 -2.69894831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683133365 meters Centerline goodness : 0.133113 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99973748e-01 1.71961306e-03 7.03887718e-03 5.14120231e-01] [-1.71997677e-03 9.99998520e-01 4.56176995e-05 3.47902321e-02] [-7.03878832e-03 -5.77232072e-05 9.99975226e-01 -2.70012017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.713133365 meters Centerline goodness : 0.153175 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:-0.27 [[ 0.99996772 -0.00499067 0.0062964 0.53195844] [ 0.0049839 0.99998699 0.00109061 0.04087332] [-0.00630176 -0.00105919 0.99997958 -0.26817014] [ 0. 0. 0. 1. ]] SLAMing on 10.743133365 meters Centerline goodness : 0.160105 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99978640e-01 2.47819895e-03 6.04800455e-03 5.12347172e-01] [-2.47743988e-03 9.99996922e-01 -1.32996861e-04 3.59283547e-02] [-6.04831553e-03 1.18010452e-04 9.99981702e-01 -2.69452668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.773133365 meters Centerline goodness : 0.116499 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99979248e-01 2.41803284e-03 5.97135670e-03 5.12819024e-01] [-2.41647873e-03 9.99997045e-01 -2.67461961e-04 3.64424709e-02] [-5.97198578e-03 2.53026754e-04 9.99982136e-01 -2.69972237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803133364999999 meters Centerline goodness : 0.125339 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99979996e-01 2.37417658e-03 5.86262958e-03 5.13460228e-01] [-2.37194221e-03 9.99997112e-01 -3.88044788e-04 3.69968399e-02] [-5.86353393e-03 3.74131207e-04 9.99982739e-01 -2.70683093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.833133365 meters Centerline goodness : 0.149809 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99981455e-01 2.23769789e-03 5.66412342e-03 5.14689134e-01] [-2.23438503e-03 9.99997329e-01 -5.91144966e-04 3.75889392e-02] [-5.66543109e-03 5.78478170e-04 9.99983784e-01 -2.72011420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863133365 meters Centerline goodness : 0.158576 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.27 [[ 9.99969014e-01 -6.59272170e-03 4.30205328e-03 4.94782370e-01] [ 6.58993244e-03 9.99978067e-01 6.62209096e-04 4.00913210e-02] [-4.30632469e-03 -6.33838336e-04 9.99990527e-01 -2.72587679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.893133364999999 meters Centerline goodness : 0.284022 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.27 [[ 9.99969170e-01 -6.59133312e-03 4.26770458e-03 4.94886172e-01] [ 6.58861118e-03 9.99978083e-01 6.51544999e-04 4.01974952e-02] [-4.27190560e-03 -6.23406666e-04 9.99990681e-01 -2.72665459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923133365 meters Centerline goodness : 0.151234 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99989495e-01 1.72775233e-03 4.24555434e-03 5.14112724e-01] [-1.72483752e-03 9.99998274e-01 -6.90122945e-04 3.75866507e-02] [-4.24673937e-03 6.82792804e-04 9.99990749e-01 -2.71436963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.953133365 meters Centerline goodness : 0.135795 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.27 [[ 9.99974132e-01 -6.87876662e-03 2.10204409e-03 4.94974648e-01] [ 6.87716805e-03 9.99976058e-01 7.66768678e-04 4.00199196e-02] [-2.10726819e-03 -7.52292732e-04 9.99997497e-01 -2.72644400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983133365 meters Centerline goodness : 0.139010 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996831e-01 1.54770418e-03 1.98562614e-03 5.14936527e-01] [-1.54658477e-03 9.99998644e-01 -5.65167169e-04 3.74811560e-02] [-1.98649816e-03 5.62094439e-04 9.99997869e-01 -2.71978251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.013133365 meters Centerline goodness : 0.137073 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996805e-01 1.53229173e-03 2.01031961e-03 5.14870860e-01] [-1.53107734e-03 9.99998645e-01 -6.05477021e-04 3.76552413e-02] [-2.01124465e-03 6.02397131e-04 9.99997796e-01 -2.71996220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.043133365 meters Centerline goodness : 0.134099 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996677e-01 1.53801368e-03 2.06894551e-03 5.14487181e-01] [-1.53683130e-03 9.99998655e-01 -5.72960934e-04 3.74938549e-02] [-2.06982395e-03 5.69779409e-04 9.99997696e-01 -2.71629332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.073133365 meters Centerline goodness : 0.138760 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996455e-01 1.56011885e-03 2.15768358e-03 5.14147189e-01] [-1.55891763e-03 9.99998629e-01 -5.58286007e-04 3.76289970e-02] [-2.15855162e-03 5.54920377e-04 9.99997516e-01 -2.71435198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103133365 meters Centerline goodness : 0.134216 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996473e-01 1.54724088e-03 2.15855034e-03 5.14212128e-01] [-1.54606160e-03 9.99998655e-01 -5.47893234e-04 3.75184466e-02] [-2.15939516e-03 5.44554050e-04 9.99997520e-01 -2.71546447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.133133364999999 meters Centerline goodness : 0.137130 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99996117e-01 1.54831018e-03 2.31720870e-03 5.13768546e-01] [-1.54711840e-03 9.99998670e-01 -5.16020902e-04 3.72610901e-02] [-2.31800458e-03 5.12433902e-04 9.99997182e-01 -2.71487170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163133365 meters Centerline goodness : 0.139120 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995338e-01 1.57451729e-03 2.61631813e-03 5.12866150e-01] [-1.57341983e-03 9.99998673e-01 -4.21471394e-04 3.68153624e-02] [-2.61697827e-03 4.17352863e-04 9.99996489e-01 -2.71195763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.193133365 meters Centerline goodness : 0.136483 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995617e-01 1.54856245e-03 2.52352986e-03 5.13044890e-01] [-1.54741651e-03 9.99998699e-01 -4.55990028e-04 3.68293805e-02] [-2.52423271e-03 4.52083077e-04 9.99996712e-01 -2.71142424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223133364999999 meters Centerline goodness : 0.134488 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995732e-01 1.51181341e-03 2.50020527e-03 5.13120585e-01] [-1.51045505e-03 9.99998711e-01 -5.45099128e-04 3.71720734e-02] [-2.50102614e-03 5.41320353e-04 9.99996726e-01 -2.71196694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.253133365 meters Centerline goodness : 0.152969 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99995318e-01 1.51242115e-03 2.66022762e-03 5.12546804e-01] [-1.51085305e-03 9.99998684e-01 -5.91373967e-04 3.74959126e-02] [-2.66111852e-03 5.87351985e-04 9.99996287e-01 -2.70921226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283133365 meters Centerline goodness : 0.133544 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99993739e-01 1.58592396e-03 3.16349906e-03 5.10809131e-01] [-1.58445407e-03 9.99998636e-01 -4.67092614e-04 3.71105691e-02] [-3.16423552e-03 4.62077271e-04 9.99994887e-01 -2.70004280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.313133364999999 meters Centerline goodness : 0.134258 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.27 [[ 9.99993086e-01 1.63526699e-03 3.33980265e-03 5.10039282e-01] [-1.63445758e-03 9.99998634e-01 -2.45068959e-04 3.57990708e-02] [-3.34019884e-03 2.39608499e-04 9.99994393e-01 -2.69405141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343133365 meters Centerline goodness : 0.154641 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99992592e-01 1.66856709e-03 3.46881040e-03 5.09439706e-01] [-1.66878658e-03 9.99998606e-01 6.03826305e-05 3.38594748e-02] [-3.46870481e-03 -6.61708874e-05 9.99993982e-01 -2.68884289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.373133365 meters Centerline goodness : 0.137941 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 9.99993673e-01 1.79691181e-03 3.07014903e-03 5.10367797e-01] [-1.79932403e-03 9.99998075e-01 7.83119751e-04 2.98282605e-02] [-3.06873592e-03 -7.88638989e-04 9.99994980e-01 -2.68830107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403133365 meters Centerline goodness : 0.131404 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:-0.27 [[ 0.99999464 0.00185932 0.00269653 0.51160732] [-0.00186247 0.99999759 0.00116533 0.027585 ] [-0.00269436 -0.00117034 0.99999569 -0.2694117 ] [ 0. 0. 0. 1. ]] SLAMing on 11.433133365 meters Centerline goodness : 0.136821 Centerline is valid? [False, False] Translation: X:0.53, Y:0.03, Z:-0.27 [[ 0.99998204 -0.00561958 0.00208489 0.53213111] [ 0.0056152 0.99998203 0.00210122 0.02981842] [-0.00209666 -0.00208947 0.99999562 -0.26888265] [ 0. 0. 0. 1. ]] SLAMing on 11.463133365 meters Centerline goodness : 0.135931 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.99999583 0.00135358 0.00255129 0.51416061] [-0.00135633 0.9999985 0.00107775 0.02172395] [-0.00254983 -0.00108121 0.99999616 -0.27089349] [ 0. 0. 0. 1. ]] SLAMing on 11.493133365 meters Centerline goodness : 0.139466 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.99999499 0.00164306 0.00270466 0.51373857] [-0.00164748 0.99999731 0.0016324 0.01939971] [-0.00270197 -0.00163685 0.99999501 -0.27076874] [ 0. 0. 0. 1. ]] SLAMing on 11.523133365 meters Centerline goodness : 0.138414 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.99999493 0.00168525 0.0027021 0.51389966] [-0.00168972 0.99999721 0.00165219 0.01934198] [-0.0026993 -0.00165675 0.99999498 -0.27104793] [ 0. 0. 0. 1. ]] SLAMing on 11.553133364999999 meters Centerline goodness : 0.144602 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:-0.27 [[ 0.9999954 0.00161364 0.00256835 0.51469582] [-0.00161735 0.99999765 0.00144278 0.02007229] [-0.00256602 -0.00144693 0.99999566 -0.2718912 ] [ 0. 0. 0. 1. ]] SLAMing on 11.583133365 meters Centerline goodness : 0.127969 Centerline is valid? [False, False] Translation: X:0.52, Y:0.02, Z:-0.27 [[ 0.99999629 0.00154042 0.00224753 0.51593678] [-0.00154287 0.99999822 0.00108897 0.02167735] [-0.00224585 -0.00109243 0.99999688 -0.27280264] [ 0. 0. 0. 1. ]] SLAMing on 11.613133365 meters Centerline goodness : 0.134197 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 0.999984 0.00529801 0.00198277 0.51711282] [-0.00530634 0.99997702 0.0042203 0.02574068] [-0.00196037 -0.00423076 0.99998913 -0.27381919] [ 0. 0. 0. 1. ]] SLAMing on 11.643133364999999 meters Centerline goodness : 0.093501 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 0.99998227 0.00540185 0.00250445 0.51586678] [-0.00541131 0.99997819 0.00378528 0.02903348] [-0.00248395 -0.00379877 0.9999897 -0.27393336] [ 0. 0. 0. 1. ]] SLAMing on 11.673133365 meters Centerline goodness : 0.146009 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.27 [[ 0.99998187 0.00538829 0.00268733 0.51541769] [-0.00539681 0.9999804 0.00317502 0.03269539] [-0.00267017 -0.00318946 0.99999135 -0.27410142] [ 0. 0. 0. 1. ]] SLAMing on 11.703133365 meters Centerline goodness : 0.139576 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:-0.28 [[ 0.99997202 0.00717735 0.00210697 0.51712889] [-0.00718507 0.99996743 0.00367622 0.04237567] [-0.00208052 -0.00369125 0.99999102 -0.27501627] [ 0. 0. 0. 1. ]] SLAMing on 11.733133365 meters Centerline goodness : 0.113332 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.28 [[ 0.99997408 0.00689601 0.00207132 0.51750993] [-0.00690167 0.99997242 0.00274248 0.04700212] [-0.00205235 -0.0027567 0.99999409 -0.27574052] [ 0. 0. 0. 1. ]] SLAMing on 11.763133365 meters Centerline goodness : 0.134232 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.28 [[ 0.99997597 0.00664378 0.00198216 0.5177469 ] [-0.00664757 0.99997608 0.00191137 0.05130781] [-0.00196942 -0.0019245 0.99999621 -0.27594639] [ 0. 0. 0. 1. ]] SLAMing on 11.793133365 meters Centerline goodness : 0.118701 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.28 [[ 9.99979223e-01 6.16016606e-03 1.89906599e-03 5.17776231e-01] [-6.16125325e-03 9.99980858e-01 5.67165354e-04 5.89167443e-02] [-1.89553580e-03 -5.78854196e-04 9.99998036e-01 -2.75962937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823133365 meters Centerline goodness : 0.136277 Centerline is valid? [False, False] Translation: X:0.50, Y:0.06, Z:-0.28 [[ 0.99999374 -0.00263001 0.00236656 0.49738552] [ 0.00262663 0.99999553 0.00143028 0.06463445] [-0.00237031 -0.00142405 0.99999618 -0.2772499 ] [ 0. 0. 0. 1. ]] SLAMing on 11.853133365 meters Centerline goodness : 0.150969 Centerline is valid? [False, False] Translation: X:0.52, Y:0.07, Z:-0.28 [[ 9.99977710e-01 5.18877254e-03 4.20184414e-03 5.16466344e-01] [-5.18698122e-03 9.99986452e-01 -4.37102305e-04 6.52444311e-02] [-4.20405524e-03 4.15297675e-04 9.99991077e-01 -2.76907784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883133364999999 meters Centerline goodness : 0.149730 Centerline is valid? [False, False] Translation: X:0.52, Y:0.07, Z:-0.28 [[ 9.99977632e-01 5.05110033e-03 4.38421191e-03 5.15723482e-01] [-5.04843731e-03 9.99987065e-01 -6.18266682e-04 6.61033811e-02] [-4.38727813e-03 5.96119434e-04 9.99990198e-01 -2.76380622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.913133365 meters Centerline goodness : 0.149540 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:-0.28 [[ 0.99997951 0.00421819 0.00481522 0.51430754] [-0.00421213 0.99999033 -0.0012671 0.06728327] [-0.00482052 0.00124679 0.9999876 -0.27556484] [ 0. 0. 0. 1. ]] SLAMing on 11.943133365 meters Centerline goodness : 0.141500 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:-0.28 [[ 9.99977908e-01 -5.37289858e-03 3.91361997e-03 4.92648140e-01] [ 5.37598511e-03 9.99985246e-01 -7.78569166e-04 6.93015317e-02] [-3.90937906e-03 7.99591528e-04 9.99992039e-01 -2.75603139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.973133364999999 meters Centerline goodness : 0.131267 Centerline is valid? [False, False] Translation: X:0.51, Y:0.07, Z:-0.28 [[ 0.99998985 0.00165501 0.00419137 0.51498591] [-0.00164269 0.99999432 -0.00294277 0.0676652 ] [-0.00419622 0.00293585 0.99998689 -0.27612082] [ 0. 0. 0. 1. ]] SLAMing on 12.003133365 meters Centerline goodness : 0.138075 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:-0.28 [[ 0.9999705 -0.00697228 0.00322296 0.49532474] [ 0.00697655 0.9999748 -0.00131508 0.07000684] [-0.00321371 0.00133752 0.99999394 -0.277259 ] [ 0. 0. 0. 1. ]] SLAMing on 12.033133365 meters Centerline goodness : 0.117272 Centerline is valid? [False, False] Translation: X:0.50, Y:0.07, Z:-0.28 [[ 0.99997188 -0.00687922 0.00298556 0.49587739] [ 0.00688227 0.9999758 -0.00101334 0.06886871] [-0.00297851 0.00103386 0.99999503 -0.27720911] [ 0. 0. 0. 1. ]] SLAMing on 12.063133364999999 meters Centerline goodness : 0.145357 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:-0.28 [[ 9.99995299e-01 2.05598686e-04 3.05923505e-03 4.77856341e-01] [-1.98475326e-04 9.99997269e-01 -2.32859911e-03 6.20711461e-02] [-3.05970545e-03 2.32798098e-03 9.99992609e-01 -2.78736778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.093133365 meters Centerline goodness : 0.145512 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:-0.28 [[ 9.99995722e-01 2.27905297e-04 2.91633866e-03 4.78089574e-01] [-2.21617913e-04 9.99997651e-01 -2.15605860e-03 6.09168783e-02] [-2.91682319e-03 2.15540306e-03 9.99993423e-01 -2.78546074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123133365 meters Centerline goodness : 0.148463 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.28 [[ 9.99985936e-01 1.01181625e-03 5.20615589e-03 5.20015129e-01] [-9.99746621e-04 9.99996808e-01 -2.32041895e-03 6.09562562e-02] [-5.20848711e-03 2.31518148e-03 9.99983756e-01 -2.78120880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.153133365 meters Centerline goodness : 0.139461 Centerline is valid? [False, False] Translation: X:0.52, Y:0.06, Z:-0.28 [[ 0.99998491 0.00111941 0.00537911 0.51953899] [-0.00110816 0.99999719 -0.0020934 0.06004157] [-0.00538144 0.0020874 0.99998334 -0.27801445] [ 0. 0. 0. 1. ]] SLAMing on 12.183133365 meters Centerline goodness : 0.135018 Centerline is valid? [False, False] Translation: X:0.47, Y:0.06, Z:-0.28 [[ 9.99995105e-01 1.09304925e-04 3.12706440e-03 4.73717831e-01] [-1.04213647e-04 9.99998669e-01 -1.62825014e-03 5.53104407e-02] [-3.12723822e-03 1.62791629e-03 9.99993785e-01 -2.76293507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.213133365 meters Centerline goodness : 0.142950 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:-0.28 [[ 9.99995247e-01 1.20508928e-04 3.08090824e-03 4.73839346e-01] [-1.16027303e-04 9.99998935e-01 -1.45478146e-03 5.40489281e-02] [-3.08108027e-03 1.45441707e-03 9.99994196e-01 -2.76256990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243133365 meters Centerline goodness : 0.137744 Centerline is valid? [False, False] Translation: X:0.47, Y:0.05, Z:-0.28 [[ 9.99996007e-01 2.76331459e-04 2.81237696e-03 4.74398435e-01] [-2.73668530e-04 9.99999514e-01 -9.47201269e-04 5.13633929e-02] [-2.81263734e-03 9.46427827e-04 9.99995597e-01 -2.76135469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.273133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 12.303133364999999 meters Centerline goodness : 0.137557 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99997324e-01 3.82458514e-04 2.28164606e-03 4.76135689e-01] [-3.81257300e-04 9.99999789e-01 -5.26879867e-04 4.93034086e-02] [-2.28184709e-03 5.26008563e-04 9.99997258e-01 -2.76904176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.333133365 meters Centerline goodness : 0.134252 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99997821e-01 3.99356994e-04 2.04911911e-03 4.76899474e-01] [-3.98576433e-04 9.99999848e-01 -3.81319453e-04 4.83379145e-02] [-2.04927108e-03 3.80501892e-04 9.99997828e-01 -2.77255454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363133365 meters Centerline goodness : 0.135692 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99998266e-01 3.58049198e-04 1.82774790e-03 4.77548113e-01] [-3.57764192e-04 9.99999924e-01 -1.56257831e-04 4.65765869e-02] [-1.82780370e-03 1.55603658e-04 9.99998317e-01 -2.77441019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.393133364999999 meters Centerline goodness : 0.148254 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.28 [[ 9.99998193e-01 3.67245179e-04 1.86528756e-03 4.77287915e-01] [-3.67312768e-04 9.99999932e-01 3.58931479e-05 4.54299471e-02] [-1.86527425e-03 -3.65782269e-05 9.99998260e-01 -2.77147407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423133365 meters Centerline goodness : 0.138106 Centerline is valid? [False, False] Translation: X:0.46, Y:0.04, Z:-0.28 [[ 9.99967951e-01 7.54569045e-03 2.67581422e-03 4.57536475e-01] [-7.54365254e-03 9.99971249e-01 -7.70878325e-04 3.80788161e-02] [-2.68155410e-03 7.50668207e-04 9.99996123e-01 -2.78286879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.453133365 meters Centerline goodness : 0.129864 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:-0.28 [[ 9.99995859e-01 -1.56888045e-03 2.41276968e-03 4.37208473e-01] [ 1.56841870e-03 9.99998751e-01 1.93254851e-04 4.03811287e-02] [-2.41306986e-03 -1.89469818e-04 9.99997071e-01 -2.78635289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483133365 meters Centerline goodness : 0.144525 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:-0.28 [[ 0.99998593 -0.00325662 0.00418808 0.4809995 ] [ 0.00326427 0.99999301 -0.00182146 0.03872246] [-0.00418212 0.0018351 0.99998957 -0.27913593] [ 0. 0. 0. 1. ]] SLAMing on 12.513133365 meters Centerline goodness : 0.153688 Centerline is valid? [False, False] Translation: X:0.46, Y:0.03, Z:-0.28 [[ 0.99998678 0.00217294 0.00466064 0.45861201] [-0.00215295 0.99998848 -0.00429053 0.03220309] [-0.00466991 0.00428043 0.99997993 -0.27921515] [ 0. 0. 0. 1. ]] SLAMing on 12.543133365 meters Centerline goodness : 0.149299 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.28 [[ 0.99996573 -0.0071461 0.00417946 0.43701392] [ 0.0071593 0.9999694 -0.00315182 0.03180971] [-0.00415681 0.00318163 0.9999863 -0.27925048] [ 0. 0. 0. 1. ]] SLAMing on 12.573133365 meters Centerline goodness : 0.149299 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.28 [[ 0.99996573 -0.0071461 0.00417946 0.43701392] [ 0.0071593 0.9999694 -0.00315182 0.03180971] [-0.00415681 0.00318163 0.9999863 -0.27925048] [ 0. 0. 0. 1. ]] SLAMing on 12.603133365 meters Centerline goodness : 0.127786 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99984172e-01 2.71735391e-04 5.61971710e-03 4.55304149e-01] [-2.45771464e-04 9.99989296e-01 -4.62032296e-03 2.28853663e-02] [-5.62091245e-03 4.61886866e-03 9.99973535e-01 -2.77706122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.633133364999999 meters Centerline goodness : 0.149519 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99983911e-01 3.94607005e-04 5.65877379e-03 4.55059380e-01] [-3.70799871e-04 9.99991079e-01 -4.20755106e-03 2.10609761e-02] [-5.66038364e-03 4.20538510e-03 9.99975137e-01 -2.77487133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663133365 meters Centerline goodness : 0.147111 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99984347e-01 5.10499963e-04 5.57174283e-03 4.55356370e-01] [-4.88870379e-04 9.99992343e-01 -3.88268593e-03 1.94875132e-02] [-5.57368228e-03 3.87990129e-03 9.99976940e-01 -2.77616746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.693133365 meters Centerline goodness : 0.153603 Centerline is valid? [False, False] Translation: X:0.46, Y:0.02, Z:-0.28 [[ 9.99985382e-01 6.57220837e-04 5.36686919e-03 4.55976711e-01] [-6.37492207e-04 9.99993037e-01 -3.67688724e-03 1.87202199e-02] [-5.36924834e-03 3.67341215e-03 9.99978838e-01 -2.77682735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723133364999999 meters Centerline goodness : 0.119836 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.28 [[ 0.99996153 -0.00778496 0.00404069 0.43657289] [ 0.00779352 0.99996741 -0.00210635 0.02131309] [-0.00402416 0.00213776 0.99998962 -0.27819794] [ 0. 0. 0. 1. ]] SLAMing on 12.753133365 meters Centerline goodness : 0.142237 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:-0.28 [[ 0.99996531 -0.00739702 0.00382862 0.43713972] [ 0.00740438 0.99997076 -0.00191277 0.0210857 ] [-0.00381436 0.00194105 0.99999084 -0.27837453] [ 0. 0. 0. 1. ]] SLAMing on 12.783133365 meters Centerline goodness : 0.127895 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 9.99994237e-01 7.19059997e-04 3.31784124e-03 4.16744445e-01] [-7.10286506e-04 9.99996250e-01 -2.64475827e-03 1.55680757e-02] [-3.31973054e-03 2.64238641e-03 9.99990999e-01 -2.79319409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.813133364999999 meters Centerline goodness : 0.143956 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 9.99994369e-01 8.63192208e-04 3.24295605e-03 4.17069567e-01] [-8.54550517e-04 9.99996083e-01 -2.66519842e-03 1.61510629e-02] [-3.24524393e-03 2.66241214e-03 9.99991190e-01 -2.79637759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843133365 meters Centerline goodness : 0.109924 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 0.99999362 0.00104953 0.0034149 0.41678207] [-0.00104055 0.999996 -0.0026312 0.01660396] [-0.00341765 0.00262763 0.99999071 -0.27986331] [ 0. 0. 0. 1. ]] SLAMing on 12.873133365 meters Centerline goodness : 0.135293 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 0.99999061 0.00171854 0.00397823 0.4151563 ] [-0.0017089 0.9999956 -0.00242549 0.01769191] [-0.00398238 0.00241867 0.99998915 -0.27959266] [ 0. 0. 0. 1. ]] SLAMing on 12.903133365 meters Centerline goodness : 0.135142 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.28 [[ 0.99998891 0.0018644 0.00432586 0.41429446] [-0.00185342 0.99999506 -0.0025393 0.01892835] [-0.00433058 0.00253125 0.99998742 -0.27962331] [ 0. 0. 0. 1. ]] SLAMing on 12.933133365 meters Centerline goodness : 0.131222 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.28 [[ 0.99998805 0.0020078 0.00445639 0.41403677] [-0.00199603 0.99999451 -0.00264418 0.02020194] [-0.00446167 0.00263526 0.99998657 -0.27979735] [ 0. 0. 0. 1. ]] SLAMing on 12.963133365 meters Centerline goodness : 0.134801 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.28 [[ 0.99998816 0.00244311 0.00420917 0.4151185 ] [-0.00243132 0.99999311 -0.00280391 0.02284458] [-0.00421599 0.00279365 0.99998721 -0.28084572] [ 0. 0. 0. 1. ]] SLAMing on 12.993133365 meters Centerline goodness : 0.123171 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.9999766 -0.00615221 0.00299009 0.39552819] [ 0.00615687 0.99997985 -0.00154966 0.02705155] [-0.0029805 0.00156804 0.99999433 -0.28193435] [ 0. 0. 0. 1. ]] SLAMing on 13.023133365 meters Centerline goodness : 0.145238 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.28 [[ 0.99998037 -0.0044616 0.00440038 0.43986681] [ 0.00447012 0.99998815 -0.00192701 0.03272954] [-0.00439173 0.00194664 0.99998846 -0.28281305] [ 0. 0. 0. 1. ]] SLAMing on 13.053133364999999 meters Centerline goodness : 0.149186 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998803 0.00328677 0.00362466 0.41971106] [-0.00327616 0.99999034 -0.0029299 0.02817073] [-0.00363425 0.00291799 0.99998914 -0.28346023] [ 0. 0. 0. 1. ]] SLAMing on 13.083133365 meters Centerline goodness : 0.093021 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998896 0.00313182 0.00350249 0.42003159] [-0.00312006 0.99998949 -0.00335936 0.03032087] [-0.00351297 0.00334839 0.99998822 -0.28359252] [ 0. 0. 0. 1. ]] SLAMing on 13.113133365 meters Centerline goodness : 0.135016 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998943 0.00305024 0.00344119 0.42033466] [-0.00303802 0.99998908 -0.00355097 0.03123663] [-0.00345198 0.00354048 0.99998777 -0.28388894] [ 0. 0. 0. 1. ]] SLAMing on 13.143133364999999 meters Centerline goodness : 0.140672 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99998995 0.00295658 0.00336878 0.42051676] [-0.00294405 0.99998876 -0.00371772 0.0319625 ] [-0.00337974 0.00370777 0.99998741 -0.28390579] [ 0. 0. 0. 1. ]] SLAMing on 13.173133365 meters Centerline goodness : 0.132792 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.28 [[ 0.99997546 -0.0062376 0.00318797 0.39883809] [ 0.00624665 0.99997647 -0.00283568 0.03567429] [-0.00317021 0.00285552 0.9999909 -0.28409205] [ 0. 0. 0. 1. ]] SLAMing on 13.203133365 meters Centerline goodness : 0.153322 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.28 [[ 0.99997506 -0.00625223 0.0032852 0.3984251 ] [ 0.00626143 0.99997648 -0.00279752 0.03544861] [-0.00326763 0.00281802 0.99999069 -0.28374739] [ 0. 0. 0. 1. ]] SLAMing on 13.233133364999999 meters Centerline goodness : 0.132324 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.28 [[ 0.99997525 -0.00624776 0.00323377 0.39833944] [ 0.00625657 0.99997673 -0.00271886 0.03503035] [-0.0032167 0.00273902 0.99999108 -0.28339272] [ 0. 0. 0. 1. ]] SLAMing on 13.263133365 meters Centerline goodness : 0.131142 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997549 -0.00627441 0.00310777 0.39857067] [ 0.00628277 0.99997665 -0.00268748 0.03469455] [-0.00309084 0.00270693 0.99999156 -0.28324026] [ 0. 0. 0. 1. ]] SLAMing on 13.293133365 meters Centerline goodness : 0.150037 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997601 -0.00640328 0.00264154 0.39983275] [ 0.0064105 0.99997572 -0.00273187 0.03434119] [-0.00262398 0.00274874 0.99999278 -0.28349237] [ 0. 0. 0. 1. ]] SLAMing on 13.323133365 meters Centerline goodness : 0.132578 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.28 [[ 0.99999487 0.00201057 0.00249424 0.41911945] [-0.00200081 0.99999035 -0.00391014 0.03150813] [-0.00250207 0.00390513 0.99998924 -0.28239322] [ 0. 0. 0. 1. ]] SLAMing on 13.353133365 meters Centerline goodness : 0.134543 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997566 -0.00668945 0.00198306 0.39857525] [ 0.00669431 0.99997459 -0.00245126 0.03450635] [-0.00196661 0.00246447 0.99999503 -0.28301886] [ 0. 0. 0. 1. ]] SLAMing on 13.383133364999999 meters Centerline goodness : 0.133470 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997558 -0.00664929 0.00214985 0.39785229] [ 0.00665439 0.99997503 -0.00237769 0.0343066 ] [-0.00213398 0.00239194 0.99999486 -0.28243564] [ 0. 0. 0. 1. ]] SLAMing on 13.413133365 meters Centerline goodness : 0.140392 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997489 -0.00669602 0.00232085 0.39688433] [ 0.00670133 0.99997493 -0.00228778 0.03338354] [-0.00230548 0.00230327 0.99999469 -0.28144355] [ 0. 0. 0. 1. ]] SLAMing on 13.443133365 meters Centerline goodness : 0.151493 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.28 [[ 0.99997538 -0.00668495 0.00213196 0.39729561] [ 0.00668974 0.99997509 -0.00224908 0.03317554] [-0.00211687 0.00226329 0.9999952 -0.28139967] [ 0. 0. 0. 1. ]] SLAMing on 13.473133364999999 meters Centerline goodness : 0.140349 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.28 [[ 9.99975566e-01 -6.94139978e-03 -8.26759961e-04 3.52171954e-01] [ 6.94056451e-03 9.99975405e-01 -1.00891234e-03 2.86533407e-02] [ 8.33742890e-04 1.00314950e-03 9.99999149e-01 -2.79588787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503133365 meters Centerline goodness : 0.137866 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.28 [[ 9.99998495e-01 1.71721733e-03 2.49270225e-04 3.72164799e-01] [-1.71671801e-03 9.99996547e-01 -1.98974329e-03 2.52634461e-02] [-2.52686186e-04 1.98931237e-03 9.99997989e-01 -2.78821413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.533133365 meters Centerline goodness : 0.131670 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.28 [[ 9.99998368e-01 1.77578105e-03 3.31440582e-04 3.71878116e-01] [-1.77516338e-03 9.99996705e-01 -1.85465170e-03 2.45762668e-02] [-3.34732945e-04 1.85406031e-03 9.99998225e-01 -2.78676131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563133364999999 meters Centerline goodness : 0.140480 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.28 [[ 9.99998194e-01 1.84814683e-03 4.44109127e-04 3.71587244e-01] [-1.84739698e-03 9.99996877e-01 -1.68295082e-03 2.37125408e-02] [-4.47218080e-04 1.68212733e-03 9.99998485e-01 -2.78632961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.593133365 meters Centerline goodness : 0.136857 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.28 [[ 9.99998246e-01 1.86048952e-03 2.15405603e-04 3.72273389e-01] [-1.86014613e-03 9.99997016e-01 -1.58350384e-03 2.29336650e-02] [-2.18351052e-04 1.58310038e-03 9.99998723e-01 -2.78861017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623133365 meters Centerline goodness : 0.136516 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995595e-01 6.51330307e-04 -2.89591929e-03 3.28190354e-01] [-6.55253967e-04 9.99998868e-01 -1.35415036e-03 1.95465794e-02] [ 2.89503402e-03 1.35604195e-03 9.99994890e-01 -2.77814412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.653133365 meters Centerline goodness : 0.181604 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994859e-01 6.68546903e-04 -3.13620358e-03 3.28891007e-01] [-6.72731838e-04 9.99998885e-01 -1.33353003e-03 1.95035972e-02] [ 3.13530855e-03 1.33563300e-03 9.99994193e-01 -2.78030734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683133365 meters Centerline goodness : 0.116235 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994594e-01 7.23432034e-04 -3.20751578e-03 3.29222887e-01] [-7.27471137e-04 9.99998944e-01 -1.25827431e-03 1.93351879e-02] [ 3.20660212e-03 1.26060088e-03 9.99994064e-01 -2.78303862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.713133365 meters Centerline goodness : 0.133381 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994938e-01 7.94458309e-04 -3.08111568e-03 3.29054114e-01] [-7.98036407e-04 9.99999008e-01 -1.16024405e-03 1.91651673e-02] [ 3.08019086e-03 1.16269702e-03 9.99994580e-01 -2.78556234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743133365 meters Centerline goodness : 0.134038 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995275e-01 7.69932758e-04 -2.97606582e-03 3.28736480e-01] [-7.73579674e-04 9.99998951e-01 -1.22445813e-03 1.93854709e-02] [ 2.97511995e-03 1.22675457e-03 9.99994822e-01 -2.78476376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.773133365 meters Centerline goodness : 0.116859 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995192e-01 7.47183451e-04 -3.00963528e-03 3.28814653e-01] [-7.51069606e-04 9.99998885e-01 -1.29031457e-03 1.97423634e-02] [ 3.00866782e-03 1.29256881e-03 9.99994639e-01 -2.78494055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803133364999999 meters Centerline goodness : 0.137633 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99995145e-01 6.79646305e-04 -3.04089929e-03 3.29074611e-01] [-6.84093221e-04 9.99998698e-01 -1.46156766e-03 2.05801904e-02] [ 3.03990198e-03 1.46364083e-03 9.99994308e-01 -2.78838466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.833133365 meters Centerline goodness : 0.134093 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:-0.28 [[ 9.99994752e-01 4.78691446e-04 -3.20433105e-03 3.29893193e-01] [-4.85383334e-04 9.99997702e-01 -2.08793652e-03 2.37912379e-02] [ 3.20332421e-03 2.08948089e-03 9.99992686e-01 -2.79614821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863133365 meters Centerline goodness : 0.135968 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994854e-01 3.98589615e-04 -3.18333069e-03 3.29936233e-01] [-4.06102937e-04 9.99997133e-01 -2.35991032e-03 2.52756770e-02] [ 3.18238093e-03 2.36119094e-03 9.99992149e-01 -2.79815052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.893133364999999 meters Centerline goodness : 0.151465 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994908e-01 3.15269499e-04 -3.17556848e-03 3.29901381e-01] [-3.23534911e-04 9.99996561e-01 -2.60263594e-03 2.65714120e-02] [ 3.17473703e-03 2.60365009e-03 9.99991571e-01 -2.79839254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923133365 meters Centerline goodness : 0.133572 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994805e-01 1.29497175e-04 -3.22070580e-03 3.29919664e-01] [-1.39227677e-04 9.99995426e-01 -3.02119217e-03 2.84732637e-02] [ 3.22029984e-03 3.02162488e-03 9.99990250e-01 -2.79725019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.953133365 meters Centerline goodness : 0.132338 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994763e-01 3.47054772e-05 -3.23628969e-03 3.29944668e-01] [-4.50691806e-05 9.99994872e-01 -3.20232312e-03 2.91917648e-02] [ 3.23616196e-03 3.20245221e-03 9.99989636e-01 -2.79724989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983133364999999 meters Centerline goodness : 0.116310 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99994968e-01 -5.25862652e-05 -3.17198191e-03 3.29680464e-01] [ 4.17804049e-05 9.99994197e-01 -3.40662895e-03 3.01807506e-02] [ 3.17214264e-03 3.40647928e-03 9.99989167e-01 -2.79591581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.013133365 meters Centerline goodness : 0.153087 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99995612e-01 -1.06743832e-04 -2.96043002e-03 3.28938032e-01] [ 9.59856836e-05 9.99993393e-01 -3.63388555e-03 3.15488106e-02] [ 2.96079835e-03 3.63358545e-03 9.99989015e-01 -2.79249529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043133365 meters Centerline goodness : 0.138378 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.28 [[ 9.99996679e-01 -8.08601177e-05 -2.57597623e-03 3.27797790e-01] [ 7.10199365e-05 9.99992702e-01 -3.81984386e-03 3.31329804e-02] [ 2.57626630e-03 3.81964823e-03 9.99989387e-01 -2.78942217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.073133365 meters Centerline goodness : 0.129381 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.28 [[ 9.99998995e-01 2.78873484e-04 -1.39016473e-03 3.24567712e-01] [-2.84687241e-04 9.99991208e-01 -4.18362187e-03 3.79001962e-02] [ 1.38898581e-03 4.18401343e-03 9.99990282e-01 -2.78470512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103133365 meters Centerline goodness : 0.127852 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.28 [[ 9.99999316e-01 8.29272741e-05 -1.16699982e-03 3.24019022e-01] [-8.86145212e-05 9.99988117e-01 -4.87418401e-03 4.13602752e-02] [ 1.16658175e-03 4.87428409e-03 9.99987440e-01 -2.78517605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.133133364999999 meters Centerline goodness : 0.124885 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.28 [[ 9.99993373e-01 -3.45911441e-04 -3.62407063e-03 2.78232911e-01] [ 3.28479180e-04 9.99988380e-01 -4.80962425e-03 4.22964367e-02] [ 3.62569222e-03 4.80840194e-03 9.99981867e-01 -2.77269694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163133365 meters Centerline goodness : 0.134844 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99993463e-01 -5.01820845e-04 -3.58092898e-03 2.78141068e-01] [ 4.82282007e-04 9.99985004e-01 -5.45513920e-03 4.56276082e-02] [ 3.58361278e-03 5.45337652e-03 9.99978709e-01 -2.77443711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.193133365 meters Centerline goodness : 0.121323 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99991092e-01 -3.97567615e-04 -4.20222921e-03 2.80060333e-01] [ 3.71781705e-04 9.99981110e-01 -6.13524659e-03 5.12619641e-02] [ 4.20458901e-03 6.13362962e-03 9.99972350e-01 -2.78444587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223133364999999 meters Centerline goodness : 0.133851 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990931e-01 -4.52190109e-04 -4.23483133e-03 2.80121542e-01] [ 4.25346350e-04 9.99979827e-01 -6.33755942e-03 5.24607467e-02] [ 4.23761168e-03 6.33570067e-03 9.99970950e-01 -2.78485324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.253133365 meters Centerline goodness : 0.138284 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990873e-01 -5.24117635e-04 -4.24028811e-03 2.79913813e-01] [ 4.96810196e-04 9.99979149e-01 -6.43848817e-03 5.28674953e-02] [ 4.24357422e-03 6.43632279e-03 9.99970282e-01 -2.78127512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283133365 meters Centerline goodness : 0.137455 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990301e-01 -5.61096538e-04 -4.36834170e-03 2.79864613e-01] [ 5.33093466e-04 9.99979320e-01 -6.40898560e-03 5.25361474e-02] [ 4.37184742e-03 6.40659471e-03 9.99969921e-01 -2.77527601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.313133364999999 meters Centerline goodness : 0.139182 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990123e-01 -5.41030245e-04 -4.41157892e-03 2.79816951e-01] [ 5.13384416e-04 9.99980241e-01 -6.26537806e-03 5.17778352e-02] [ 4.41488151e-03 6.26305134e-03 9.99970641e-01 -2.77266451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343133365 meters Centerline goodness : 0.138209 Centerline is valid? [False, False] Translation: X:0.28, Y:0.05, Z:-0.28 [[ 9.99990575e-01 -5.06692452e-04 -4.31195865e-03 2.79658333e-01] [ 4.79843491e-04 9.99980507e-01 -6.22538601e-03 5.17889277e-02] [ 4.31502895e-03 6.22325827e-03 9.99971325e-01 -2.77412189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.373133365 meters Centerline goodness : 0.131844 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:-0.28 [[ 0.99994652 -0.00905165 -0.00500329 0.25928823] [ 0.0090273 0.99994741 -0.00486694 0.05466144] [ 0.00504708 0.00482151 0.99997564 -0.27834056] [ 0. 0. 0. 1. ]] SLAMing on 14.403133364999999 meters Centerline goodness : 0.139518 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994647 -0.00905776 -0.005002 0.25923717] [ 0.00903285 0.9999468 -0.00497985 0.05511439] [ 0.00504684 0.00493441 0.99997509 -0.27830745] [ 0. 0. 0. 1. ]] SLAMing on 14.433133365 meters Centerline goodness : 0.135739 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994626 -0.00902483 -0.00510234 0.25946121] [ 0.0089994 0.99994707 -0.00498608 0.05526676] [ 0.00514707 0.00493989 0.99997455 -0.27834173] [ 0. 0. 0. 1. ]] SLAMing on 14.463133365 meters Centerline goodness : 0.135739 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994626 -0.00902483 -0.00510234 0.25946121] [ 0.0089994 0.99994707 -0.00498608 0.05526676] [ 0.00514707 0.00493989 0.99997455 -0.27834173] [ 0. 0. 0. 1. ]] SLAMing on 14.493133365 meters Centerline goodness : 0.138312 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:-0.28 [[ 0.99994619 -0.00903211 -0.00510335 0.25954675] [ 0.00900637 0.99994672 -0.00504392 0.05557076] [ 0.00514864 0.00499768 0.99997426 -0.27849479] [ 0. 0. 0. 1. ]] SLAMing on 14.523133365 meters Centerline goodness : 0.142810 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99984222e-01 -9.54365352e-04 -5.53578418e-03 2.39774475e-01] [ 9.22766116e-04 9.99983284e-01 -5.70792517e-03 5.00249722e-02] [ 5.54113909e-03 5.70272687e-03 9.99968387e-01 -2.79856368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.553133364999999 meters Centerline goodness : 0.129376 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982435e-01 -9.20437020e-04 -5.85516919e-03 2.41054554e-01] [ 8.86786295e-04 9.99983092e-01 -5.74718456e-03 5.04966536e-02] [ 5.86036011e-03 5.74189132e-03 9.99966343e-01 -2.80786611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583133365 meters Centerline goodness : 0.140592 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982454e-01 -8.82222429e-04 -5.85783512e-03 2.41235348e-01] [ 8.48548634e-04 9.99983117e-01 -5.74850417e-03 5.07749350e-02] [ 5.86280768e-03 5.74343264e-03 9.99966320e-01 -2.81119017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.613133365 meters Centerline goodness : 0.130416 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982128e-01 -8.83988354e-04 -5.91296574e-03 2.41433006e-01] [ 8.49710857e-04 9.99982836e-01 -5.79700819e-03 5.11132159e-02] [ 5.91798874e-03 5.79188027e-03 9.99965715e-01 -2.81263929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643133364999999 meters Centerline goodness : 0.133829 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99982753e-01 -9.05422432e-04 -5.80293651e-03 2.41113129e-01] [ 8.71332510e-04 9.99982366e-01 -5.87443680e-03 5.14993583e-02] [ 5.80815303e-03 5.86927920e-03 9.99965908e-01 -2.81186468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.673133365 meters Centerline goodness : 0.141826 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99986119e-01 -8.85393378e-04 -5.19405522e-03 2.38940850e-01] [ 8.54791794e-04 9.99982283e-01 -5.89091973e-03 5.21690938e-02] [ 5.19917898e-03 5.88639812e-03 9.99969159e-01 -2.80069530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703133365 meters Centerline goodness : 0.136004 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99987510e-01 -9.04874857e-04 -4.91536210e-03 2.38078886e-01] [ 8.75473233e-04 9.99981734e-01 -5.98044029e-03 5.28487332e-02] [ 4.92068387e-03 5.97606232e-03 9.99970036e-01 -2.79776854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.733133364999999 meters Centerline goodness : 0.127567 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 9.99987821e-01 -9.50454780e-04 -4.84290055e-03 2.37851477e-01] [ 9.21023088e-04 9.99981117e-01 -6.07589626e-03 5.32634363e-02] [ 4.84858397e-03 6.07136184e-03 9.99969814e-01 -2.79682368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763133365 meters Centerline goodness : 0.139325 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.28 [[ 0.99998725 -0.0010711 -0.00493523 0.23824015] [ 0.00104021 0.99997988 -0.00625759 0.05383482] [ 0.00494183 0.00625237 0.99996824 -0.27997423] [ 0. 0. 0. 1. ]] SLAMing on 14.793133365 meters Centerline goodness : 0.136030 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998493 -0.00120125 -0.00535696 0.23972559] [ 0.00116591 0.99997756 -0.00659654 0.05557974] [ 0.00536476 0.00659019 0.99996389 -0.28083657] [ 0. 0. 0. 1. ]] SLAMing on 14.823133365 meters Centerline goodness : 0.118301 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998389 -0.00126132 -0.00553397 0.24027987] [ 0.0012237 0.99997616 -0.00679618 0.05672248] [ 0.00554241 0.0067893 0.99996159 -0.28106902] [ 0. 0. 0. 1. ]] SLAMing on 14.853133365 meters Centerline goodness : 0.136427 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998391 -0.00142768 -0.00548988 0.23988168] [ 0.00138825 0.99997326 -0.00717955 0.05834269] [ 0.00549998 0.00717181 0.99995916 -0.2806549 ] [ 0. 0. 0. 1. ]] SLAMing on 14.883133364999999 meters Centerline goodness : 0.139711 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998441 -0.00149564 -0.00538055 0.23944481] [ 0.00145623 0.99997214 -0.00732141 0.05886954] [ 0.00539135 0.00731346 0.99995872 -0.28040952] [ 0. 0. 0. 1. ]] SLAMing on 14.913133365 meters Centerline goodness : 0.138940 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.99998498 -0.00155162 -0.00525635 0.23908819] [ 0.00151235 0.99997098 -0.00746664 0.05954932] [ 0.00526778 0.00745858 0.99995831 -0.28034065] [ 0. 0. 0. 1. ]] SLAMing on 14.943133365 meters Centerline goodness : 0.132641 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:-0.28 [[ 0.9999848 -0.00160287 -0.00527508 0.23933363] [ 0.00156238 0.99996937 -0.00766977 0.06072447] [ 0.00528721 0.00766141 0.99995667 -0.28071766] [ 0. 0. 0. 1. ]] SLAMing on 14.973133364999999 meters Centerline goodness : 0.137821 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.28 [[ 0.9999425 -0.00803311 -0.00710431 0.21759219] [ 0.00799975 0.9999569 -0.00471179 0.06401987] [ 0.00714186 0.00465469 0.99996366 -0.28069644] [ 0. 0. 0. 1. ]] SLAMing on 15.003133365 meters Centerline goodness : 0.141975 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.28 [[ 0.99994181 -0.00810815 -0.0071156 0.21748976] [ 0.00807294 0.9999551 -0.00496269 0.06534484] [ 0.00715552 0.00490496 0.99996237 -0.28054359] [ 0. 0. 0. 1. ]] SLAMing on 15.033133365 meters Centerline goodness : 0.138399 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.28 [[ 0.99994148 -0.00814002 -0.00712607 0.21729404] [ 0.00810365 0.99995407 -0.00511714 0.06627419] [ 0.0071674 0.0050591 0.99996152 -0.28024274] [ 0. 0. 0. 1. ]] SLAMing on 15.063133364999999 meters Centerline goodness : 0.144491 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99979134e-01 -3.25100079e-04 -6.45186554e-03 1.97602865e-01] [ 2.87686330e-04 9.99983144e-01 -5.79898516e-03 6.13332112e-02] [ 6.45364204e-03 5.79700804e-03 9.99962372e-01 -2.81588238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.093133365 meters Centerline goodness : 0.129358 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99980988e-01 -2.03609330e-04 -6.16294976e-03 1.96538820e-01] [ 1.68861983e-04 9.99984092e-01 -5.63809858e-03 6.10975522e-02] [ 6.16399968e-03 5.63695071e-03 9.99965114e-01 -2.81020483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123133365 meters Centerline goodness : 0.129567 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99980954e-01 -2.27349393e-04 -6.16771052e-03 1.96705734e-01] [ 1.92241297e-04 9.99983781e-01 -5.69223697e-03 6.12920773e-02] [ 6.16890461e-03 5.69094286e-03 9.99964778e-01 -2.81276584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.153133364999999 meters Centerline goodness : 0.140625 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99979501e-01 -2.50704596e-04 -6.39803653e-03 1.97607963e-01] [ 2.13511692e-04 9.99983080e-01 -5.81319570e-03 6.18710253e-02] [ 6.39938567e-03 5.81171048e-03 9.99962635e-01 -2.81870579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183133365 meters Centerline goodness : 0.135589 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99976684e-01 -1.94358646e-04 -6.82598614e-03 1.99118226e-01] [ 1.51363443e-04 9.99980152e-01 -6.29870529e-03 6.49704753e-02] [ 6.82707486e-03 6.29752522e-03 9.99956865e-01 -2.82897652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.213133365 meters Centerline goodness : 0.134310 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99978294e-01 -2.31273858e-04 -6.58461358e-03 1.98399577e-01] [ 1.87655297e-04 9.99978042e-01 -6.62416346e-03 6.70101260e-02] [ 6.58600100e-03 6.62278404e-03 9.99956381e-01 -2.82805859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243133365 meters Centerline goodness : 0.137195 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99981639e-01 -2.03050377e-04 -6.05640119e-03 1.96744052e-01] [ 1.61445262e-04 9.99976393e-01 -6.86930814e-03 6.89248753e-02] [ 6.05765303e-03 6.86820424e-03 9.99958065e-01 -2.82235161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.273133365 meters Centerline goodness : 0.134428 Centerline is valid? [False, False] Translation: X:0.22, Y:0.07, Z:-0.28 [[ 0.9999735 -0.0053304 -0.00495792 0.21649758] [ 0.00531321 0.99997985 -0.00347464 0.07401697] [ 0.00497634 0.00344821 0.99998167 -0.28117911] [ 0. 0. 0. 1. ]] SLAMing on 15.303133364999999 meters Centerline goodness : 0.127324 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:-0.28 [[ 0.99997256 -0.00550546 -0.00495666 0.21665543] [ 0.00548582 0.99997708 -0.00396782 0.07656786] [ 0.00497839 0.00394052 0.99997984 -0.28153775] [ 0. 0. 0. 1. ]] SLAMing on 15.333133365 meters Centerline goodness : 0.142329 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998121 0.00195909 -0.00580961 0.198957 ] [-0.00199121 0.99998274 -0.00552813 0.07131219] [ 0.00579868 0.00553959 0.99996784 -0.28382784] [ 0. 0. 0. 1. ]] SLAMing on 15.363133365 meters Centerline goodness : 0.137369 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998021 0.0018198 -0.00602294 0.19958936] [-0.00185403 0.99998213 -0.00568269 0.07151604] [ 0.00601249 0.00569374 0.99996572 -0.28405846] [ 0. 0. 0. 1. ]] SLAMing on 15.393133364999999 meters Centerline goodness : 0.134809 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998373 0.00150322 -0.00550362 0.19786534] [-0.00153456 0.99998261 -0.00569424 0.07072258] [ 0.00549497 0.00570259 0.99996864 -0.2831836 ] [ 0. 0. 0. 1. ]] SLAMing on 15.423133365 meters Centerline goodness : 0.137762 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 0.99998521 0.00144118 -0.00524525 0.19701138] [-0.00147058 0.99998321 -0.00560451 0.07006995] [ 0.00523709 0.00561214 0.99997054 -0.28276926] [ 0. 0. 0. 1. ]] SLAMing on 15.453133365 meters Centerline goodness : 0.115973 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.28 [[ 0.9999547 -0.00766678 -0.0056401 0.17497857] [ 0.00764032 0.99995978 -0.00469791 0.07179585] [ 0.00567589 0.0046546 0.99997306 -0.28307902] [ 0. 0. 0. 1. ]] SLAMing on 15.483133364999999 meters Centerline goodness : 0.130013 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99988398e-01 5.49411520e-04 -4.78563108e-03 1.95260165e-01] [-5.76435390e-04 9.99983888e-01 -5.64732943e-03 6.85842703e-02] [ 4.78245126e-03 5.65002252e-03 9.99972602e-01 -2.82568264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.513133365 meters Centerline goodness : 0.137783 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99986683e-01 4.10142893e-04 -5.14453620e-03 1.96114142e-01] [-4.38369203e-04 9.99984852e-01 -5.48673065e-03 6.70159264e-02] [ 5.14220792e-03 5.48891279e-03 9.99971714e-01 -2.82498041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543133365 meters Centerline goodness : 0.142616 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.28 [[ 9.99985825e-01 4.29522853e-04 -5.30709532e-03 1.96525298e-01] [-4.57741079e-04 9.99985760e-01 -5.31700522e-03 6.58727091e-02] [ 5.30473597e-03 5.31935913e-03 9.99971782e-01 -2.82506682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.573133365 meters Centerline goodness : 0.136369 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99985383e-01 4.81625797e-04 -5.38528035e-03 1.96831968e-01] [-5.09080980e-04 9.99986876e-01 -5.09798208e-03 6.46509788e-02] [ 5.38275435e-03 5.10064911e-03 9.99972504e-01 -2.82671641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603133365 meters Centerline goodness : 0.140179 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99985528e-01 5.77644636e-04 -5.34891999e-03 1.96826413e-01] [-6.03624484e-04 9.99988024e-01 -4.85668692e-03 6.35316984e-02] [ 5.34605049e-03 4.85984537e-03 9.99973900e-01 -2.82822390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.633133364999999 meters Centerline goodness : 0.147682 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99986875e-01 6.56558856e-04 -5.08112377e-03 1.96280038e-01] [-6.80031517e-04 9.99989100e-01 -4.61923246e-03 6.22280300e-02] [ 5.07803559e-03 4.62262716e-03 9.99976422e-01 -2.82957337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663133365 meters Centerline goodness : 0.134802 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99987556e-01 6.10944616e-04 -4.95120486e-03 1.95887683e-01] [-6.34426888e-04 9.99988553e-01 -4.74255697e-03 6.27121537e-02] [ 4.94825074e-03 4.74563913e-03 9.99976497e-01 -2.82847340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.693133365 meters Centerline goodness : 0.170239 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.28 [[ 9.99988156e-01 5.37548120e-04 -4.83726706e-03 1.95520997e-01] [-5.61922897e-04 9.99987146e-01 -5.03900877e-03 6.41884191e-02] [ 4.83449617e-03 5.04166726e-03 9.99975604e-01 -2.82730714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723133364999999 meters Centerline goodness : 0.132721 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.28 [[ 0.99996895 0.00225684 -0.00755035 0.15120911] [-0.00228494 0.99999049 -0.00371571 0.06640014] [ 0.00754189 0.00373284 0.99996459 -0.28206346] [ 0. 0. 0. 1. ]] SLAMing on 15.753133365 meters Centerline goodness : 0.129061 Centerline is valid? [False, False] Translation: X:0.17, Y:0.07, Z:-0.28 [[ 9.99963581e-01 -2.41867329e-03 -8.18450176e-03 1.72602759e-01] [ 2.41412551e-03 9.99996926e-01 -5.65491663e-04 7.28115293e-02] [ 8.18584435e-03 5.45712654e-04 9.99966347e-01 -2.81832785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783133365 meters Centerline goodness : 0.130817 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.28 [[ 9.99939994e-01 -1.70815195e-03 -1.08208068e-02 1.27991773e-01] [ 1.71395751e-03 9.99998392e-01 5.27266888e-04 7.17704560e-02] [ 1.08198888e-02 -5.45781652e-04 9.99941314e-01 -2.81758001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.813133364999999 meters Centerline goodness : 0.131682 Centerline is valid? [False, False] Translation: X:0.13, Y:0.07, Z:-0.28 [[ 9.99938565e-01 -1.76745830e-03 -1.09426691e-02 1.28602361e-01] [ 1.76897258e-03 9.99998427e-01 1.28705757e-04 7.40289089e-02] [ 1.09424244e-02 -1.48055131e-04 9.99940119e-01 -2.82393098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843133365 meters Centerline goodness : 0.136356 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.28 [[ 9.99932649e-01 -1.93935698e-03 -1.14427163e-02 1.30133116e-01] [ 1.93187630e-03 9.99997913e-01 -6.64767752e-04 7.79809039e-02] [ 1.14439817e-02 6.42617067e-04 9.99934309e-01 -2.83227452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.873133365 meters Centerline goodness : 0.122552 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.28 [[ 0.99993169 -0.00207697 -0.01150184 0.13030785] [ 0.00206479 0.99999729 -0.00107104 0.08001351] [ 0.01150404 0.00104722 0.99993328 -0.28337418] [ 0. 0. 0. 1. ]] SLAMing on 15.903133364999999 meters Centerline goodness : 0.134263 Centerline is valid? [False, False] Translation: X:0.13, Y:0.08, Z:-0.28 [[ 0.99993156 -0.00217678 -0.01149488 0.13025106] [ 0.00216047 0.99999664 -0.00143063 0.08211144] [ 0.01149795 0.0014057 0.99993291 -0.28340138] [ 0. 0. 0. 1. ]] SLAMing on 15.933133365 meters Centerline goodness : 0.129662 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-0.28 [[ 0.99991434 0.00566895 -0.01179761 0.11015931] [-0.00570069 0.99998022 -0.00265876 0.07870238] [ 0.0117823 0.00272579 0.99992687 -0.28442096] [ 0. 0. 0. 1. ]] SLAMing on 15.963133365 meters Centerline goodness : 0.136125 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-0.28 [[ 0.99991611 0.0053538 -0.01179445 0.11036442] [-0.00539436 0.99997964 -0.00341009 0.08236846] [ 0.01177595 0.00347343 0.99992463 -0.28486743] [ 0. 0. 0. 1. ]] SLAMing on 15.993133365 meters Centerline goodness : 0.349220 Centerline is valid? [False, False] Translation: X:0.11, Y:0.08, Z:-0.29 [[ 0.99991428 0.0052159 -0.01200914 0.11109526] [-0.0052612 0.99997915 -0.00374357 0.08406972] [ 0.01198936 0.00380643 0.99992088 -0.28525914] [ 0. 0. 0. 1. ]] SLAMing on 16.023133365 meters Centerline goodness : 0.122678 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.29 [[ 0.99991298 0.00512564 -0.01215535 0.11146839] [-0.00517434 0.9999787 -0.00397837 0.08582478] [ 0.0121347 0.00404092 0.99991821 -0.28535413] [ 0. 0. 0. 1. ]] SLAMing on 16.053133365 meters Centerline goodness : 0.140350 Centerline is valid? [False, False] Translation: X:0.11, Y:0.09, Z:-0.29 [[ 0.99991327 0.00505479 -0.01216165 0.11133508] [-0.0051033 0.99997913 -0.00396103 0.08545973] [ 0.01214138 0.00402275 0.9999182 -0.2850504 ] [ 0. 0. 0. 1. ]] SLAMing on 16.083133365 meters Centerline goodness : 0.117433 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99992659 -0.00338846 -0.01163361 0.13137568] [ 0.00334938 0.99998869 -0.00337745 0.08921775] [ 0.01164492 0.00333824 0.99992662 -0.28384102] [ 0. 0. 0. 1. ]] SLAMing on 16.113133365 meters Centerline goodness : 0.119334 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99992715 -0.00352493 -0.01154458 0.13103949] [ 0.00348727 0.99998854 -0.00328051 0.08787262] [ 0.01155601 0.00324001 0.99992798 -0.28357209] [ 0. 0. 0. 1. ]] SLAMing on 16.143133365 meters Centerline goodness : 0.122028 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993263 -0.0035725 -0.01104453 0.1297055 ] [ 0.00353957 0.99998924 -0.0029998 0.08622266] [ 0.01105513 0.00296051 0.99993451 -0.2832228 ] [ 0. 0. 0. 1. ]] SLAMing on 16.173133364999998 meters Centerline goodness : 0.130616 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993502 -0.00347734 -0.01085608 0.1290568 ] [ 0.0034462 0.9999899 -0.00288557 0.08618197] [ 0.01086601 0.00284797 0.99993691 -0.28290566] [ 0. 0. 0. 1. ]] SLAMing on 16.203133365 meters Centerline goodness : 0.123493 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993736 -0.00348416 -0.01063664 0.12850536] [ 0.00345253 0.99998957 -0.00299095 0.08691827] [ 0.01064695 0.00295404 0.99993896 -0.28288756] [ 0. 0. 0. 1. ]] SLAMing on 16.233133365 meters Centerline goodness : 0.135096 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.9999384 -0.00351047 -0.01052916 0.12823552] [ 0.00347714 0.99998889 -0.00318191 0.08795528] [ 0.01054021 0.0031451 0.9999395 -0.28292496] [ 0. 0. 0. 1. ]] SLAMing on 16.263133364999998 meters Centerline goodness : 0.121685 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99994009 -0.00334985 -0.01042066 0.1279829 ] [ 0.00331415 0.99998859 -0.00344113 0.08985313] [ 0.01043207 0.00340639 0.99993978 -0.28309487] [ 0. 0. 0. 1. ]] SLAMing on 16.293133365 meters Centerline goodness : 0.341771 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993895 -0.0034081 -0.01051103 0.1283725 ] [ 0.00336943 0.9999875 -0.0036949 0.09101512] [ 0.01052349 0.00365925 0.99993793 -0.28346261] [ 0. 0. 0. 1. ]] SLAMing on 16.323133365 meters Centerline goodness : 0.141633 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993839 -0.00345404 -0.01054947 0.1286296 ] [ 0.00341292 0.99998652 -0.00391387 0.09206052] [ 0.01056285 0.00387762 0.99993669 -0.28381744] [ 0. 0. 0. 1. ]] SLAMing on 16.353133364999998 meters Centerline goodness : 0.135957 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993667 -0.00349401 -0.0106981 0.12911065] [ 0.00345011 0.99998557 -0.00411889 0.09319288] [ 0.01071233 0.00408172 0.99993429 -0.28413409] [ 0. 0. 0. 1. ]] SLAMing on 16.383133365 meters Centerline goodness : 0.135957 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.28 [[ 0.99993667 -0.00349401 -0.0106981 0.12911065] [ 0.00345011 0.99998557 -0.00411889 0.09319288] [ 0.01071233 0.00408172 0.99993429 -0.28413409] [ 0. 0. 0. 1. ]] SLAMing on 16.413133365 meters Centerline goodness : 0.122039 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.28 [[ 0.99993852 -0.0035096 -0.01051881 0.12907303] [ 0.00346289 0.99998408 -0.0044551 0.09557911] [ 0.01053428 0.0044184 0.99993475 -0.28486557] [ 0. 0. 0. 1. ]] SLAMing on 16.443133364999998 meters Centerline goodness : 0.146922 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993993 -0.00358009 -0.01035915 0.12888885] [ 0.00353178 0.99998282 -0.00467837 0.09675636] [ 0.01037572 0.0046415 0.9999354 -0.28527662] [ 0. 0. 0. 1. ]] SLAMing on 16.473133365 meters Centerline goodness : 0.352114 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993673 -0.00377887 -0.01059513 0.12979244] [ 0.00372357 0.99997937 -0.00523415 0.09954319] [ 0.01061469 0.00519437 0.99993017 -0.28593325] [ 0. 0. 0. 1. ]] SLAMing on 16.503133365 meters Centerline goodness : 0.147712 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993407 -0.00384404 -0.01082041 0.13047149] [ 0.00378544 0.99997809 -0.00543048 0.10062133] [ 0.01084105 0.00538916 0.99992671 -0.28619792] [ 0. 0. 0. 1. ]] SLAMing on 16.533133365 meters Centerline goodness : 0.152765 Centerline is valid? [False, False] Translation: X:0.11, Y:0.10, Z:-0.29 [[ 0.99992452 0.00412486 -0.01157311 0.11084506] [-0.00419997 0.99997023 -0.0064732 0.09563976] [ 0.01154606 0.00652132 0.99991208 -0.2872407 ] [ 0. 0. 0. 1. ]] SLAMing on 16.563133365 meters Centerline goodness : 0.148245 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99992981 -0.00362995 -0.01127828 0.1296045 ] [ 0.00356886 0.99997888 -0.00543208 0.10152094] [ 0.01129776 0.00539145 0.99992164 -0.28542177] [ 0. 0. 0. 1. ]] SLAMing on 16.593133365 meters Centerline goodness : 0.151013 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.9999314 -0.00366369 -0.01112572 0.12904261] [ 0.00360263 0.99997837 -0.00550299 0.10207536] [ 0.01114564 0.00546253 0.99992296 -0.28515118] [ 0. 0. 0. 1. ]] SLAMing on 16.623133365 meters Centerline goodness : 0.142749 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993251 -0.00365283 -0.01102834 0.12876434] [ 0.00359226 0.99997838 -0.00550776 0.10245147] [ 0.01104822 0.00546777 0.99992402 -0.28507214] [ 0. 0. 0. 1. ]] SLAMing on 16.653133365 meters Centerline goodness : 0.149468 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.99993323 -0.00363224 -0.01097004 0.12866992] [ 0.00357183 0.99997838 -0.0055212 0.10283069] [ 0.01098986 0.00548164 0.99992458 -0.28518015] [ 0. 0. 0. 1. ]] SLAMing on 16.683133365 meters Centerline goodness : 0.147845 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.29 [[ 0.9999324 -0.00370725 -0.01102069 0.12891122] [ 0.00364492 0.99997728 -0.00567064 0.10353518] [ 0.01104147 0.00563009 0.99992319 -0.28535399] [ 0. 0. 0. 1. ]] SLAMing on 16.713133365 meters Centerline goodness : 0.155523 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.9998887 -0.00518777 -0.01398819 0.08463427] [ 0.0050946 0.99996465 -0.00668851 0.10247415] [ 0.0140224 0.0066165 0.99987979 -0.28499862] [ 0. 0. 0. 1. ]] SLAMing on 16.743133365 meters Centerline goodness : 0.155389 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988674 -0.00523813 -0.01410939 0.08480653] [ 0.00514263 0.99996368 -0.00679618 0.10302299] [ 0.01414448 0.00672286 0.99987736 -0.2848263 ] [ 0. 0. 0. 1. ]] SLAMing on 16.773133365 meters Centerline goodness : 0.150511 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988844 -0.00523848 -0.01398796 0.08444197] [ 0.00514293 0.99996325 -0.00685857 0.10360779] [ 0.01402337 0.00678586 0.99987864 -0.28472813] [ 0. 0. 0. 1. ]] SLAMing on 16.803133365 meters Centerline goodness : 0.164726 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99989671 -0.0052401 -0.0133831 0.08234012] [ 0.00514749 0.99996264 -0.00694481 0.10438362] [ 0.01341899 0.00687521 0.99988632 -0.28367148] [ 0. 0. 0. 1. ]] SLAMing on 16.833133365 meters Centerline goodness : 0.151304 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99989829 -0.00530083 -0.01324044 0.0817988 ] [ 0.00520762 0.99996149 -0.00706416 0.10485322] [ 0.01327738 0.0069945 0.99988739 -0.28334233] [ 0. 0. 0. 1. ]] SLAMing on 16.863133365 meters Centerline goodness : 0.150955 Centerline is valid? [False, False] Translation: X:0.08, Y:0.11, Z:-0.28 [[ 0.99989793 -0.0053458 -0.01324995 0.08181678] [ 0.00525088 0.99996038 -0.00718863 0.10540382] [ 0.01328785 0.00711832 0.99988637 -0.28338729] [ 0. 0. 0. 1. ]] SLAMing on 16.893133365 meters Centerline goodness : 0.147320 Centerline is valid? [False, False] Translation: X:0.08, Y:0.11, Z:-0.28 [[ 0.99989941 -0.00529992 -0.01315634 0.08147896] [ 0.0052068 0.99996122 -0.00710285 0.10517618] [ 0.01319347 0.00703363 0.99988822 -0.28325802] [ 0. 0. 0. 1. ]] SLAMing on 16.923133364999998 meters Centerline goodness : 0.151152 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99990276 -0.00520453 -0.01293763 0.08079366] [ 0.00511643 0.99996356 -0.00683341 0.10387338] [ 0.01297272 0.00676655 0.99989296 -0.28297136] [ 0. 0. 0. 1. ]] SLAMing on 16.953133365 meters Centerline goodness : 0.150840 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.9999038 -0.00513487 -0.01288467 0.0805708 ] [ 0.00505083 0.99996582 -0.00654643 0.10221807] [ 0.01291785 0.00648073 0.99989556 -0.2827994 ] [ 0. 0. 0. 1. ]] SLAMing on 16.983133365 meters Centerline goodness : 0.156068 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.28 [[ 9.99911552e-01 8.83828785e-04 -1.32705523e-02 5.76319430e-02] [-1.00597926e-03 9.99957166e-01 -9.20077416e-03 9.71866161e-02] [ 1.32618520e-02 9.21331027e-03 9.99869611e-01 -2.82746961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.013133364999998 meters Centerline goodness : 0.284498 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.28 [[ 0.99990911 0.00106545 -0.0134404 0.0581562 ] [-0.00118068 0.99996259 -0.00856834 0.0937777 ] [ 0.01343077 0.00858343 0.99987296 -0.28290875] [ 0. 0. 0. 1. ]] SLAMing on 17.043133365 meters Centerline goodness : 0.266789 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988814 -0.00676231 -0.01334096 0.07830372] [ 0.00666252 0.9999496 -0.00751004 0.09706106] [ 0.01339107 0.00742032 0.9998828 -0.28191793] [ 0. 0. 0. 1. ]] SLAMing on 17.073133365 meters Centerline goodness : 0.123360 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.28 [[ 9.99906852e-01 6.99281888e-04 -1.36307891e-02 6.04395224e-02] [-8.20669876e-04 9.99960041e-01 -8.90186814e-03 8.98307451e-02] [ 1.36240195e-02 8.91222533e-03 9.99867470e-01 -2.84524374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103133364999998 meters Centerline goodness : 0.122957 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 9.99904923e-01 7.92393826e-04 -1.37665483e-02 6.10931626e-02] [-9.11644652e-04 9.99962101e-01 -8.65824733e-03 8.85142507e-02] [ 1.37591658e-02 8.66997432e-03 9.99867750e-01 -2.85058486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.133133365 meters Centerline goodness : 0.123248 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 9.99902361e-01 9.95214511e-04 -1.39383715e-02 6.19280208e-02] [-1.11121331e-03 9.99964796e-01 -8.31699276e-03 8.71547352e-02] [ 1.39296036e-02 8.33166920e-03 9.99868266e-01 -2.85789214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163133365 meters Centerline goodness : 0.130734 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.28 [[ 0.99988114 -0.00586553 -0.01425851 0.07937331] [ 0.00576971 0.99996056 -0.00675252 0.09248351] [ 0.01429755 0.00666945 0.99987554 -0.28340806] [ 0. 0. 0. 1. ]] SLAMing on 17.193133364999998 meters Centerline goodness : 0.123963 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.28 [[ 0.99989118 0.00253399 -0.01453279 0.05859911] [-0.00264328 0.99996834 -0.00750604 0.08731285] [ 0.01451331 0.00754364 0.99986622 -0.28447186] [ 0. 0. 0. 1. ]] SLAMing on 17.223133365 meters Centerline goodness : 0.125093 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99988205 0.00301517 -0.01505977 0.06043738] [-0.00312775 0.9999673 -0.00745809 0.08873365] [ 0.01503679 0.00750432 0.99985878 -0.28564697] [ 0. 0. 0. 1. ]] SLAMing on 17.253133365 meters Centerline goodness : 0.276252 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.28 [[ 9.99845283e-01 -8.48630093e-04 -1.75695781e-02 7.99812023e-02] [ 7.76395181e-04 9.99991221e-01 -4.11777572e-03 9.28500430e-02] [ 1.75729184e-02 4.10349770e-03 9.99837164e-01 -2.84232611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283133365 meters Centerline goodness : 0.141563 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.28 [[ 9.99845806e-01 -8.76470425e-04 -1.75383985e-02 8.01937224e-02] [ 8.00319087e-04 9.99990225e-01 -4.34852558e-03 9.41806911e-02] [ 1.75420385e-02 4.33381875e-03 9.99836734e-01 -2.84779205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.313133365 meters Centerline goodness : 0.149249 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 9.99852020e-01 -9.66944729e-04 -1.71756694e-02 7.90771245e-02] [ 8.85810686e-04 9.99988418e-01 -4.73075742e-03 9.61216617e-02] [ 1.71800448e-02 4.71484297e-03 9.99841296e-01 -2.84510146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343133365 meters Centerline goodness : 0.148246 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 9.99853345e-01 -1.00242224e-03 -1.70963245e-02 7.87766911e-02] [ 9.18904249e-04 9.99987610e-01 -4.89229903e-03 9.71277036e-02] [ 1.71010169e-02 4.87587166e-03 9.99841878e-01 -2.84417747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.373133365 meters Centerline goodness : 0.123661 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 9.99853038e-01 -1.07151836e-03 -1.71100429e-02 7.88637467e-02] [ 9.84304837e-04 9.99986486e-01 -5.10482025e-03 9.83304999e-02] [ 1.71152815e-02 5.08722854e-03 9.99840581e-01 -2.84541226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403133365 meters Centerline goodness : 0.123084 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.29 [[ 0.99985109 -0.00117743 -0.0172164 0.07944958] [ 0.00108546 0.9999851 -0.00535001 0.09954923] [ 0.01722244 0.00533053 0.99983747 -0.28507742] [ 0. 0. 0. 1. ]] SLAMing on 17.433133365 meters Centerline goodness : 0.149479 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.29 [[ 0.9998485 -0.00141491 -0.0173487 0.07985737] [ 0.00131339 0.99998196 -0.00586166 0.10175341] [ 0.01735668 0.00583799 0.99983232 -0.28525817] [ 0. 0. 0. 1. ]] SLAMing on 17.463133365 meters Centerline goodness : 0.148739 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99985006 -0.00148774 -0.0172522 0.07931445] [ 0.00138344 0.99998071 -0.00605602 0.10283057] [ 0.01726087 0.00603124 0.99983283 -0.28480828] [ 0. 0. 0. 1. ]] SLAMing on 17.493133365 meters Centerline goodness : 0.152028 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99985357 -0.00152821 -0.01704413 0.07845109] [ 0.00142274 0.99997978 -0.00619809 0.10377401] [ 0.01705325 0.00617293 0.99983553 -0.28426335] [ 0. 0. 0. 1. ]] SLAMing on 17.523133365 meters Centerline goodness : 0.154733 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99986208 -0.00167568 -0.01652305 0.07637852] [ 0.00157021 0.99997832 -0.00639417 0.10468099] [ 0.01653341 0.00636735 0.99984304 -0.28290247] [ 0. 0. 0. 1. ]] SLAMing on 17.553133365 meters Centerline goodness : 0.165052 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.28 [[ 0.99982993 -0.00976331 -0.01564573 0.09577546] [ 0.00967735 0.99993771 -0.00556033 0.11000908] [ 0.01569904 0.00540798 0.99986214 -0.28144287] [ 0. 0. 0. 1. ]] SLAMing on 17.583133365 meters Centerline goodness : 0.149596 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.28 [[ 0.99983003 -0.00975923 -0.01564162 0.09572572] [ 0.00967475 0.99993825 -0.00546708 0.10941287] [ 0.01569401 0.00531482 0.99986272 -0.28132712] [ 0. 0. 0. 1. ]] SLAMing on 17.613133365 meters Centerline goodness : 0.154435 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99987888 -0.00227893 -0.01539572 0.07765153] [ 0.00217626 0.99997531 -0.00668214 0.10306565] [ 0.01541057 0.00664783 0.99985915 -0.2835146 ] [ 0. 0. 0. 1. ]] SLAMing on 17.643133365 meters Centerline goodness : 0.127275 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988107 -0.00215222 -0.01527147 0.07726816] [ 0.00205552 0.99997776 -0.00634533 0.10147767] [ 0.01528479 0.00631319 0.99986325 -0.28331231] [ 0. 0. 0. 1. ]] SLAMing on 17.673133364999998 meters Centerline goodness : 0.151548 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988331 -0.00207894 -0.0151339 0.07672648] [ 0.0019862 0.99997917 -0.00614083 0.10039755] [ 0.01514636 0.00611005 0.99986662 -0.28298005] [ 0. 0. 0. 1. ]] SLAMing on 17.703133365 meters Centerline goodness : 0.128558 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988443 -0.00197397 -0.01507426 0.07645197] [ 0.00188444 0.99998052 -0.00595128 0.09960917] [ 0.01508571 0.00592218 0.99986867 -0.28280349] [ 0. 0. 0. 1. ]] SLAMing on 17.733133365 meters Centerline goodness : 0.243114 Centerline is valid? [False, False] Translation: X:0.08, Y:0.10, Z:-0.28 [[ 0.99988525 -0.00184648 -0.01503595 0.07635817] [ 0.00175964 0.99998171 -0.00578658 0.09907676] [ 0.01504636 0.00575946 0.99987021 -0.28282154] [ 0. 0. 0. 1. ]] SLAMing on 17.763133364999998 meters Centerline goodness : 0.137651 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99985222 0.00676001 -0.01580603 0.05709959] [-0.00686363 0.99995525 -0.00651031 0.09300154] [ 0.01576132 0.00661784 0.99985388 -0.28515565] [ 0. 0. 0. 1. ]] SLAMing on 17.793133365 meters Centerline goodness : 0.129361 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99985165 0.00677303 -0.01583691 0.05763036] [-0.00687804 0.99995466 -0.00658567 0.09319452] [ 0.01579159 0.00669362 0.9998529 -0.28592659] [ 0. 0. 0. 1. ]] SLAMing on 17.823133365 meters Centerline goodness : 0.125383 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.99985092 0.00678946 -0.01587581 0.05800044] [-0.00689607 0.99995397 -0.00667077 0.09346031] [ 0.01582979 0.00677925 0.99985172 -0.28643092] [ 0. 0. 0. 1. ]] SLAMing on 17.853133364999998 meters Centerline goodness : 0.133241 Centerline is valid? [False, False] Translation: X:0.06, Y:0.09, Z:-0.29 [[ 0.9998494 0.00684555 -0.0159475 0.05834715] [-0.00695394 0.99995303 -0.00675167 0.09401582] [ 0.01590053 0.00686155 0.99985003 -0.28678732] [ 0. 0. 0. 1. ]] SLAMing on 17.883133365 meters Centerline goodness : 0.125780 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.29 [[ 9.99856469e-01 -3.70953029e-04 -1.69382461e-02 3.99575538e-02] [ 2.94370138e-04 9.99989725e-01 -4.52356936e-03 9.70328696e-02] [ 1.69397501e-02 4.51793398e-03 9.99846305e-01 -2.88965329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.913133365 meters Centerline goodness : 0.260389 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.29 [[ 9.99856824e-01 -2.52832898e-04 -1.69194729e-02 3.99662838e-02] [ 1.79400983e-04 9.99990560e-01 -4.34146002e-03 9.63847887e-02] [ 1.69204108e-02 4.33780305e-03 9.99847430e-01 -2.89098241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943133364999998 meters Centerline goodness : 0.126099 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.29 [[ 9.99856954e-01 -1.73691952e-04 -1.69127458e-02 3.99537361e-02] [ 1.04102440e-04 9.99991526e-01 -4.11541285e-03 9.52470194e-02] [ 1.69133173e-02 4.11306350e-03 9.99848500e-01 -2.89065100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.973133365 meters Centerline goodness : 0.123672 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99855099e-01 -1.23307812e-04 -1.70225260e-02 4.03241421e-02] [ 5.68204321e-05 9.99992369e-01 -3.90627527e-03 9.40320757e-02] [ 1.70228777e-02 3.90474202e-03 9.99847476e-01 -2.89215154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003133365 meters Centerline goodness : 0.145398 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99845647e-01 -1.90832306e-04 -1.75683043e-02 4.20323416e-02] [ 1.29605940e-04 9.99993915e-01 -3.48611957e-03 9.09541226e-02] [ 1.75688627e-02 3.48330452e-03 9.99839588e-01 -2.89776737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.033133364999998 meters Centerline goodness : 0.124930 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99840157e-01 -1.95234147e-04 -1.78779989e-02 4.29857840e-02] [ 1.37915131e-04 9.99994847e-01 -3.20729715e-03 8.91087985e-02] [ 1.78785329e-02 3.20431884e-03 9.99835032e-01 -2.90032282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063133365 meters Centerline goodness : 0.122720 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.29 [[ 9.99835367e-01 -1.01575537e-04 -1.81446602e-02 4.37311765e-02] [ 5.06476363e-05 9.99996059e-01 -2.80720818e-03 8.68893029e-02] [ 1.81448739e-02 2.80582704e-03 9.99831431e-01 -2.90122563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.093133365 meters Centerline goodness : 0.124570 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.29 [[ 9.99830021e-01 1.17305535e-05 -1.84371757e-02 4.43841282e-02] [-5.16693492e-05 9.99997653e-01 -2.16573520e-03 8.33430108e-02] [ 1.84371071e-02 2.16631971e-03 9.99827675e-01 -2.89896192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123133365 meters Centerline goodness : 0.124341 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.29 [[ 9.99830276e-01 6.27712074e-05 -1.84232358e-02 4.41594099e-02] [-9.96641042e-05 9.99997992e-01 -2.00160861e-03 8.24464100e-02] [ 1.84230732e-02 2.00310502e-03 9.99828274e-01 -2.89587981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.153133365 meters Centerline goodness : 0.123094 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.29 [[ 9.99831002e-01 7.18811490e-05 -1.83837249e-02 4.38189079e-02] [-1.09015769e-04 9.99997956e-01 -2.01897840e-03 8.25178479e-02] [ 1.83835422e-02 2.02064131e-03 9.99828967e-01 -2.89222898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183133365 meters Centerline goodness : 0.123497 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.08, Z:-0.29 [[ 9.99783481e-01 5.07907841e-05 -2.08083835e-02 -2.68630081e-03] [-8.44186655e-05 9.99998692e-01 -1.61519849e-03 7.93871343e-02] [ 2.08082742e-02 1.61660538e-03 9.99782177e-01 -2.88133494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.213133365 meters Centerline goodness : 0.123186 Centerline is valid? [False, False] Translation: X:0.02, Y:0.08, Z:-0.29 [[ 0.99975227 0.01031037 -0.01972561 0.01936646] [-0.01034626 0.999945 -0.00171844 0.08278557] [ 0.01970681 0.0019221 0.99980395 -0.28796314] [ 0. 0. 0. 1. ]] SLAMing on 18.243133365 meters Centerline goodness : 0.122841 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.29 [[ 0.99975552 0.01038061 -0.01952301 0.01900568] [-0.01042396 0.99994342 -0.00211967 0.08555833] [ 0.0194999 0.00232266 0.99980716 -0.28833745] [ 0. 0. 0. 1. ]] SLAMing on 18.273133365 meters Centerline goodness : 0.122841 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.29 [[ 0.99975552 0.01038061 -0.01952301 0.01900568] [-0.01042396 0.99994342 -0.00211967 0.08555833] [ 0.0194999 0.00232266 0.99980716 -0.28833745] [ 0. 0. 0. 1. ]] SLAMing on 18.303133365 meters Centerline goodness : 0.121114 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.29 [[ 0.999761 0.01027278 -0.01929788 0.01851354] [-0.01032686 0.99994302 -0.00270499 0.08875425] [ 0.01926899 0.00290363 0.99981012 -0.28855667] [ 0. 0. 0. 1. ]] SLAMing on 18.333133365 meters Centerline goodness : 0.125889 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.29 [[ 0.99982357 0.00193729 -0.01868354 -0.00281914] [-0.00197643 0.99999589 -0.00207648 0.09523099] [ 0.01867944 0.00211304 0.99982329 -0.29026406] [ 0. 0. 0. 1. ]] SLAMing on 18.363133365 meters Centerline goodness : 0.290585 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.29 [[ 0.99983437 0.00182834 -0.01810786 -0.00447619] [-0.00188227 0.99999384 -0.0029617 0.10066951] [ 0.01810233 0.00299529 0.99983165 -0.2901164 ] [ 0. 0. 0. 1. ]] SLAMing on 18.393133365 meters Centerline goodness : 0.241793 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.10, Z:-0.29 [[ 0.99983928 0.00164986 -0.01785192 -0.00531168] [-0.00171221 0.99999249 -0.00347766 0.10337143] [ 0.01784605 0.00350767 0.99983459 -0.28987973] [ 0. 0. 0. 1. ]] SLAMing on 18.423133364999998 meters Centerline goodness : 0.148106 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984124 0.00138984 -0.01776387 -0.00584799] [-0.00146702 0.99998954 -0.00433276 0.10846498] [ 0.01775766 0.00435813 0.99983282 -0.28959438] [ 0. 0. 0. 1. ]] SLAMing on 18.453133365 meters Centerline goodness : 0.274750 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984131 0.00128547 -0.01776814 -0.00574763] [-0.00136877 0.99998813 -0.00467672 0.11048962] [ 0.01776192 0.0047003 0.9998312 -0.28980987] [ 0. 0. 0. 1. ]] SLAMing on 18.483133365 meters Centerline goodness : 0.147875 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984322 0.00114564 -0.01767003 -0.0059668 ] [-0.00123514 0.99998646 -0.00505534 0.11244729] [ 0.017664 0.00507638 0.99983109 -0.28988258] [ 0. 0. 0. 1. ]] SLAMing on 18.513133364999998 meters Centerline goodness : 0.151974 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.11, Z:-0.29 [[ 0.99984521 0.00101042 -0.0175652 -0.00631434] [-0.00110501 0.99998494 -0.00537629 0.11388485] [ 0.0175595 0.00539487 0.99983127 -0.28976255] [ 0. 0. 0. 1. ]] SLAMing on 18.543133365 meters Centerline goodness : 0.152178 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 9.99838048e-01 6.91091524e-04 -1.79833539e-02 -5.21279110e-03] [-7.98197891e-04 9.99981984e-01 -5.94936562e-03 1.15940895e-01] [ 1.79789183e-02 5.96275638e-03 9.99820586e-01 -2.89968419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.573133365 meters Centerline goodness : 0.158286 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99833605e-01 6.40240133e-04 -1.82305365e-02 -4.48007599e-03] [-7.52096763e-04 9.99980932e-01 -6.12947911e-03 1.17052113e-01] [ 1.82262646e-02 6.14217032e-03 9.99815021e-01 -2.90242222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603133364999998 meters Centerline goodness : 0.157718 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99830525e-01 6.78344751e-04 -1.83973123e-02 -3.90017006e-03] [-7.91649203e-04 9.99980762e-01 -6.15216694e-03 1.17727684e-01] [ 1.83927851e-02 6.16568852e-03 9.99811827e-01 -2.90514267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.633133365 meters Centerline goodness : 0.151476 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99829422e-01 6.64797079e-04 -1.84576560e-02 -3.51697433e-03] [-7.79372284e-04 9.99980470e-01 -6.20096315e-03 1.18142241e-01] [ 1.84531731e-02 6.21429079e-03 9.99810414e-01 -2.90869487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663133365 meters Centerline goodness : 0.163520 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 9.99827352e-01 3.38575771e-04 -1.85782460e-02 -3.07956899e-03] [-4.60222468e-04 9.99978482e-01 -6.54391843e-03 1.18589703e-01] [ 1.85756307e-02 6.55133877e-03 9.99805994e-01 -2.91016186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.693133364999998 meters Centerline goodness : 0.158328 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99979471 -0.00733374 -0.01888801 0.01640566] [ 0.00722764 0.99995775 -0.00567966 0.12568263] [ 0.01892886 0.00554198 0.99980547 -0.28979919] [ 0. 0. 0. 1. ]] SLAMing on 18.723133365 meters Centerline goodness : 0.153295 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.9997927 -0.00741465 -0.01896234 0.01690979] [ 0.00730321 0.99995569 -0.00593901 0.12719852] [ 0.01900554 0.0057993 0.99980256 -0.29034825] [ 0. 0. 0. 1. ]] SLAMing on 18.753133365 meters Centerline goodness : 0.162095 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978517 -0.00515341 -0.0200762 0.02159052] [ 0.00507122 0.99997856 -0.00414231 0.1317772 ] [ 0.02009712 0.00403961 0.99978987 -0.29266122] [ 0. 0. 0. 1. ]] SLAMing on 18.783133364999998 meters Centerline goodness : 0.155089 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978474 -0.00529665 -0.02006056 0.02140303] [ 0.005208 0.99997645 -0.00446877 0.13321525] [ 0.02008376 0.00436333 0.99978878 -0.29246086] [ 0. 0. 0. 1. ]] SLAMing on 18.813133365 meters Centerline goodness : 0.164211 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978154 -0.0054463 -0.02017941 0.02147082] [ 0.00535101 0.99997429 -0.00477271 0.13441143] [ 0.02020488 0.00466368 0.99978498 -0.29215274] [ 0. 0. 0. 1. ]] SLAMing on 18.843133365 meters Centerline goodness : 0.163513 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99977677 -0.00554233 -0.02038848 0.0220588 ] [ 0.00543903 0.99997211 -0.00511848 0.13659537] [ 0.02041628 0.00500645 0.99977903 -0.29236423] [ 0. 0. 0. 1. ]] SLAMing on 18.873133365 meters Centerline goodness : 0.157688 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99977658 -0.00558428 -0.02038626 0.02229575] [ 0.00547865 0.9999713 -0.00523379 0.13731701] [ 0.0204149 0.00512093 0.99977848 -0.29275316] [ 0. 0. 0. 1. ]] SLAMing on 18.903133365 meters Centerline goodness : 0.164509 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99977956 -0.00562404 -0.02022866 0.02182534] [ 0.00551883 0.99997097 -0.00525288 0.13725301] [ 0.02025762 0.00514008 0.99978158 -0.2926021 ] [ 0. 0. 0. 1. ]] SLAMing on 18.933133365 meters Centerline goodness : 0.167438 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978945 -0.00595285 -0.01963707 0.01971665] [ 0.00584806 0.99996837 -0.00538986 0.13679549] [ 0.01966853 0.00527388 0.99979265 -0.29140243] [ 0. 0. 0. 1. ]] SLAMing on 18.963133365 meters Centerline goodness : 0.154254 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978812 -0.00594705 -0.01970675 0.01965365] [ 0.00584282 0.99996866 -0.00534234 0.13660441] [ 0.0197379 0.00522606 0.99979153 -0.29102113] [ 0. 0. 0. 1. ]] SLAMing on 18.993133365 meters Centerline goodness : 0.148812 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978764 -0.00594438 -0.01973156 0.01974444] [ 0.0058405 0.9999688 -0.0053183 0.13658202] [ 0.01976256 0.00520193 0.99979117 -0.29106268] [ 0. 0. 0. 1. ]] SLAMing on 19.023133365 meters Centerline goodness : 0.171998 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978875 -0.00601979 -0.01965239 0.01974142] [ 0.00591695 0.99996852 -0.00528677 0.13580152] [ 0.0196836 0.00516937 0.9997929 -0.29122781] [ 0. 0. 0. 1. ]] SLAMing on 19.053133365 meters Centerline goodness : 0.166866 Centerline is valid? [False, False] Translation: X:0.02, Y:0.14, Z:-0.29 [[ 0.99978925 -0.00601371 -0.01962907 0.01959474] [ 0.00591227 0.99996889 -0.00522183 0.13535202] [ 0.01965986 0.00510468 0.99979369 -0.29108454] [ 0. 0. 0. 1. ]] SLAMing on 19.083133365 meters Centerline goodness : 0.164796 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978739 -0.00592649 -0.01974992 0.01977713] [ 0.0058273 0.99997014 -0.00507618 0.13495023] [ 0.01977941 0.00496002 0.99979206 -0.29093288] [ 0. 0. 0. 1. ]] SLAMing on 19.113133365 meters Centerline goodness : 0.120876 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978395 -0.00569134 -0.01999175 0.02034229] [ 0.00559725 0.99997301 -0.00475916 0.13437416] [ 0.0200183 0.00464624 0.99978882 -0.29091043] [ 0. 0. 0. 1. ]] SLAMing on 19.143133365 meters Centerline goodness : 0.126047 Centerline is valid? [False, False] Translation: X:0.00, Y:0.13, Z:-0.29 [[ 9.99786427e-01 2.28505351e-03 -2.05397062e-02 9.05411740e-04] [-2.40720984e-03 9.99979552e-01 -5.92457063e-03 1.28173946e-01] [ 2.05257482e-02 5.97274868e-03 9.99771484e-01 -2.92445262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.173133364999998 meters Centerline goodness : 0.168105 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.99978539 -0.00563543 -0.0199351 0.02006032] [ 0.005538 0.99997247 -0.00493924 0.13261416] [ 0.01996239 0.00482778 0.99978908 -0.29122566] [ 0. 0. 0. 1. ]] SLAMing on 19.203133365 meters Centerline goodness : 0.155182 Centerline is valid? [False, False] Translation: X:0.02, Y:0.13, Z:-0.29 [[ 0.9997892 -0.00558014 -0.01975915 0.0194049 ] [ 0.00548546 0.99997323 -0.00484294 0.13222226] [ 0.01978565 0.00473353 0.99979304 -0.29089239] [ 0. 0. 0. 1. ]] SLAMing on 19.233133365 meters Centerline goodness : 0.157737 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983045 0.00291364 -0.01818202 0.03953461] [-0.00301554 0.99997989 -0.00557966 0.1297603 ] [ 0.0181654 0.00563354 0.99981912 -0.28984588] [ 0. 0. 0. 1. ]] SLAMing on 19.263133364999998 meters Centerline goodness : 0.159856 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983078 0.00290973 -0.01816414 0.0396424 ] [-0.00301122 0.99998 -0.00556243 0.1294967 ] [ 0.01814759 0.00561619 0.99981955 -0.2900559 ] [ 0. 0. 0. 1. ]] SLAMing on 19.293133365 meters Centerline goodness : 0.163862 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983064 0.00291427 -0.01817141 0.03971847] [-0.00301503 0.99998022 -0.00551996 0.12907642] [ 0.01815497 0.00557382 0.99981965 -0.29016632] [ 0. 0. 0. 1. ]] SLAMing on 19.323133365 meters Centerline goodness : 0.159109 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983436 0.0030511 -0.01794296 0.03895595] [-0.00314598 0.99998121 -0.00526185 0.12815557] [ 0.01792656 0.00531743 0.99982517 -0.28988189] [ 0. 0. 0. 1. ]] SLAMing on 19.353133364999998 meters Centerline goodness : 0.161224 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99983687 0.00317032 -0.01778149 0.03851312] [-0.00326083 0.99998186 -0.00506335 0.1276177 ] [ 0.01776511 0.00512051 0.99982908 -0.28978444] [ 0. 0. 0. 1. ]] SLAMing on 19.383133365 meters Centerline goodness : 0.161107 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:-0.29 [[ 0.99983746 -0.00438363 -0.01748833 0.05725612] [ 0.00432038 0.999984 -0.00365292 0.13243734] [ 0.01750406 0.00357677 0.99984039 -0.28814558] [ 0. 0. 0. 1. ]] SLAMing on 19.413133365 meters Centerline goodness : 0.168917 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99982426 0.00171924 -0.01866797 0.03547713] [-0.00184297 0.99997644 -0.00661293 0.12798054] [ 0.01865617 0.00664617 0.99980387 -0.28822067] [ 0. 0. 0. 1. ]] SLAMing on 19.443133364999998 meters Centerline goodness : 0.168491 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981895 0.00164325 -0.01895708 0.03644697] [-0.00176977 0.99997626 -0.00665919 0.12750081] [ 0.01894569 0.00669154 0.99979812 -0.2886987 ] [ 0. 0. 0. 1. ]] SLAMing on 19.473133365 meters Centerline goodness : 0.161069 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981848 0.00173336 -0.0189739 0.03650128] [-0.00185993 0.99997613 -0.00665494 0.12808121] [ 0.01896191 0.00668902 0.99979783 -0.28879448] [ 0. 0. 0. 1. ]] SLAMing on 19.503133365 meters Centerline goodness : 0.101185 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981884 0.00181604 -0.01894702 0.03672959] [-0.00194287 0.99997582 -0.00667759 0.12883416] [ 0.01893444 0.00671319 0.99979819 -0.2893241 ] [ 0. 0. 0. 1. ]] SLAMing on 19.533133364999998 meters Centerline goodness : 0.154069 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99981177 0.00177219 -0.0193206 0.03811285] [-0.00190597 0.99997432 -0.00690779 0.12978911] [ 0.01930786 0.00694331 0.99978948 -0.29017099] [ 0. 0. 0. 1. ]] SLAMing on 19.563133365 meters Centerline goodness : 0.163972 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99980765 0.00166856 -0.01954186 0.03884589] [-0.00180745 0.99997322 -0.00709202 0.1302216 ] [ 0.0195295 0.00712597 0.99978389 -0.29050111] [ 0. 0. 0. 1. ]] SLAMing on 19.593133365 meters Centerline goodness : 0.155906 Centerline is valid? [False, False] Translation: X:0.04, Y:0.13, Z:-0.29 [[ 0.99980717 0.00164222 -0.01956841 0.03899303] [-0.00178262 0.99997278 -0.00715949 0.1305125 ] [ 0.01955612 0.00719299 0.99978289 -0.290688 ] [ 0. 0. 0. 1. ]] SLAMing on 19.623133365 meters Centerline goodness : 0.121972 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.13, Z:-0.29 [[ 0.99975813 0.00179349 -0.02191961 -0.00753216] [-0.0019358 0.99997718 -0.00647311 0.1263957 ] [ 0.0219075 0.00651398 0.99973878 -0.28991954] [ 0. 0. 0. 1. ]] SLAMing on 19.653133365 meters Centerline goodness : 0.162087 Centerline is valid? [False, False] Translation: X:0.01, Y:0.13, Z:-0.29 [[ 0.99980202 -0.00418844 -0.01945174 0.0129469 ] [ 0.00412089 0.99998534 -0.00351173 0.12886937] [ 0.01946616 0.00343088 0.99980463 -0.29002774] [ 0. 0. 0. 1. ]] SLAMing on 19.683133365 meters Centerline goodness : 0.154629 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 0.9998187 0.00300529 -0.0188026 -0.00535442] [-0.00309897 0.99998292 -0.00495499 0.12173592] [ 0.01878739 0.00501236 0.99981094 -0.2921827 ] [ 0. 0. 0. 1. ]] SLAMing on 19.713133365 meters Centerline goodness : 0.164770 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 0.99981832 0.00300981 -0.01882213 -0.00537508] [-0.00310135 0.9999835 -0.00483627 0.12081963] [ 0.01880727 0.00489377 0.99981115 -0.29206201] [ 0. 0. 0. 1. ]] SLAMing on 19.743133365 meters Centerline goodness : 0.163590 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:-0.29 [[ 0.99981524 0.00305619 -0.0189774 -0.00503911] [-0.0031456 0.99998409 -0.00468334 0.11996024] [ 0.01896278 0.00474217 0.99980894 -0.29198013] [ 0. 0. 0. 1. ]] SLAMing on 19.773133365 meters Centerline goodness : 0.161254 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 0.99981036 0.00320764 -0.01920821 -0.00426048] [-0.00329098 0.9999853 -0.00430866 0.11821395] [ 0.01919411 0.00437105 0.99980622 -0.29226746] [ 0. 0. 0. 1. ]] SLAMing on 19.803133365 meters Centerline goodness : 0.277890 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.29 [[ 0.99980991 0.00328576 -0.01921843 -0.00407886] [-0.00336514 0.99998593 -0.0040996 0.11712976] [ 0.01920468 0.0041635 0.9998069 -0.29250682] [ 0. 0. 0. 1. ]] SLAMing on 19.833133365 meters Centerline goodness : 0.167719 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99976294 0.00255878 -0.02162193 -0.05041634] [-0.00265068 0.99998757 -0.00422293 0.11181912] [ 0.02161086 0.00427924 0.9997573 -0.29205173] [ 0. 0. 0. 1. ]] SLAMing on 19.863133365 meters Centerline goodness : 0.105486 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.29 [[ 0.99977213 -0.00552165 -0.02062049 -0.03031068] [ 0.00545458 0.99997965 -0.00330742 0.1142795 ] [ 0.02063833 0.00319419 0.9997819 -0.2912958 ] [ 0. 0. 0. 1. ]] SLAMing on 19.893133365 meters Centerline goodness : 0.156922 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99978577 0.00244043 -0.02055357 -0.04994807] [-0.00252553 0.99998834 -0.00411543 0.10728781] [ 0.02054328 0.00416645 0.99978028 -0.29267813] [ 0. 0. 0. 1. ]] SLAMing on 19.923133364999998 meters Centerline goodness : 0.165627 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99978704 0.00249405 -0.02048545 -0.05017793] [-0.00257895 0.99998819 -0.00411916 0.10752963] [ 0.02047494 0.00417112 0.99978167 -0.29261077] [ 0. 0. 0. 1. ]] SLAMing on 19.953133365 meters Centerline goodness : 0.155557 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99979856 0.0028366 -0.01986963 -0.05164136] [-0.00292096 0.99998684 -0.00421764 0.10938905] [ 0.0198574 0.00427483 0.99979368 -0.29284244] [ 0. 0. 0. 1. ]] SLAMing on 19.983133365 meters Centerline goodness : 0.147004 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.11, Z:-0.29 [[ 0.99980909 0.0029164 -0.0193202 -0.05314294] [-0.00300359 0.99998543 -0.00448502 0.11152745] [ 0.01930684 0.0045422 0.99980329 -0.2926948 ] [ 0. 0. 0. 1. ]] SLAMing on 20.013133364999998 meters Centerline goodness : 0.203517 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99985077 -0.00376505 -0.01685988 -0.07438012] [ 0.00371836 0.99998917 -0.00279962 0.1172581 ] [ 0.01687024 0.00273651 0.99985394 -0.29536293] [ 0. 0. 0. 1. ]] SLAMing on 20.043133365 meters Centerline goodness : 0.156095 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99983393 -0.00189529 -0.01812507 -0.06931133] [ 0.0018687 0.99999715 -0.00148396 0.12131217] [ 0.01812783 0.00144984 0.99983463 -0.29778255] [ 0. 0. 0. 1. ]] SLAMing on 20.073133365 meters Centerline goodness : 0.158972 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99983043 -0.00198846 -0.01830724 -0.06846706] [ 0.00195691 0.99999657 -0.0017409 0.12262062] [ 0.01831063 0.00170478 0.99983089 -0.29848763] [ 0. 0. 0. 1. ]] SLAMing on 20.103133364999998 meters Centerline goodness : 0.161827 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99982895 -0.00206104 -0.01837981 -0.06815027] [ 0.00202746 0.99999624 -0.00184554 0.12301306] [ 0.01838355 0.00180796 0.99982937 -0.29873238] [ 0. 0. 0. 1. ]] SLAMing on 20.133133365 meters Centerline goodness : 0.161416 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.12, Z:-0.30 [[ 0.99982514 -0.00261016 -0.01851667 -0.06774861] [ 0.00256948 0.99999423 -0.00222073 0.12319836] [ 0.01852235 0.00217277 0.99982609 -0.29873055] [ 0. 0. 0. 1. ]] SLAMing on 20.163133365 meters Centerline goodness : 0.113282 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99982133 0.00305466 -0.01865395 -0.04452952] [-0.00315443 0.99998087 -0.00532137 0.12333706] [ 0.01863734 0.00537926 0.99981184 -0.29864975] [ 0. 0. 0. 1. ]] SLAMing on 20.193133364999998 meters Centerline goodness : 0.113282 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99982133 0.00305466 -0.01865395 -0.04452952] [-0.00315443 0.99998087 -0.00532137 0.12333706] [ 0.01863734 0.00537926 0.99981184 -0.29864975] [ 0. 0. 0. 1. ]] SLAMing on 20.223133365 meters Centerline goodness : 0.164476 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99981318 0.00297516 -0.01909844 -0.04327296] [-0.00307693 0.99998121 -0.0053013 0.12301287] [ 0.01908231 0.00535907 0.99980355 -0.29887806] [ 0. 0. 0. 1. ]] SLAMing on 20.253133365 meters Centerline goodness : 0.114209 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.12, Z:-0.30 [[ 0.99981132 0.00275153 -0.01922888 -0.04294612] [-0.0028549 0.99998161 -0.00535061 0.12302116] [ 0.0192138 0.0054045 0.99980079 -0.29877395] [ 0. 0. 0. 1. ]] SLAMing on 20.283133364999998 meters Centerline goodness : 0.144305 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.30 [[ 0.99978815 -0.00611146 -0.01965461 -0.06476139] [ 0.00602182 0.99997121 -0.00461664 0.12575619] [ 0.01968226 0.0044973 0.99979617 -0.29974942] [ 0. 0. 0. 1. ]] SLAMing on 20.313133365 meters Centerline goodness : 0.169875 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.30 [[ 0.99978704 -0.00619613 -0.01968471 -0.06476536] [ 0.00610581 0.99997057 -0.00464526 0.12544335] [ 0.01971292 0.00452408 0.99979545 -0.29960157] [ 0. 0. 0. 1. ]] SLAMing on 20.343133365 meters Centerline goodness : 0.168645 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.12, Z:-0.30 [[ 0.99978387 -0.0061986 -0.01984433 -0.06476488] [ 0.00611075 0.99997127 -0.00448492 0.12459948] [ 0.01987156 0.00436269 0.99979302 -0.29894489] [ 0. 0. 0. 1. ]] SLAMing on 20.373133365 meters Centerline goodness : 0.164223 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.12, Z:-0.30 [[ 0.99978376 -0.00613957 -0.01986828 -0.06485371] [ 0.0060549 0.99997234 -0.00431863 0.12390945] [ 0.01989425 0.0041974 0.99979328 -0.29873541] [ 0. 0. 0. 1. ]] SLAMing on 20.403133365 meters Centerline goodness : 0.157354 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.12, Z:-0.30 [[ 0.99972619 -0.00674627 -0.02240602 -0.1109571 ] [ 0.00665228 0.99996877 -0.00426673 0.11909895] [ 0.02243411 0.00411651 0.99973985 -0.29794191] [ 0. 0. 0. 1. ]] SLAMing on 20.433133365 meters Centerline goodness : 0.169191 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.12, Z:-0.30 [[ 9.99786255e-01 -5.43022888e-04 -2.06676024e-02 -8.88200624e-02] [ 4.01634901e-04 9.99976495e-01 -6.84458060e-03 1.18156301e-01] [ 2.06708334e-02 6.83481678e-03 9.99762973e-01 -2.97998241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463133365 meters Centerline goodness : 0.171342 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.12, Z:-0.30 [[ 9.99803756e-01 -8.65052224e-04 -1.97914205e-02 -9.13692421e-02] [ 7.35208203e-04 9.99978167e-01 -6.56695733e-03 1.15026053e-01] [ 1.97966692e-02 6.55111779e-03 9.99782564e-01 -2.97190595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.493133365 meters Centerline goodness : 0.176169 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.30 [[ 9.99806145e-01 -7.36121594e-04 -1.96756335e-02 -9.18568706e-02] [ 6.16121948e-04 9.99981179e-01 -6.10426243e-03 1.12696571e-01] [ 1.96797567e-02 6.09095650e-03 9.99787781e-01 -2.96826274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523133365 meters Centerline goodness : 0.159832 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.30 [[ 9.99806861e-01 -5.52608096e-04 -1.96452127e-02 -9.21189380e-02] [ 4.43132401e-04 9.99984353e-01 -5.57655629e-03 1.10250700e-01] [ 1.96479870e-02 5.56677381e-03 9.99791462e-01 -2.96483958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.553133365 meters Centerline goodness : 0.164629 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.30 [[ 9.99797330e-01 -4.03277283e-04 -2.01279999e-02 -9.06899807e-02] [ 3.07637994e-04 9.99988650e-01 -4.75442476e-03 1.05461924e-01] [ 2.01296888e-02 4.74726904e-03 9.99786107e-01 -2.96766965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583133365 meters Centerline goodness : 0.163549 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.10, Z:-0.30 [[ 0.99973658 -0.00146199 -0.02290468 -0.13489173] [ 0.00134423 0.9999858 -0.00515589 0.09931561] [ 0.02291189 0.00512374 0.99972436 -0.29710093] [ 0. 0. 0. 1. ]] SLAMing on 20.613133365 meters Centerline goodness : 0.153234 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.10, Z:-0.30 [[ 0.99973431 -0.00129042 -0.02301411 -0.13463705] [ 0.00118474 0.9999887 -0.00460488 0.09630092] [ 0.02301979 0.00457639 0.99972453 -0.29706764] [ 0. 0. 0. 1. ]] SLAMing on 20.643133365 meters Centerline goodness : 0.167019 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99734617e-01 -9.20762153e-04 -2.30184306e-02 -1.34543113e-01] [ 8.37692859e-04 9.99993103e-01 -3.61819863e-03 9.11752702e-02] [ 2.30216034e-02 3.59795605e-03 9.99728493e-01 -2.97110558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.673133364999998 meters Centerline goodness : 0.155169 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99734418e-01 -7.46392102e-04 -2.30333632e-02 -1.34380456e-01] [ 6.70716661e-04 9.99994353e-01 -3.29302134e-03 8.97742788e-02] [ 2.30356910e-02 3.27669792e-03 9.99729273e-01 -2.97311218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703133365 meters Centerline goodness : 0.128637 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99732311e-01 -5.63086861e-04 -2.31298323e-02 -1.34034247e-01] [ 4.92940032e-04 9.99995263e-01 -3.03833225e-03 8.89002086e-02] [ 2.31314335e-02 3.02611731e-03 9.99727853e-01 -2.97529481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.733133365 meters Centerline goodness : 0.261990 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99735772e-01 -1.53486567e-05 -2.29866349e-02 -1.34174788e-01] [-3.79250323e-05 9.99997315e-01 -2.31715634e-03 8.64102186e-02] [ 2.29866088e-02 2.31741585e-03 9.99733087e-01 -2.97873115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763133364999998 meters Centerline goodness : 0.130011 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.09, Z:-0.30 [[ 9.99737463e-01 1.19412550e-04 -2.29126868e-02 -1.34203469e-01] [-1.67560621e-04 9.99997782e-01 -2.09946331e-03 8.54569996e-02] [ 2.29123853e-02 2.10275139e-03 9.99735265e-01 -2.98140392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.793133365 meters Centerline goodness : 0.127769 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.08, Z:-0.30 [[ 9.99738317e-01 2.63762295e-04 -2.28741750e-02 -1.34116550e-01] [-3.05448553e-04 9.99998299e-01 -1.81894102e-03 8.40943528e-02] [ 2.28736563e-02 1.82545192e-03 9.99736697e-01 -2.98432457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823133365 meters Centerline goodness : 0.140188 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.08, Z:-0.30 [[ 9.99741586e-01 5.57822025e-04 -2.27255303e-02 -1.34304426e-01] [-5.84319266e-04 9.99999157e-01 -1.15934433e-03 8.07506993e-02] [ 2.27248645e-02 1.17232370e-03 9.99741070e-01 -2.98697323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.853133364999998 meters Centerline goodness : 0.152968 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99786153e-01 1.57094291e-03 -2.06199099e-02 -9.18450675e-02] [-1.58739701e-03 9.99998435e-01 -7.81627969e-04 8.18633212e-02] [ 2.06186497e-02 8.14192803e-04 9.99787082e-01 -2.97553766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883133365 meters Centerline goodness : 0.149054 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99789979e-01 1.74791424e-03 -2.04191923e-02 -9.24411105e-02] [-1.75781829e-03 9.99998346e-01 -4.67097751e-04 8.06926642e-02] [ 2.04183420e-02 5.02892880e-04 9.99791397e-01 -2.97396388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.913133365 meters Centerline goodness : 0.148625 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99791211e-01 1.86187876e-03 -2.03486694e-02 -9.25884390e-02] [-1.86740028e-03 9.99998225e-01 -2.52347544e-04 7.98497888e-02] [ 2.03481634e-02 2.90293967e-04 9.99792913e-01 -2.97442417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943133364999998 meters Centerline goodness : 0.148584 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99787935e-01 1.98162650e-03 -2.04977838e-02 -9.22399108e-02] [-1.98067078e-03 9.99998036e-01 6.69273255e-05 7.80725659e-02] [ 2.04978762e-02 -2.63137710e-05 9.99789896e-01 -2.97391156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.973133365 meters Centerline goodness : 0.262338 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99787677e-01 2.05332928e-03 -2.05032701e-02 -9.23473977e-02] [-2.04775734e-03 9.99997860e-01 2.92750343e-04 7.67980216e-02] [ 2.05038273e-02 -2.50702464e-04 9.99789743e-01 -2.97182813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003133365 meters Centerline goodness : 0.144813 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99790965e-01 2.16305716e-03 -2.03309354e-02 -9.29602527e-02] [-2.15126857e-03 9.99997505e-01 6.01688136e-04 7.52082916e-02] [ 2.03321861e-02 -5.57825060e-04 9.99793124e-01 -2.96842919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.033133364999998 meters Centerline goodness : 0.118466 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 9.99794649e-01 2.25969506e-03 -2.01383397e-02 -9.37218010e-02] [-2.24195021e-03 9.99997079e-01 9.03680865e-04 7.36409773e-02] [ 2.01403229e-02 -8.58346139e-04 9.99796795e-01 -2.96331950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063133365 meters Centerline goodness : 0.145970 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99979074 0.00241467 -0.02031369 -0.09328589] [-0.00238563 0.9999961 0.00145365 0.07080314] [ 0.02031713 -0.00140488 0.9997926 -0.2962751 ] [ 0. 0. 0. 1. ]] SLAMing on 21.093133365 meters Centerline goodness : 0.133057 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99978433 0.00247964 -0.02061912 -0.09232089] [-0.00244517 0.99999557 0.0016968 0.0694278 ] [ 0.02062323 -0.00164601 0.99978596 -0.29659662] [ 0. 0. 0. 1. ]] SLAMing on 21.123133364999997 meters Centerline goodness : 0.122654 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977876 0.00248065 -0.02088703 -0.0915802 ] [-0.00244265 0.99999532 0.00184472 0.06832174] [ 0.02089151 -0.00179329 0.99978014 -0.29670639] [ 0. 0. 0. 1. ]] SLAMing on 21.153133365 meters Centerline goodness : 0.319001 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977354 0.00251593 -0.0211314 -0.09089684] [-0.00247476 0.99999499 0.00197386 0.06754072] [ 0.02113626 -0.00192112 0.99977476 -0.29687531] [ 0. 0. 0. 1. ]] SLAMing on 21.183133365 meters Centerline goodness : 0.215521 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977313 0.00250985 -0.02115157 -0.09065949] [-0.00247087 0.9999952 0.0018689 0.06827361] [ 0.02115616 -0.00181621 0.99977453 -0.29722749] [ 0. 0. 0. 1. ]] SLAMing on 21.213133365 meters Centerline goodness : 0.135693 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977387 0.00247793 -0.02112017 -0.09072573] [-0.00244376 0.99999566 0.00164356 0.06969231] [ 0.02112415 -0.00159157 0.99977559 -0.29732103] [ 0. 0. 0. 1. ]] SLAMing on 21.243133365 meters Centerline goodness : 0.147839 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 0.99977915 0.00241345 -0.02087643 -0.09145776] [-0.00238538 0.99999622 0.0013695 0.07121695] [ 0.02087966 -0.0013194 0.99978113 -0.29718619] [ 0. 0. 0. 1. ]] SLAMing on 21.273133365 meters Centerline goodness : 0.143467 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.07, Z:-0.30 [[ 9.99793695e-01 2.42743446e-03 -2.01662069e-02 -9.36620950e-02] [-2.40943215e-03 9.99996677e-01 9.16946393e-04 7.39633144e-02] [ 2.01683657e-02 -8.68168115e-04 9.99796221e-01 -2.96537801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303133365 meters Centerline goodness : 0.137033 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99796222e-01 2.36125227e-03 -2.00484226e-02 -9.41204203e-02] [-2.34839124e-03 9.99997021e-01 6.65017139e-04 7.53990936e-02] [ 2.00499331e-02 -6.17800083e-04 9.99798789e-01 -2.96336822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.333133365 meters Centerline goodness : 0.122223 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99796509e-01 2.29846638e-03 -2.00414116e-02 -9.42908485e-02] [-2.29042720e-03 9.99997287e-01 4.24073711e-04 7.68236541e-02] [ 2.00423319e-02 -3.78084022e-04 9.99799061e-01 -2.96207932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363133365 meters Centerline goodness : 0.141722 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99798229e-01 2.14071063e-03 -1.99729404e-02 -9.42468694e-02] [-2.14456667e-03 9.99997686e-01 -1.71646190e-04 8.01157508e-02] [ 1.99725267e-02 2.14444859e-04 9.99800506e-01 -2.96690409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.393133365 meters Centerline goodness : 0.142762 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.08, Z:-0.30 [[ 9.99802090e-01 2.04520226e-03 -1.97888289e-02 -9.46388540e-02] [-2.05482967e-03 9.99997780e-01 -4.66186660e-04 8.16693734e-02] [ 1.97878315e-02 5.06757070e-04 9.99804073e-01 -2.96853864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423133364999998 meters Centerline goodness : 0.142740 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.08, Z:-0.30 [[ 9.99807153e-01 1.94561762e-03 -1.95415225e-02 -9.53123330e-02] [-1.96139555e-03 9.99997766e-01 -7.88271935e-04 8.34977348e-02] [ 1.95399452e-02 8.26448575e-04 9.99808735e-01 -2.96835082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.453133365 meters Centerline goodness : 0.167763 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.09, Z:-0.30 [[ 0.99981374 0.0017667 -0.01921882 -0.09600543] [-0.00179738 0.99999714 -0.00157894 0.08819029] [ 0.01921597 0.00161319 0.99981405 -0.29713992] [ 0. 0. 0. 1. ]] SLAMing on 21.483133365 meters Centerline goodness : 0.145181 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.09, Z:-0.30 [[ 0.99981471 0.00155412 -0.01918664 -0.09589689] [-0.00159527 0.99999646 -0.00212936 0.09085908] [ 0.01918326 0.00215957 0.99981365 -0.29753401] [ 0. 0. 0. 1. ]] SLAMing on 21.513133364999998 meters Centerline goodness : 0.145751 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.09, Z:-0.30 [[ 0.99981531 0.00134652 -0.0191712 -0.09571936] [-0.00139811 0.99999544 -0.00267795 0.09348965] [ 0.0191675 0.00270426 0.99981263 -0.29798105] [ 0. 0. 0. 1. ]] SLAMing on 21.543133365 meters Centerline goodness : 0.134919 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 0.99981644 0.00116657 -0.01912375 -0.09556128] [-0.00122728 0.99999424 -0.00316321 0.09591736] [ 0.01911995 0.0031861 0.99981212 -0.29853388] [ 0. 0. 0. 1. ]] SLAMing on 21.573133365 meters Centerline goodness : 0.140804 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 9.99817104e-01 9.28185034e-04 -1.91022808e-02 -9.50470387e-02] [-1.00215328e-03 9.99992036e-01 -3.86301257e-03 9.97482310e-02] [ 1.90985431e-02 3.88144945e-03 9.99810072e-01 -2.99513977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603133364999998 meters Centerline goodness : 0.125254 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.11, Z:-0.30 [[ 0.99979474 -0.00653857 -0.01917611 -0.07612058] [ 0.00648415 0.99997478 -0.00289849 0.10719901] [ 0.01919458 0.00277355 0.99981192 -0.29798533] [ 0. 0. 0. 1. ]] SLAMing on 21.633133365 meters Centerline goodness : 0.145478 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 0.99980995 0.0010943 -0.01946441 -0.09504105] [-0.00117675 0.99999038 -0.00422498 0.10161411] [ 0.0194596 0.00424708 0.99980162 -0.29988866] [ 0. 0. 0. 1. ]] SLAMing on 21.663133365 meters Centerline goodness : 0.137729 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.10, Z:-0.30 [[ 9.99804740e-01 9.57844975e-04 -1.97373909e-02 -9.40476120e-02] [-1.04500722e-03 9.99989746e-01 -4.40625707e-03 1.01987335e-01] [ 1.97329680e-02 4.42602242e-03 9.99795489e-01 -3.00443651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.693133364999998 meters Centerline goodness : 0.098351 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.10, Z:-0.30 [[ 9.99793836e-01 8.00222401e-04 -2.02890377e-02 -9.20500977e-02] [-8.94417154e-04 9.99988863e-01 -4.63399344e-03 1.02811556e-01] [ 2.02851036e-02 4.65118494e-03 9.99783417e-01 -3.01539557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723133365 meters Centerline goodness : 0.119548 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.11, Z:-0.30 [[ 0.99977746 -0.00697299 -0.01990987 -0.07266631] [ 0.00690468 0.99997004 -0.00349788 0.10854165] [ 0.01993367 0.00335963 0.99979566 -0.30007979] [ 0. 0. 0. 1. ]] SLAMing on 21.753133365 meters Centerline goodness : 0.121449 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.11, Z:-0.30 [[ 0.99978749 -0.00714567 -0.01933676 -0.07454779] [ 0.00708168 0.99996923 -0.00337569 0.10720305] [ 0.01936029 0.00323803 0.99980733 -0.29922342] [ 0. 0. 0. 1. ]] SLAMing on 21.783133364999998 meters Centerline goodness : 0.186695 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.30 [[ 0.99973896 -0.00806921 -0.02137512 -0.12187352] [ 0.0079992 0.99996237 -0.00335874 0.10174885] [ 0.02140142 0.00318688 0.99976588 -0.29802078] [ 0. 0. 0. 1. ]] SLAMing on 21.813133365 meters Centerline goodness : 0.097761 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.30 [[ 0.9997345 -0.0079778 -0.02161654 -0.12127472] [ 0.00791325 0.99996398 -0.00307002 0.10035012] [ 0.02164025 0.00289815 0.99976162 -0.29800833] [ 0. 0. 0. 1. ]] SLAMing on 21.843133365 meters Centerline goodness : 0.147605 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.30 [[ 9.99741667e-01 -1.64558848e-04 -2.27282287e-02 -1.00429730e-01] [ 7.50926877e-05 9.99992247e-01 -3.93714287e-03 9.58480502e-02] [ 2.27287003e-02 3.93441905e-03 9.99733928e-01 -2.96522251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.873133364999997 meters Centerline goodness : 0.141675 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99965363 -0.00189919 -0.02624892 -0.14216351] [ 0.00177983 0.99998797 -0.00456994 0.08967096] [ 0.02625728 0.00452164 0.99964499 -0.29783486] [ 0. 0. 0. 1. ]] SLAMing on 21.903133365 meters Centerline goodness : 0.149209 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99965297 -0.00179498 -0.02628152 -0.14221481] [ 0.00168483 0.99998971 -0.00421249 0.08787324] [ 0.02628881 0.00416675 0.99964571 -0.29756755] [ 0. 0. 0. 1. ]] SLAMing on 21.933133365 meters Centerline goodness : 0.144570 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99965646 -0.00166532 -0.02615698 -0.14287119] [ 0.00156607 0.9999915 -0.00381423 0.08595347] [ 0.02616311 0.00377196 0.99965057 -0.29693808] [ 0. 0. 0. 1. ]] SLAMing on 21.963133365 meters Centerline goodness : 0.141250 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99966521 -0.001559 -0.02582708 -0.14392612] [ 0.0014699 0.9999929 -0.00346841 0.08427359] [ 0.02583231 0.00342928 0.99966041 -0.29646201] [ 0. 0. 0. 1. ]] SLAMing on 21.993133365 meters Centerline goodness : 0.142230 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99966958 -0.0015629 -0.02565719 -0.1442948 ] [ 0.00148234 0.99999391 -0.00315877 0.08195726] [ 0.02566197 0.00311969 0.99966581 -0.2964497 ] [ 0. 0. 0. 1. ]] SLAMing on 22.023133365 meters Centerline goodness : 0.135233 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99966834 -0.00148532 -0.0257098 -0.1440184 ] [ 0.00140937 0.99999459 -0.00297199 0.08107667] [ 0.02571408 0.00293477 0.99966503 -0.29668647] [ 0. 0. 0. 1. ]] SLAMing on 22.053133365 meters Centerline goodness : 0.147833 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99967081 -0.00136805 -0.02562016 -0.14418732] [ 0.00129761 0.99999533 -0.00276562 0.08042614] [ 0.02562382 0.00273146 0.99966792 -0.29675298] [ 0. 0. 0. 1. ]] SLAMing on 22.083133365 meters Centerline goodness : 0.147833 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99967081 -0.00136805 -0.02562016 -0.14418732] [ 0.00129761 0.99999533 -0.00276562 0.08042614] [ 0.02562382 0.00273146 0.99966792 -0.29675298] [ 0. 0. 0. 1. ]] SLAMing on 22.113133365 meters Centerline goodness : 0.143056 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 0.99967701 -0.00127223 -0.02538205 -0.1448825 ] [ 0.00120582 0.99999581 -0.00263162 0.080082 ] [ 0.02538529 0.00260016 0.99967436 -0.29658037] [ 0. 0. 0. 1. ]] SLAMing on 22.143133365 meters Centerline goodness : 0.143983 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 0.99969554 -0.00124918 -0.02464295 -0.14714864] [ 0.00118779 0.99999616 -0.00250568 0.07892008] [ 0.02464598 0.00247565 0.99969318 -0.29581575] [ 0. 0. 0. 1. ]] SLAMing on 22.173133364999998 meters Centerline goodness : 0.096879 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 0.9996964 -0.00121599 -0.02460949 -0.14724736] [ 0.0011558 0.99999631 -0.00245985 0.07861945] [ 0.02461239 0.00243066 0.99969411 -0.29582181] [ 0. 0. 0. 1. ]] SLAMing on 22.203133365 meters Centerline goodness : 0.147647 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 0.99969211 -0.00115344 -0.0247863 -0.14638233] [ 0.00109312 0.99999641 -0.00244701 0.07887305] [ 0.02478904 0.00241917 0.99968978 -0.29657006] [ 0. 0. 0. 1. ]] SLAMing on 22.233133365 meters Centerline goodness : 0.143731 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 9.99675221e-01 -7.70580550e-04 -2.54727007e-02 -1.43854833e-01] [ 7.11319543e-04 9.99997020e-01 -2.33543087e-03 7.96584888e-02] [ 2.54744244e-02 2.31655315e-03 9.99672790e-01 -2.98086333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263133364999998 meters Centerline goodness : 0.136223 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.08, Z:-0.30 [[ 9.99685706e-01 -7.40792010e-04 -2.50587476e-02 -1.44927157e-01] [ 6.81378485e-04 9.99996937e-01 -2.37942495e-03 8.00119923e-02] [ 2.50604335e-02 2.36160262e-03 9.99683149e-01 -2.98000700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.293133365 meters Centerline goodness : 0.122394 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 9.99698017e-01 -6.94620901e-04 -2.45640265e-02 -1.46535964e-01] [ 6.34817574e-04 9.99996816e-01 -2.44230396e-03 8.06281103e-02] [ 2.45656448e-02 2.42597275e-03 9.99695275e-01 -2.97397135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323133365 meters Centerline goodness : 0.136047 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 9.99709279e-01 -6.46259738e-04 -2.41026935e-02 -1.47981991e-01] [ 5.85189398e-04 9.99996601e-01 -2.54072310e-03 8.15411882e-02] [ 2.41042536e-02 2.52587982e-03 9.99706259e-01 -2.96930174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.353133364999998 meters Centerline goodness : 0.193565 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:-0.30 [[ 9.99697240e-01 2.20653824e-03 -2.45063192e-02 -1.45034222e-01] [-2.21111658e-03 9.99997543e-01 -1.59727302e-04 8.47498030e-02] [ 2.45059065e-02 2.13865272e-04 9.99699662e-01 -2.99217529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383133365 meters Centerline goodness : 0.131404 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 9.99689921e-01 2.12307057e-03 -2.48103756e-02 -1.43708085e-01] [-2.13626938e-03 9.99997590e-01 -5.05494714e-04 8.65512265e-02] [ 2.48092426e-02 5.58339616e-04 9.99692047e-01 -3.00218609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.413133365 meters Centerline goodness : 0.129176 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 9.99681969e-01 2.04250227e-03 -2.51353987e-02 -1.42395471e-01] [-2.06493097e-03 9.99997493e-01 -8.66392034e-04 8.83984325e-02] [ 2.51335661e-02 9.18019359e-04 9.99683681e-01 -3.01114775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443133364999998 meters Centerline goodness : 0.145826 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.99968112 0.00194103 -0.02517699 -0.14216364] [-0.00197254 0.9999973 -0.00122656 0.09024574] [ 0.02517454 0.00127583 0.99968226 -0.30143225] [ 0. 0. 0. 1. ]] SLAMing on 22.473133365 meters Centerline goodness : 0.134310 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.09, Z:-0.30 [[ 0.9996848 0.00202043 -0.0250245 -0.14288661] [-0.00206737 0.99999615 -0.0018502 0.09453975] [ 0.02502067 0.00190136 0.99968513 -0.30116967] [ 0. 0. 0. 1. ]] SLAMing on 22.503133365 meters Centerline goodness : 0.130080 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.10, Z:-0.30 [[ 0.99968531 0.00189724 -0.02501354 -0.14271639] [-0.00195736 0.99999525 -0.00237925 0.0974588 ] [ 0.0250089 0.00242747 0.99968428 -0.30163159] [ 0. 0. 0. 1. ]] SLAMing on 22.533133364999998 meters Centerline goodness : 0.139292 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.10, Z:-0.30 [[ 0.99967282 0.00170697 -0.02552124 -0.14069017] [-0.00179273 0.99999282 -0.0033377 0.10301897] [ 0.02551536 0.00338236 0.99966871 -0.30311362] [ 0. 0. 0. 1. ]] SLAMing on 22.563133365 meters Centerline goodness : 0.196728 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 0.99967237 0.00151431 -0.02555113 -0.14037107] [-0.00161252 0.99999139 -0.00382358 0.10534661] [ 0.02554512 0.00386353 0.9996662 -0.30358499] [ 0. 0. 0. 1. ]] SLAMing on 22.593133365 meters Centerline goodness : 0.160824 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.30 [[ 0.99964542 -0.00621338 -0.0258926 -0.12121247] [ 0.0061351 0.99997637 -0.00310134 0.11349114] [ 0.02591126 0.00294139 0.99965992 -0.3017728 ] [ 0. 0. 0. 1. ]] SLAMing on 22.623133364999997 meters Centerline goodness : 0.162441 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 0.99965518 0.00126611 -0.02622825 -0.14023934] [-0.00138661 0.99998856 -0.00457687 0.10812298] [ 0.02622215 0.00461166 0.9996455 -0.30317079] [ 0. 0. 0. 1. ]] SLAMing on 22.653133365 meters Centerline goodness : 0.144457 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99655414e-01 6.80239164e-04 -2.62410052e-02 -1.40717847e-01] [-8.11505224e-04 9.99987211e-01 -4.99200106e-03 1.08633357e-01] [ 2.62372739e-02 5.01157560e-03 9.99643181e-01 -3.02252608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683133365 meters Centerline goodness : 0.178715 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99656581e-01 6.01982768e-04 -2.61984332e-02 -1.40999142e-01] [-7.32591968e-04 9.99987351e-01 -4.97606964e-03 1.08347540e-01] [ 2.61951063e-02 4.99355352e-03 9.99644377e-01 -3.01904710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.713133365 meters Centerline goodness : 0.149973 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.30 [[ 0.99965042 -0.00745639 -0.02536624 -0.12140856] [ 0.00735957 0.99996528 -0.00390807 0.11376416] [ 0.0253945 0.00372001 0.99967059 -0.300512 ] [ 0. 0. 0. 1. ]] SLAMing on 22.743133365 meters Centerline goodness : 0.210754 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.30 [[ 0.99965381 -0.00747246 -0.0252273 -0.1217724 ] [ 0.00737617 0.99996516 -0.00390755 0.11390079] [ 0.02525562 0.00372011 0.9996741 -0.30042874] [ 0. 0. 0. 1. ]] SLAMing on 22.773133365 meters Centerline goodness : 0.254764 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.30 [[ 0.99965318 -0.0075466 -0.02523042 -0.12164322] [ 0.00744241 0.9999634 -0.00422078 0.11593182] [ 0.02526135 0.00403154 0.99967275 -0.3006634 ] [ 0. 0. 0. 1. ]] SLAMing on 22.803133365 meters Centerline goodness : 0.146476 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99663214e-01 9.58878363e-04 -2.59333746e-02 -1.41519607e-01] [-1.09054393e-03 9.99986586e-01 -5.06340381e-03 1.12002554e-01] [ 2.59281716e-02 5.08998001e-03 9.99650850e-01 -3.02130477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.833133365 meters Centerline goodness : 0.401652 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.11, Z:-0.30 [[ 9.99658636e-01 9.33454064e-04 -2.61101681e-02 -1.40967349e-01] [-1.07395971e-03 9.99985017e-01 -5.36775644e-03 1.13884024e-01] [ 2.61047664e-02 5.39396535e-03 9.99644660e-01 -3.02423065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863133365 meters Centerline goodness : 0.134414 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 9.99663452e-01 8.94635176e-04 -2.59264632e-02 -1.41407407e-01] [-1.04935000e-03 9.99981721e-01 -5.95445756e-03 1.17332701e-01] [ 2.59206622e-02 5.97965953e-03 9.99646119e-01 -3.02584710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.893133365 meters Centerline goodness : 0.176648 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.30 [[ 0.99966666 -0.00475792 -0.02537565 -0.119481 ] [ 0.00467766 0.99998387 -0.00322147 0.12283593] [ 0.02539057 0.0031017 0.9996728 -0.3025945 ] [ 0. 0. 0. 1. ]] SLAMing on 22.923133364999998 meters Centerline goodness : 0.136695 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 0.99966821 0.00338256 -0.02553493 -0.13987304] [-0.00349562 0.99998428 -0.0043845 0.11905221] [ 0.0255197 0.00447231 0.99966432 -0.30400177] [ 0. 0. 0. 1. ]] SLAMing on 22.953133365 meters Centerline goodness : 0.145689 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 0.99967454 0.00324987 -0.02530324 -0.14057652] [-0.00337228 0.99998281 -0.00479639 0.12117904] [ 0.02528721 0.00488016 0.99966832 -0.30387942] [ 0. 0. 0. 1. ]] SLAMing on 22.983133365 meters Centerline goodness : 0.207483 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.12, Z:-0.30 [[ 0.9996888 0.00302577 -0.02476201 -0.14239686] [-0.00316143 0.9999802 -0.00544143 0.12481921] [ 0.02474506 0.00551802 0.99967857 -0.30319966] [ 0. 0. 0. 1. ]] SLAMing on 23.013133364999998 meters Centerline goodness : 0.175288 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.30 [[ 0.99969302 0.00291879 -0.02460391 -0.14307621] [-0.00305918 0.99997924 -0.00567037 0.12592904] [ 0.02458685 0.0057439 0.9996812 -0.30275818] [ 0. 0. 0. 1. ]] SLAMing on 23.043133365 meters Centerline goodness : 0.132969 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.30 [[ 0.99969513 0.00281503 -0.02452984 -0.14340074] [-0.00295977 0.99997841 -0.00586645 0.12679013] [ 0.02451279 0.00593726 0.99968189 -0.30254667] [ 0. 0. 0. 1. ]] SLAMing on 23.073133365 meters Centerline goodness : 0.182365 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.30 [[ 0.99969274 0.00261524 -0.02464915 -0.14310954] [-0.00276628 0.99997759 -0.00609575 0.12738176] [ 0.02463266 0.00616206 0.99967758 -0.30251724] [ 0. 0. 0. 1. ]] SLAMing on 23.103133364999998 meters Centerline goodness : 0.136054 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99966761 -0.00539519 -0.02521018 -0.12312938] [ 0.00526632 0.99997274 -0.00517553 0.1324767 ] [ 0.02523742 0.00504104 0.99966878 -0.30092783] [ 0. 0. 0. 1. ]] SLAMing on 23.133133365 meters Centerline goodness : 0.149538 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965813 -0.00540544 -0.02558123 -0.1218501 ] [ 0.00527738 0.99997322 -0.00507089 0.13172202] [ 0.02560796 0.00493416 0.99965989 -0.30146171] [ 0. 0. 0. 1. ]] SLAMing on 23.163133365 meters Centerline goodness : 0.128711 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965044 -0.00537666 -0.02588627 -0.12083531] [ 0.00525148 0.9999742 -0.00490102 0.13073919] [ 0.02591195 0.00476337 0.99965288 -0.30181493] [ 0. 0. 0. 1. ]] SLAMing on 23.193133364999998 meters Centerline goodness : 0.144635 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965088 -0.00537921 -0.02586839 -0.12102355] [ 0.00526181 0.99997556 -0.00460422 0.12888863] [ 0.02589253 0.0044665 0.99965475 -0.30147363] [ 0. 0. 0. 1. ]] SLAMing on 23.223133365 meters Centerline goodness : 0.210093 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.30 [[ 0.99965143 -0.00533884 -0.0258557 -0.12119753] [ 0.00522589 0.99997651 -0.00443439 0.12789595] [ 0.02587877 0.00429772 0.99965585 -0.3011957 ] [ 0. 0. 0. 1. ]] SLAMing on 23.253133365 meters Centerline goodness : 0.179861 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967842 0.0025066 -0.02523423 -0.10201877] [-0.00265303 0.99997983 -0.00577102 0.12404048] [ 0.02521926 0.00583611 0.99966491 -0.29909036] [ 0. 0. 0. 1. ]] SLAMing on 23.283133364999998 meters Centerline goodness : 0.134079 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967405 0.00261286 -0.02539606 -0.10158064] [-0.00275479 0.99998078 -0.00555522 0.12313461] [ 0.02538106 0.00562337 0.99966203 -0.29916807] [ 0. 0. 0. 1. ]] SLAMing on 23.313133365 meters Centerline goodness : 0.161701 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966842 0.00265987 -0.02561212 -0.1008489 ] [-0.00280203 0.99998086 -0.00551612 0.12313735] [ 0.02559695 0.00558606 0.99965674 -0.29947648] [ 0. 0. 0. 1. ]] SLAMing on 23.343133365 meters Centerline goodness : 0.141357 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966569 0.00268355 -0.02571581 -0.10036419] [-0.00282618 0.99998082 -0.00551164 0.12319919] [ 0.02570052 0.00558247 0.9996541 -0.29985836] [ 0. 0. 0. 1. ]] SLAMing on 23.373133364999997 meters Centerline goodness : 0.184411 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966363 0.00270395 -0.02579377 -0.10008117] [-0.00284692 0.99998078 -0.00550751 0.12321536] [ 0.02577839 0.00557909 0.99965211 -0.3000028 ] [ 0. 0. 0. 1. ]] SLAMing on 23.403133365 meters Centerline goodness : 0.130399 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967214 0.00269753 -0.02546238 -0.10141605] [-0.00283576 0.99998143 -0.00539433 0.12228287] [ 0.02544735 0.00546477 0.99966123 -0.29918511] [ 0. 0. 0. 1. ]] SLAMing on 23.433133365 meters Centerline goodness : 0.130569 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967302 0.00274204 -0.02542324 -0.10160677] [-0.00287598 0.99998217 -0.00523333 0.12137315] [ 0.02540844 0.00530473 0.99966308 -0.29903997] [ 0. 0. 0. 1. ]] SLAMing on 23.463133365 meters Centerline goodness : 0.131721 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99967019 0.00280769 -0.0255272 -0.10119121] [-0.00293785 0.99998287 -0.00506293 0.12061635] [ 0.02551255 0.00513625 0.99966131 -0.29927645] [ 0. 0. 0. 1. ]] SLAMing on 23.493133365 meters Centerline goodness : 0.132809 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966159 0.00281909 -0.02586021 -0.10001907] [-0.00294878 0.99998326 -0.00497812 0.1201808 ] [ 0.02584574 0.00505269 0.99965317 -0.29981792] [ 0. 0. 0. 1. ]] SLAMing on 23.523133365 meters Centerline goodness : 0.134117 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99964892 0.00286792 -0.02634034 -0.09807444] [-0.00299704 0.99998368 -0.00486398 0.1196304 ] [ 0.02632596 0.00494121 0.9996412 -0.30096603] [ 0. 0. 0. 1. ]] SLAMing on 23.553133365 meters Centerline goodness : 0.130674 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99964622 0.00286126 -0.0264434 -0.09764334] [-0.00299271 0.99998336 -0.00493243 0.12005551] [ 0.02642884 0.00500982 0.99963814 -0.3012442 ] [ 0. 0. 0. 1. ]] SLAMing on 23.583133365 meters Centerline goodness : 0.136670 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.9996497 0.00287468 -0.02630988 -0.09788988] [-0.00300859 0.99998272 -0.0050515 0.12087796] [ 0.02629491 0.00512888 0.99964107 -0.30141981] [ 0. 0. 0. 1. ]] SLAMing on 23.613133365 meters Centerline goodness : 0.152208 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99965358 0.00289837 -0.02615939 -0.09837565] [-0.00303515 0.99998192 -0.00519069 0.1218622 ] [ 0.02614387 0.00526829 0.99964431 -0.301275 ] [ 0. 0. 0. 1. ]] SLAMing on 23.643133365 meters Centerline goodness : 0.212632 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.30 [[ 0.99966499 0.00292211 -0.02571707 -0.09954919] [-0.00306043 0.99998106 -0.00534072 0.12268491] [ 0.02570097 0.00541764 0.999655 -0.30117514] [ 0. 0. 0. 1. ]] SLAMing on 23.673133364999998 meters Centerline goodness : 0.144519 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966712 -0.00327776 -0.02559129 -0.07895117] [ 0.00320802 0.99999103 -0.00276543 0.12683761] [ 0.02560013 0.00268241 0.99966866 -0.30063138] [ 0. 0. 0. 1. ]] SLAMing on 23.703133365 meters Centerline goodness : 0.235731 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966537 -0.0031898 -0.02567054 -0.07851923] [ 0.00312326 0.99999166 -0.00263152 0.12648644] [ 0.02567872 0.00255046 0.99966699 -0.3010298 ] [ 0. 0. 0. 1. ]] SLAMing on 23.733133365 meters Centerline goodness : 0.150495 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966286 -0.00313307 -0.02577495 -0.07783571] [ 0.00307135 0.99999232 -0.00243378 0.12533799] [ 0.02578238 0.0023538 0.99966481 -0.30162931] [ 0. 0. 0. 1. ]] SLAMing on 23.763133364999998 meters Centerline goodness : 0.130247 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.30 [[ 0.9996637 -0.00315824 -0.02573922 -0.07787854] [ 0.00309811 0.99999238 -0.00237588 0.12459448] [ 0.02574653 0.00229534 0.99966587 -0.30168183] [ 0. 0. 0. 1. ]] SLAMing on 23.793133365 meters Centerline goodness : 0.152638 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.30 [[ 0.99966331 -0.0031819 -0.02575164 -0.07798174] [ 0.00312193 0.99999232 -0.00236854 0.1243178 ] [ 0.02575898 0.00228734 0.99966557 -0.30146593] [ 0. 0. 0. 1. ]] SLAMing on 23.823133365 meters Centerline goodness : 0.096228 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.30 [[ 0.99966631 -0.003123 -0.02564189 -0.07838691] [ 0.00306354 0.99999253 -0.00235773 0.12467259] [ 0.02564906 0.00227838 0.99966841 -0.30130941] [ 0. 0. 0. 1. ]] SLAMing on 23.853133364999998 meters Centerline goodness : 0.146534 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99966871 -0.00306482 -0.02555522 -0.07869372] [ 0.0030025 0.99999243 -0.00247658 0.12598281] [ 0.02556262 0.00239903 0.99967034 -0.30120641] [ 0. 0. 0. 1. ]] SLAMing on 23.883133365 meters Centerline goodness : 0.158933 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.30 [[ 0.99969188 0.00609731 -0.02406188 -0.05807403] [-0.00617917 0.99997537 -0.00332957 0.12861511] [ 0.02404099 0.00347722 0.99970493 -0.30065311] [ 0. 0. 0. 1. ]] SLAMing on 23.913133365 meters Centerline goodness : 0.149719 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.13, Z:-0.30 [[ 0.99970645 -0.00235575 -0.02411341 -0.07908042] [ 0.00228434 0.99999293 -0.00298836 0.13493797] [ 0.02412028 0.0029324 0.99970476 -0.30197085] [ 0. 0. 0. 1. ]] SLAMing on 23.943133364999998 meters Centerline goodness : 0.149729 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 0.9997066 -0.00255405 -0.02408734 -0.07923238] [ 0.00246853 0.99999055 -0.00357944 0.13772315] [ 0.02409626 0.00351893 0.99970345 -0.30197878] [ 0. 0. 0. 1. ]] SLAMing on 23.973133365 meters Centerline goodness : 0.097645 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 0.99970666 -0.00270416 -0.02406844 -0.07944807] [ 0.00260607 0.99998818 -0.00410568 0.14050568] [ 0.02407926 0.00404176 0.99970188 -0.30186772] [ 0. 0. 0. 1. ]] SLAMing on 24.003133365 meters Centerline goodness : 0.097645 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 0.99970666 -0.00270416 -0.02406844 -0.07944807] [ 0.00260607 0.99998818 -0.00410568 0.14050568] [ 0.02407926 0.00404176 0.99970188 -0.30186772] [ 0. 0. 0. 1. ]] SLAMing on 24.033133364999998 meters Centerline goodness : 0.155941 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.30 [[ 9.99702509e-01 7.13721212e-04 -2.43799997e-02 -7.88465970e-02] [-7.45050890e-04 9.99998908e-01 -1.27599722e-03 1.44813109e-01] [ 2.43790624e-02 1.29378196e-03 9.99701949e-01 -3.01695149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063133365 meters Centerline goodness : 0.151673 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 9.99704098e-01 4.65251491e-04 -2.43207706e-02 -7.91813631e-02] [-5.10277520e-04 9.99998167e-01 -1.84516726e-03 1.47376576e-01] [ 2.43198675e-02 1.85703162e-03 9.99702503e-01 -3.01474039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.093133365 meters Centerline goodness : 0.159627 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 9.99703868e-01 2.16483392e-04 -2.43337210e-02 -7.93784240e-02] [-2.75033359e-04 9.99997075e-01 -2.40280368e-03 1.49851510e-01] [ 2.43331297e-02 2.40878472e-03 9.99701004e-01 -3.01165319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123133364999997 meters Centerline goodness : 0.155979 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 9.99701914e-01 3.21024528e-05 -2.44147909e-02 -7.93957044e-02] [-1.01764183e-04 9.99995928e-01 -2.85202222e-03 1.52085898e-01] [ 2.44145999e-02 2.85365663e-03 9.99697846e-01 -3.00903092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.153133365 meters Centerline goodness : 0.100028 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99692735e-01 -2.61551457e-04 -2.47864267e-02 -7.87385259e-02] [ 1.69844054e-04 9.99993133e-01 -3.70193720e-03 1.56981351e-01] [ 2.47872247e-02 3.69658990e-03 9.99685915e-01 -3.00632609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183133365 meters Centerline goodness : 0.103639 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99689394e-01 -4.58073919e-04 -2.49179966e-02 -7.84914601e-02] [ 3.53880570e-04 9.99991177e-01 -4.18569864e-03 1.59336506e-01] [ 2.49196941e-02 4.17558054e-03 9.99680736e-01 -3.00548091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.213133365 meters Centerline goodness : 0.113580 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99686941e-01 -6.84662478e-04 -2.50110104e-02 -7.83202712e-02] [ 5.67056000e-04 9.99988752e-01 -4.70897806e-03 1.61639638e-01] [ 2.50139531e-02 4.69332123e-03 9.99676085e-01 -3.00529116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243133365 meters Centerline goodness : 0.188071 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 9.99686314e-01 -9.11218828e-04 -2.50288524e-02 -7.85133277e-02] [ 7.80494786e-04 9.99986007e-01 -5.23220641e-03 1.63978661e-01] [ 2.50332699e-02 5.21103025e-03 9.99673037e-01 -3.00221749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.273133365 meters Centerline goodness : 0.138773 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 9.99689306e-01 -1.14368498e-03 -2.48994523e-02 -7.95114694e-02] [ 9.95265333e-04 9.99981670e-01 -5.97233631e-03 1.68161960e-01] [ 2.49058263e-02 5.94569918e-03 9.99672120e-01 -2.99336029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303133365 meters Centerline goodness : 0.098918 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99968781 -0.00122601 -0.02495572 -0.07951517] [ 0.00107037 0.9999799 -0.00624903 0.16978551] [ 0.02496288 0.00622037 0.99966903 -0.29916395] [ 0. 0. 0. 1. ]] SLAMing on 24.333133365 meters Centerline goodness : 0.174943 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99968386 -0.00135099 -0.02510695 -0.07909006] [ 0.00118795 0.99997812 -0.00650753 0.17096693] [ 0.02511519 0.00647565 0.99966359 -0.29924029] [ 0. 0. 0. 1. ]] SLAMing on 24.363133365 meters Centerline goodness : 0.173039 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99967803 -0.00151648 -0.02532865 -0.07834077] [ 0.00134449 0.99997593 -0.00680612 0.17212482] [ 0.02533836 0.00676987 0.99965601 -0.29960684] [ 0. 0. 0. 1. ]] SLAMing on 24.393133365 meters Centerline goodness : 0.145235 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99967207 -0.00164232 -0.02555498 -0.0775419 ] [ 0.00146251 0.99997406 -0.00705323 0.1731574 ] [ 0.0255659 0.00701354 0.99964854 -0.30000322] [ 0. 0. 0. 1. ]] SLAMing on 24.423133364999998 meters Centerline goodness : 0.144470 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967313 -0.00186205 -0.02549854 -0.07763285] [ 0.00166848 0.99996964 -0.0076109 0.17616581] [ 0.02551194 0.00756587 0.99964589 -0.30015407] [ 0. 0. 0. 1. ]] SLAMing on 24.453133365 meters Centerline goodness : 0.096283 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967579 -0.00194226 -0.02538787 -0.07816865] [ 0.00174166 0.99996711 -0.00792115 0.1781821 ] [ 0.02540242 0.00787436 0.99964629 -0.2997795 ] [ 0. 0. 0. 1. ]] SLAMing on 24.483133365 meters Centerline goodness : 0.089307 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967842 -0.00206047 -0.0252748 -0.07871372] [ 0.00185168 0.99996399 -0.00828145 0.18025369] [ 0.02529095 0.00823198 0.99964624 -0.29942271] [ 0. 0. 0. 1. ]] SLAMing on 24.513133364999998 meters Centerline goodness : 0.112449 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99967407 -0.00244548 -0.02541221 -0.07838374] [ 0.00221445 0.999956 -0.00911541 0.18385072] [ 0.02543338 0.00905616 0.9996355 -0.29944381] [ 0. 0. 0. 1. ]] SLAMing on 24.543133365 meters Centerline goodness : 0.142031 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99966758 -0.00260058 -0.02565098 -0.07761013] [ 0.0023579 0.99995222 -0.00948669 0.18548876] [ 0.02567443 0.00942305 0.99962595 -0.29977057] [ 0. 0. 0. 1. ]] SLAMing on 24.573133365 meters Centerline goodness : 0.088775 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99966159 -0.0027137 -0.02587154 -0.07705109] [ 0.00246023 0.99994872 -0.00982379 0.1872266 ] [ 0.02589687 0.00975681 0.999617 -0.29987829] [ 0. 0. 0. 1. ]] SLAMing on 24.603133364999998 meters Centerline goodness : 0.088697 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99965986 -0.00279328 -0.02592988 -0.07703922] [ 0.00253267 0.99994601 -0.01007812 0.1887323 ] [ 0.02595663 0.01000902 0.99961296 -0.29971164] [ 0. 0. 0. 1. ]] SLAMing on 24.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 24.663133365 meters Centerline goodness : 0.094486 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.9996669 -0.00352412 -0.02556694 -0.07873837] [ 0.00325512 0.99993899 -0.01055524 0.18926479] [ 0.02560258 0.0104685 0.99961739 -0.29830295] [ 0. 0. 0. 1. ]] SLAMing on 24.693133364999998 meters Centerline goodness : 0.117063 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 0.99966161 -0.00353944 -0.02577097 -0.07835494] [ 0.00327643 0.99994219 -0.01024077 0.18734275] [ 0.02580573 0.01015287 0.99961542 -0.29799937] [ 0. 0. 0. 1. ]] SLAMing on 24.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 24.753133365 meters Centerline goodness : 0.171895 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99964288 -0.00715035 -0.02574866 -0.07864427] [ 0.00682089 0.99989404 -0.01286053 0.1813219 ] [ 0.02583789 0.01268031 0.99958572 -0.29742462] [ 0. 0. 0. 1. ]] SLAMing on 24.783133364999998 meters Centerline goodness : 0.097891 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.18, Z:-0.30 [[ 9.99695926e-01 6.57827683e-04 -2.46500218e-02 -5.97881685e-02] [-9.93919030e-04 9.99906685e-01 -1.36247550e-02 1.75533933e-01] [ 2.46387588e-02 1.36451122e-02 9.99603293e-01 -2.95511950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.813133365 meters Centerline goodness : 0.129321 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 9.99652824e-01 6.72855587e-04 -2.63396940e-02 -1.07913725e-01] [-1.03098392e-03 9.99907184e-01 -1.35853078e-02 1.70780462e-01] [ 2.63281083e-02 1.36077471e-02 9.99560733e-01 -2.94190897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843133365 meters Centerline goodness : 0.101444 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 9.99653938e-01 8.29595116e-04 -2.62928714e-02 -1.08116636e-01] [-1.17584417e-03 9.99912762e-01 -1.31562089e-02 1.68332057e-01] [ 2.62796633e-02 1.31825724e-02 9.99567706e-01 -2.93994077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.873133364999997 meters Centerline goodness : 0.162881 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 9.99643502e-01 9.43079997e-04 -2.66829457e-02 -1.07009511e-01] [-1.29046264e-03 9.99914603e-01 -1.30046786e-02 1.67623686e-01] [ 2.66684026e-02 1.30344758e-02 9.99559352e-01 -2.94296356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903133365 meters Centerline goodness : 0.162835 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.29 [[ 0.99963286 0.00107023 -0.02707386 -0.10574135] [-0.00141877 0.99991633 -0.01285763 0.16709445] [ 0.02705783 0.01289132 0.99955074 -0.29480455] [ 0. 0. 0. 1. ]] SLAMing on 24.933133365 meters Centerline goodness : 0.160658 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 0.99962688 0.00119876 -0.02728856 -0.10507448] [-0.00154639 0.99991788 -0.01272174 0.16667792] [ 0.02727106 0.0127592 0.99954664 -0.29509934] [ 0. 0. 0. 1. ]] SLAMing on 24.963133365 meters Centerline goodness : 0.088817 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99966892 -0.00400698 -0.02541636 -0.08333266] [ 0.00377269 0.99995001 -0.00925934 0.16658739] [ 0.02545219 0.00916038 0.99963407 -0.29538472] [ 0. 0. 0. 1. ]] SLAMing on 24.993133365 meters Centerline goodness : 0.127655 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99967549 -0.00386247 -0.02517921 -0.08416191] [ 0.00363817 0.99995335 -0.00894774 0.1650944 ] [ 0.0252126 0.00885323 0.99964291 -0.29502512] [ 0. 0. 0. 1. ]] SLAMing on 25.023133365 meters Centerline goodness : 0.130812 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.29 [[ 0.99967807 -0.00367973 -0.02510395 -0.08444386] [ 0.00346575 0.99995734 -0.00856217 0.16330948] [ 0.02513438 0.00847241 0.99964818 -0.29486162] [ 0. 0. 0. 1. ]] SLAMing on 25.053133365 meters Centerline goodness : 0.165376 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99967822 -0.00330978 -0.02514942 -0.0839738 ] [ 0.00311731 0.99996558 -0.00768857 0.15908958] [ 0.025174 0.0076077 0.99965414 -0.29535651] [ 0. 0. 0. 1. ]] SLAMing on 25.083133365 meters Centerline goodness : 0.159218 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99967948 -0.00314886 -0.02512017 -0.08403436] [ 0.00296745 0.99996928 -0.00725542 0.15685035] [ 0.02514224 0.00717856 0.99965811 -0.29533963] [ 0. 0. 0. 1. ]] SLAMing on 25.113133365 meters Centerline goodness : 0.163818 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.9996827 -0.00296743 -0.02501384 -0.08440934] [ 0.00279813 0.99997296 -0.0068007 0.15458943] [ 0.02503334 0.00672855 0.99966397 -0.29508921] [ 0. 0. 0. 1. ]] SLAMing on 25.143133365 meters Centerline goodness : 0.161268 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.29 [[ 0.99968455 -0.00279978 -0.02495917 -0.08470813] [ 0.00264012 0.99997586 -0.00642767 0.15283381] [ 0.02497656 0.00635974 0.99966781 -0.29481655] [ 0. 0. 0. 1. ]] SLAMing on 25.173133364999998 meters Centerline goodness : 0.163934 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.29 [[ 0.99969134 -0.00236752 -0.02473103 -0.0852081 ] [ 0.00222107 0.99997985 -0.00594737 0.15157002] [ 0.02474461 0.00589061 0.99967645 -0.29493026] [ 0. 0. 0. 1. ]] SLAMing on 25.203133365 meters Centerline goodness : 0.159826 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99968974 -0.00224989 -0.02480629 -0.08491403] [ 0.00210458 0.99998048 -0.00588236 0.15156392] [ 0.02481904 0.00582833 0.99967497 -0.29519692] [ 0. 0. 0. 1. ]] SLAMing on 25.233133365 meters Centerline goodness : 0.159893 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99968692 -0.00220479 -0.02492409 -0.0844221 ] [ 0.00205701 0.99998016 -0.00595334 0.15199277] [ 0.02493672 0.00590021 0.99967162 -0.29558331] [ 0. 0. 0. 1. ]] SLAMing on 25.263133364999998 meters Centerline goodness : 0.156554 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99968232 -0.00214145 -0.02511321 -0.08367036] [ 0.00199102 0.99997994 -0.00601377 0.15242259] [ 0.02512558 0.00596186 0.99966653 -0.29613538] [ 0. 0. 0. 1. ]] SLAMing on 25.293133365 meters Centerline goodness : 0.159591 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99967542 -0.00210132 -0.0253899 -0.08270972] [ 0.00194839 0.99997982 -0.00604657 0.15276675] [ 0.02540209 0.00599514 0.99965934 -0.29663493] [ 0. 0. 0. 1. ]] SLAMing on 25.323133365 meters Centerline goodness : 0.161899 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.15, Z:-0.30 [[ 0.99964084 0.00657238 -0.02598053 -0.10240756] [-0.00674726 0.99995513 -0.00664936 0.14751572] [ 0.02593567 0.00682226 0.99964033 -0.29806605] [ 0. 0. 0. 1. ]] SLAMing on 25.353133364999998 meters Centerline goodness : 0.200454 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.15, Z:-0.30 [[ 0.99964388 0.00650627 -0.0258801 -0.10279992] [-0.00668278 0.99995496 -0.00673988 0.14772521] [ 0.02583508 0.00691044 0.99964233 -0.2978434 ] [ 0. 0. 0. 1. ]] SLAMing on 25.383133365 meters Centerline goodness : 0.158845 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.15, Z:-0.30 [[ 0.99964736 0.0064413 -0.02576182 -0.1032168 ] [-0.00661874 0.99995492 -0.00680843 0.14775724] [ 0.0257168 0.00697654 0.99964492 -0.29765509] [ 0. 0. 0. 1. ]] SLAMing on 25.413133365 meters Centerline goodness : 0.158993 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.30 [[ 0.99967295 -0.00137063 -0.0255367 -0.08481394] [ 0.00122575 0.99998307 -0.0056883 0.15387125] [ 0.02554406 0.00565513 0.9996577 -0.29568144] [ 0. 0. 0. 1. ]] SLAMing on 25.443133364999998 meters Centerline goodness : 0.162960 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99967333 -0.00143997 -0.02551787 -0.08470173] [ 0.00128723 0.99998117 -0.00600101 0.15591243] [ 0.02552603 0.0059662 0.99965635 -0.29602319] [ 0. 0. 0. 1. ]] SLAMing on 25.473133365 meters Centerline goodness : 0.182200 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99966966 -0.00156164 -0.02565422 -0.08422558] [ 0.00139963 0.99997897 -0.00633197 0.15752529] [ 0.02566357 0.00629397 0.99965082 -0.2963012 ] [ 0. 0. 0. 1. ]] SLAMing on 25.503133365 meters Centerline goodness : 0.158169 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99966425 -0.00168108 -0.02585656 -0.08340938] [ 0.00150919 0.99997664 -0.00666583 0.15901915] [ 0.02586716 0.00662457 0.99964344 -0.29686425] [ 0. 0. 0. 1. ]] SLAMing on 25.533133364999998 meters Centerline goodness : 0.157934 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.9996613 -0.00185381 -0.02595865 -0.08298387] [ 0.0016706 0.99997356 -0.00707761 0.16079087] [ 0.02597109 0.00703184 0.99963796 -0.29721969] [ 0. 0. 0. 1. ]] SLAMing on 25.563133365 meters Centerline goodness : 0.159077 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.30 [[ 0.99966149 -0.00188552 -0.02594888 -0.0831798 ] [ 0.00168799 0.99996945 -0.00763189 0.16475179] [ 0.02596248 0.00758551 0.99963414 -0.29718905] [ 0. 0. 0. 1. ]] SLAMing on 25.593133365 meters Centerline goodness : 0.154480 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99966122 -0.00196272 -0.02595376 -0.08335753] [ 0.00175495 0.99996625 -0.00802568 0.16721856] [ 0.02596864 0.00797741 0.99963093 -0.29698269] [ 0. 0. 0. 1. ]] SLAMing on 25.623133364999997 meters Centerline goodness : 0.162201 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.99965964 -0.0021594 -0.02599904 -0.08324928] [ 0.0019381 0.99996171 -0.00853412 0.16972329] [ 0.02601647 0.00848082 0.99962554 -0.297009 ] [ 0. 0. 0. 1. ]] SLAMing on 25.653133365 meters Centerline goodness : 0.154282 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.30 [[ 0.9996599 -0.00260901 -0.02594745 -0.08356703] [ 0.00236119 0.99995135 -0.00957718 0.17436617] [ 0.02597117 0.00951266 0.99961743 -0.29686899] [ 0. 0. 0. 1. ]] SLAMing on 25.683133365 meters Centerline goodness : 0.160900 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99966286 -0.00276012 -0.02581761 -0.08406872] [ 0.00250034 0.99994598 -0.01008897 0.17728731] [ 0.02584407 0.01002102 0.99961576 -0.29670024] [ 0. 0. 0. 1. ]] SLAMing on 25.713133364999997 meters Centerline goodness : 0.203060 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.18, Z:-0.30 [[ 0.99967147 -0.00287599 -0.02546929 -0.08529182] [ 0.00260631 0.99994026 -0.0106152 0.18056986] [ 0.02549829 0.01054533 0.99961924 -0.29626082] [ 0. 0. 0. 1. ]] SLAMing on 25.743133365 meters Centerline goodness : 0.098215 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.18, Z:-0.30 [[ 9.99701287e-01 6.16412924e-05 -2.44403920e-02 -8.86492237e-02] [-2.53489911e-04 9.99969183e-01 -7.84663347e-03 1.83123371e-01] [ 2.44391552e-02 7.85048497e-03 9.99670495e-01 -2.95026079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.773133365 meters Centerline goodness : 0.099540 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.19, Z:-0.29 [[ 9.99705132e-01 -4.16197311e-04 -2.42791056e-02 -8.97621926e-02] [ 1.97519246e-04 9.99959403e-01 -9.00854478e-03 1.88669184e-01] [ 2.42818693e-02 9.00109286e-03 9.99664629e-01 -2.94043193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803133365 meters Centerline goodness : 0.111617 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.19, Z:-0.29 [[ 9.99699421e-01 -6.20589837e-04 -2.45088222e-02 -8.91291765e-02] [ 3.86733036e-04 9.99954368e-01 -9.54532714e-03 1.91246766e-01] [ 2.45136275e-02 9.53297965e-03 9.99654042e-01 -2.94240029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.833133365 meters Centerline goodness : 0.150883 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.19, Z:-0.29 [[ 9.99696636e-01 -7.69591905e-04 -2.46179358e-02 -8.89051021e-02] [ 5.23227925e-04 9.99949738e-01 -1.00123759e-02 1.93818523e-01] [ 2.46244039e-02 9.99645771e-03 9.99646792e-01 -2.94223818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863133365 meters Centerline goodness : 0.157197 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.29 [[ 9.99703874e-01 -9.18715997e-04 -2.43170885e-02 -8.98257115e-02] [ 6.63729682e-04 9.99944738e-01 -1.04918849e-02 1.96519274e-01] [ 2.43253838e-02 1.04726380e-02 9.99649238e-01 -2.94014898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.893133365 meters Centerline goodness : 0.157197 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.29 [[ 9.99703874e-01 -9.18715997e-04 -2.43170885e-02 -8.98257115e-02] [ 6.63729682e-04 9.99944738e-01 -1.04918849e-02 1.96519274e-01] [ 2.43253838e-02 1.04726380e-02 9.99649238e-01 -2.94014898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923133364999998 meters Centerline goodness : 0.169541 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.20, Z:-0.29 [[ 0.99974195 -0.00728862 -0.02151513 -0.0694483 ] [ 0.00711377 0.99994114 -0.00819236 0.20456306] [ 0.02157358 0.00803719 0.99973496 -0.29394058] [ 0. 0. 0. 1. ]] SLAMing on 25.953133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 25.983133365 meters Centerline goodness : 0.133384 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.21, Z:-0.29 [[ 0.99973743 -0.0075702 -0.02162794 -0.06920641] [ 0.00738146 0.99993409 -0.00879337 0.20748693] [ 0.02169308 0.00863141 0.99972742 -0.29394184] [ 0. 0. 0. 1. ]] SLAMing on 26.013133364999998 meters Centerline goodness : 0.138982 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99756900e-01 4.91821106e-04 -2.20431081e-02 -8.69726707e-02] [-7.16974670e-04 9.99947645e-01 -1.02074996e-02 2.02714660e-01] [ 2.20369338e-02 1.02208225e-02 9.99704911e-01 -2.95959828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.073133365 meters Centerline goodness : 0.094219 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99757944e-01 4.74846800e-05 -2.20011591e-02 -8.71371508e-02] [-2.73245948e-04 9.99947343e-01 -1.02584426e-02 2.01314970e-01] [ 2.19995135e-02 1.02619712e-02 9.99705313e-01 -2.95724636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103133364999998 meters Centerline goodness : 0.147701 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99760118e-01 7.23062634e-05 -2.19020710e-02 -8.72800447e-02] [-2.92229210e-04 9.99949574e-01 -1.00381600e-02 2.00052523e-01] [ 2.19002407e-02 1.00421524e-02 9.99709725e-01 -2.95812179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.133133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.163133365 meters Centerline goodness : 0.087011 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99758901e-01 1.09854667e-04 -2.19574013e-02 -8.66138398e-02] [-3.24802076e-04 9.99952064e-01 -9.78596522e-03 1.98296718e-01] [ 2.19552737e-02 9.79073765e-03 9.99711012e-01 -2.96598065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.193133364999998 meters Centerline goodness : 0.178689 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.20, Z:-0.30 [[ 9.99752230e-01 1.05077225e-04 -2.22590994e-02 -8.56789832e-02] [-3.26021268e-04 9.99950717e-01 -9.92261364e-03 1.99040730e-01] [ 2.22569597e-02 9.92741205e-03 9.99702993e-01 -2.96993644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223133365 meters Centerline goodness : 0.144437 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99741424e-01 2.00422650e-04 -2.27386089e-02 -8.41476228e-02] [-4.29324187e-04 9.99949283e-01 -1.00622113e-02 2.00252370e-01] [ 2.27354390e-02 1.00693717e-02 9.99690806e-01 -2.97692159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.283133364999998 meters Centerline goodness : 0.095549 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99727074e-01 5.11492593e-04 -2.33562802e-02 -8.23059244e-02] [-7.53516580e-04 9.99946105e-01 -1.03546411e-02 2.02618213e-01] [ 2.33497250e-02 1.03694144e-02 9.99673580e-01 -2.98519923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.313133365 meters Centerline goodness : 0.147042 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99729373e-01 4.92103297e-04 -2.32581011e-02 -8.25966781e-02] [-7.34310214e-04 9.99945581e-01 -1.04064803e-02 2.02820745e-01] [ 2.32517144e-02 1.04207427e-02 9.99675330e-01 -2.98497279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.373133364999997 meters Centerline goodness : 0.097565 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99727644e-01 6.03870571e-04 -2.33296715e-02 -8.20684333e-02] [-8.41187875e-04 9.99947993e-01 -1.01638639e-02 2.01862676e-01] [ 2.33223205e-02 1.01807204e-02 9.99676159e-01 -2.99077193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403133365 meters Centerline goodness : 0.129312 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99723834e-01 6.08063489e-04 -2.34922614e-02 -8.14898551e-02] [-8.44695956e-04 9.99948998e-01 -1.00641739e-02 2.01058156e-01] [ 2.34849436e-02 1.00812383e-02 9.99673360e-01 -2.99318106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.433133365 meters Centerline goodness : 0.168658 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99724237e-01 6.66507173e-04 -2.34735084e-02 -8.15546427e-02] [-8.98155109e-04 9.99950992e-01 -9.85932389e-03 1.99910620e-01] [ 2.34657867e-02 9.87768790e-03 9.99675842e-01 -2.99279218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463133364999997 meters Centerline goodness : 0.101013 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.20, Z:-0.30 [[ 9.99724912e-01 7.82746261e-04 -2.34411716e-02 -8.17306169e-02] [-1.00606762e-03 9.99954210e-01 -9.51660803e-03 1.98313843e-01] [ 2.34326491e-02 9.53757353e-03 9.99679922e-01 -2.99039100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.493133365 meters Centerline goodness : 0.191068 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 9.99740880e-01 8.15809701e-04 -2.27487801e-02 -8.37672538e-02] [-1.01770766e-03 9.99960188e-01 -8.86494684e-03 1.94519787e-01] [ 2.27406424e-02 8.88580137e-03 9.99701908e-01 -2.98303689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523133365 meters Centerline goodness : 0.169554 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.19, Z:-0.30 [[ 9.99742955e-01 9.04129100e-04 -2.26540596e-02 -8.41262894e-02] [-1.09598869e-03 9.99963629e-01 -8.45812026e-03 1.92281241e-01] [ 2.26455885e-02 8.48077474e-03 9.99707584e-01 -2.98019640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.583133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.613133365 meters Centerline goodness : 0.134985 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99972268 0.00122472 -0.02351744 -0.08107054] [-0.00139214 0.9999738 -0.00710386 0.18483963] [ 0.02350812 0.00713463 0.99969819 -0.29920528] [ 0. 0. 0. 1. ]] SLAMing on 26.643133365 meters Centerline goodness : 0.137431 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-0.30 [[ 0.99972664 0.00134842 -0.02334143 -0.08180567] [-0.00150589 0.99997622 -0.00672978 0.18289301] [ 0.0233318 0.00676309 0.9997049 -0.29871005] [ 0. 0. 0. 1. ]] SLAMing on 26.673133364999998 meters Centerline goodness : 0.200311 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970284 -0.0072779 -0.02326529 -0.10464191] [ 0.0071397 0.9999564 -0.00601778 0.18382519] [ 0.02330807 0.00584988 0.99971121 -0.2991625 ] [ 0. 0. 0. 1. ]] SLAMing on 26.703133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 26.733133365 meters Centerline goodness : 0.099998 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970674 -0.00698911 -0.02318597 -0.10453064] [ 0.00687058 0.99996294 -0.00518792 0.1799006 ] [ 0.02322137 0.0050271 0.99971771 -0.29948584] [ 0. 0. 0. 1. ]] SLAMing on 26.763133364999998 meters Centerline goodness : 0.096315 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970601 -0.00689873 -0.02324416 -0.10437318] [ 0.00678348 0.99996432 -0.00503352 0.17925175] [ 0.02327806 0.00487437 0.99971715 -0.29951572] [ 0. 0. 0. 1. ]] SLAMing on 26.793133365 meters Centerline goodness : 0.102450 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970613 -0.00690678 -0.02323669 -0.10444546] [ 0.00679082 0.99996411 -0.00506582 0.17935932] [ 0.02327084 0.00490654 0.99971716 -0.29945934] [ 0. 0. 0. 1. ]] SLAMing on 26.823133365 meters Centerline goodness : 0.100491 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99970541 -0.00693449 -0.02325968 -0.10447074] [ 0.00681081 0.99996227 -0.00539214 0.18106703] [ 0.02329619 0.00523213 0.99971492 -0.29946281] [ 0. 0. 0. 1. ]] SLAMing on 26.853133364999998 meters Centerline goodness : 0.103679 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99971875 -0.00357325 -0.02344466 -0.10389139] [ 0.0035236 0.99999146 -0.00215886 0.18164385] [ 0.02345217 0.00207565 0.99972281 -0.29966747] [ 0. 0. 0. 1. ]] SLAMing on 26.883133365 meters Centerline goodness : 0.162128 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 0.99972352 -0.00360292 -0.023236 -0.10456985] [ 0.00354619 0.99999063 -0.002482 0.18366738] [ 0.02324472 0.00239892 0.99972693 -0.29955406] [ 0. 0. 0. 1. ]] SLAMing on 26.913133365 meters Centerline goodness : 0.141934 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99972784 -0.00379016 -0.02301916 -0.10572257] [ 0.00371955 0.99998825 -0.00310952 0.18689077] [ 0.02303068 0.00302305 0.99973019 -0.29874805] [ 0. 0. 0. 1. ]] SLAMing on 26.943133364999998 meters Centerline goodness : 0.099901 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99972724 -0.00383669 -0.02303761 -0.10589 ] [ 0.00376336 0.99998772 -0.00322548 0.18742119] [ 0.0230497 0.00313791 0.9997294 -0.29845347] [ 0. 0. 0. 1. ]] SLAMing on 26.973133365 meters Centerline goodness : 0.169762 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99972875 -0.00388316 -0.02296409 -0.10625911] [ 0.00380903 0.9999874 -0.00327096 0.18750296] [ 0.02297651 0.0031826 0.99973094 -0.29817215] [ 0. 0. 0. 1. ]] SLAMing on 27.003133365 meters Centerline goodness : 0.161679 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.99973197 -0.00390517 -0.02281956 -0.10689628] [ 0.003833 0.99998752 -0.00320569 0.187014 ] [ 0.0228318 0.00311737 0.99973446 -0.29769117] [ 0. 0. 0. 1. ]] SLAMing on 27.033133364999998 meters Centerline goodness : 0.093359 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 0.999735 -0.00393153 -0.02268198 -0.10748142] [ 0.00386355 0.99998792 -0.00304011 0.18589054] [ 0.02269366 0.00295168 0.99973811 -0.29720879] [ 0. 0. 0. 1. ]] SLAMing on 27.063133365 meters Centerline goodness : 0.103149 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974244 -0.00436195 -0.02227145 -0.10860869] [ 0.00429922 0.99998666 -0.00286355 0.18327148] [ 0.02228364 0.00276707 0.99974786 -0.29677415] [ 0. 0. 0. 1. ]] SLAMing on 27.093133365 meters Centerline goodness : 0.160210 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974547 -0.0043824 -0.02213127 -0.10891319] [ 0.00432734 0.99998742 -0.00253481 0.18110487] [ 0.0221421 0.0024384 0.99975186 -0.29671246] [ 0. 0. 0. 1. ]] SLAMing on 27.123133364999997 meters Centerline goodness : 0.097449 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974383 -0.00426111 -0.02222885 -0.10872965] [ 0.00421718 0.99998906 -0.00202264 0.17843496] [ 0.02223722 0.00192838 0.99975086 -0.29649633] [ 0. 0. 0. 1. ]] SLAMing on 27.153133365 meters Centerline goodness : 0.097329 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 0.99974209 -0.00412418 -0.02233257 -0.10850809] [ 0.00409058 0.99999043 -0.00154993 0.17612896] [ 0.02233875 0.00145818 0.9997494 -0.2963584 ] [ 0. 0. 0. 1. ]] SLAMing on 27.183133365 meters Centerline goodness : 0.086309 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99736766e-01 -3.92880044e-03 -2.26045081e-02 -1.07725159e-01] [ 3.90597990e-03 9.99991817e-01 -1.05362054e-03 1.73843263e-01] [ 2.26084625e-02 9.65050438e-04 9.99743930e-01 -2.96462683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.213133364999997 meters Centerline goodness : 0.104536 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99724780e-01 -3.71711102e-03 -2.31634787e-02 -1.05811857e-01] [ 3.70613713e-03 9.99992999e-01 -5.16669633e-04 1.71064913e-01] [ 2.31652371e-02 4.30680406e-04 9.99731557e-01 -2.97277669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243133365 meters Centerline goodness : 0.104826 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99722840e-01 -3.61859400e-03 -2.32626181e-02 -1.05496609e-01] [ 3.61241884e-03 9.99993428e-01 -3.07471654e-04 1.70015047e-01] [ 2.32635778e-02 2.23352116e-04 9.99729341e-01 -2.97361141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.273133365 meters Centerline goodness : 0.116198 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.17, Z:-0.30 [[ 9.99724397e-01 -3.48779381e-03 -2.32156209e-02 -1.05617899e-01] [ 3.48646964e-03 9.99993917e-01 -9.75134471e-05 1.69195409e-01] [ 2.32158198e-02 1.65460146e-05 9.99730476e-01 -2.97368673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303133365 meters Centerline goodness : 0.108568 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.16, Z:-0.30 [[ 9.99714721e-01 5.13697270e-03 -2.33256842e-02 -1.25985954e-01] [-5.15656093e-03 9.99986401e-01 -7.79699791e-04 1.61802751e-01] [ 2.33213617e-02 8.99757671e-04 9.99727615e-01 -2.98780004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.333133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 27.363133365 meters Centerline goodness : 0.099274 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.16, Z:-0.30 [[ 9.99716000e-01 5.25313151e-03 -2.32448658e-02 -1.25853922e-01] [-5.27271590e-03 9.99985794e-01 -7.81315474e-04 1.61989581e-01] [ 2.32404312e-02 9.03657153e-04 9.99729496e-01 -2.99389145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.393133365 meters Centerline goodness : 0.108408 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.16, Z:-0.30 [[ 9.99715925e-01 5.25812447e-03 -2.32469574e-02 -1.25725043e-01] [-5.28127084e-03 9.99985617e-01 -9.34389803e-04 1.62895851e-01] [ 2.32417099e-02 1.05689784e-03 9.99729316e-01 -2.99676797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423133364999998 meters Centerline goodness : 0.171139 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.17, Z:-0.30 [[ 9.99718576e-01 1.39030676e-04 -2.37223612e-02 -1.04444632e-01] [-9.42214291e-05 9.99998209e-01 1.89001061e-03 1.69954841e-01] [ 2.37225815e-02 -1.88724356e-03 9.99716799e-01 -2.99625556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.453133365 meters Centerline goodness : 0.103187 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.17, Z:-0.30 [[ 9.99718357e-01 8.25415154e-05 -2.37318167e-02 -1.04389919e-01] [-4.63032113e-05 9.99998832e-01 1.52753787e-03 1.71901654e-01] [ 2.37319151e-02 -1.52600879e-03 9.99717194e-01 -2.99831549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483133365 meters Centerline goodness : 0.101815 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.17, Z:-0.30 [[ 9.99716562e-01 3.69627736e-05 -2.38074313e-02 -1.04158403e-01] [-9.42761444e-06 9.99999331e-01 1.15668953e-03 1.74061058e-01] [ 2.38074581e-02 -1.15613724e-03 9.99715894e-01 -3.00072407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.513133364999998 meters Centerline goodness : 0.170543 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 9.99704752e-01 2.05825700e-04 -2.42974553e-02 -1.02870792e-01] [-1.88058520e-04 9.99999713e-01 7.33518987e-04 1.77619910e-01] [ 2.42975993e-02 -7.28733074e-04 9.99704504e-01 -3.00521082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543133365 meters Centerline goodness : 0.168363 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 9.99703569e-01 1.32665616e-04 -2.43465966e-02 -1.02775741e-01] [-1.19752634e-04 9.99999851e-01 5.31838661e-04 1.78666664e-01] [ 2.43466636e-02 -5.28765438e-04 9.99703436e-01 -3.00538042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.573133365 meters Centerline goodness : 0.099881 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.18, Z:-0.30 [[ 9.99699837e-01 6.97018590e-05 -2.44996303e-02 -1.02400500e-01] [-5.82721644e-05 9.99999889e-01 4.67238809e-04 1.78794505e-01] [ 2.44996601e-02 -4.65670915e-04 9.99699730e-01 -3.00544546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603133364999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 27.633133365 meters Centerline goodness : 0.172528 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99718957e-01 -8.71933533e-04 -2.36906494e-02 -1.05104457e-01] [ 8.71092311e-04 9.99999620e-01 -4.58284075e-05 1.78652689e-01] [ 2.36906803e-02 2.51787853e-05 9.99719336e-01 -2.99246523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663133365 meters Centerline goodness : 0.160355 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99730561e-01 -9.87310646e-04 -2.31911927e-02 -1.06729531e-01] [ 9.88704395e-04 9.99999510e-01 4.86321139e-05 1.77744556e-01] [ 2.31911334e-02 -7.15482447e-05 9.99731047e-01 -2.98461728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.693133364999998 meters Centerline goodness : 0.146253 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99734287e-01 -9.88861430e-04 -2.30299092e-02 -1.07414238e-01] [ 9.92908007e-04 9.99999494e-01 1.64275474e-04 1.77095612e-01] [ 2.30297351e-02 -1.87098405e-04 9.99734763e-01 -2.97925299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723133365 meters Centerline goodness : 0.166503 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736178e-01 -9.44987354e-04 -2.29495608e-02 -1.07917438e-01] [ 9.50366942e-04 9.99999523e-01 2.23503650e-04 1.77373452e-01] [ 2.29493387e-02 -2.45255188e-04 9.99736599e-01 -2.97389430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.753133365 meters Centerline goodness : 0.132705 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99735845e-01 -1.00669786e-03 -2.29614270e-02 -1.07917845e-01] [ 1.00862294e-03 9.99999489e-01 7.22584086e-05 1.78118385e-01] [ 2.29613425e-02 -9.53987431e-05 9.99736349e-01 -2.97372901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783133364999998 meters Centerline goodness : 0.159151 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736138e-01 -1.07813134e-03 -2.29454338e-02 -1.07976065e-01] [ 1.07721867e-03 9.99999418e-01 -5.21358944e-05 1.78488454e-01] [ 2.29454766e-02 2.74048879e-05 9.99736718e-01 -2.97379472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.813133365 meters Centerline goodness : 0.159151 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736138e-01 -1.07813134e-03 -2.29454338e-02 -1.07976065e-01] [ 1.07721867e-03 9.99999418e-01 -5.21358944e-05 1.78488454e-01] [ 2.29454766e-02 2.74048879e-05 9.99736718e-01 -2.97379472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843133365 meters Centerline goodness : 0.100377 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99736770e-01 -1.14401255e-03 -2.29146642e-02 -1.08188823e-01] [ 1.13816898e-03 9.99999316e-01 -2.68054971e-04 1.79523470e-01] [ 2.29149551e-02 2.41903651e-04 9.99737389e-01 -2.97253928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.873133364999997 meters Centerline goodness : 0.127560 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99739906e-01 -1.12762621e-03 -2.27782322e-02 -1.08367964e-01] [ 1.12067521e-03 9.99999322e-01 -3.17922585e-04 1.80029140e-01] [ 2.27785752e-02 2.92312895e-04 9.99740492e-01 -2.97558267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903133365 meters Centerline goodness : 0.096145 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99742098e-01 -1.11761807e-03 -2.26823228e-02 -1.08621589e-01] [ 1.10985640e-03 9.99999321e-01 -3.54776022e-04 1.80319071e-01] [ 2.26827039e-02 3.29510404e-04 9.99742660e-01 -2.97561245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.933133365 meters Centerline goodness : 0.093089 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99739987e-01 -1.13475638e-03 -2.27743523e-02 -1.08419643e-01] [ 1.12403442e-03 9.99999251e-01 -4.83587101e-04 1.80772340e-01] [ 2.27748840e-02 4.57862206e-04 9.99740514e-01 -2.97586137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963133364999997 meters Centerline goodness : 0.138484 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99739247e-01 -1.12134911e-03 -2.28074533e-02 -1.08217759e-01] [ 1.10765982e-03 9.99999199e-01 -6.12835597e-04 1.81626947e-01] [ 2.28081223e-02 5.87412899e-04 9.99739688e-01 -2.97827986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.993133365 meters Centerline goodness : 0.130175 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.18, Z:-0.30 [[ 0.99970841 0.00765445 -0.0229019 -0.12846234] [-0.00768906 0.99996943 -0.00142345 0.17752872] [ 0.0228903 0.00159913 0.9997367 -0.29937293] [ 0. 0. 0. 1. ]] SLAMing on 28.023133365 meters Centerline goodness : 0.088551 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.18, Z:-0.30 [[ 0.99971707 0.00772265 -0.02249754 -0.12955783] [-0.0077605 0.99996861 -0.00159562 0.17898135] [ 0.02248451 0.00176976 0.99974562 -0.29926896] [ 0. 0. 0. 1. ]] SLAMing on 28.053133365 meters Centerline goodness : 0.157513 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99775605e-01 9.41551394e-04 -2.11625391e-02 -1.11910253e-01] [-9.38937055e-04 9.99999550e-01 1.33472119e-04 1.87507047e-01] [ 2.11626553e-02 -1.13571876e-04 9.99776039e-01 -2.97687957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083133365 meters Centerline goodness : 0.096115 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99778719e-01 8.34468097e-04 -2.10194451e-02 -1.12223187e-01] [-8.39287216e-04 9.99999623e-01 -2.20448973e-04 1.89268942e-01] [ 2.10192532e-02 2.38041544e-04 9.99779043e-01 -2.97864040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.113133365 meters Centerline goodness : 0.148165 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99779389e-01 7.32339188e-04 -2.09913766e-02 -1.12117660e-01] [-7.43144589e-04 9.99999595e-01 -5.06958248e-04 1.90640631e-01] [ 2.09909968e-02 5.22446035e-04 9.99779528e-01 -2.98241321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143133365 meters Centerline goodness : 0.160743 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99779941e-01 5.78357239e-04 -2.09698442e-02 -1.11861424e-01] [-5.97405149e-04 9.99999415e-01 -9.02094639e-04 1.92472426e-01] [ 2.09693102e-02 9.14423618e-04 9.99779702e-01 -2.98817481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.173133364999998 meters Centerline goodness : 0.136035 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99779418e-01 4.91413663e-04 -2.09970172e-02 -1.11931779e-01] [-5.12914886e-04 9.99999350e-01 -1.01864004e-03 1.92856191e-01] [ 2.09965030e-02 1.02918503e-03 9.99779019e-01 -2.98608717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203133365 meters Centerline goodness : 0.102678 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99780605e-01 4.23445489e-04 -2.09419059e-02 -1.12182317e-01] [-4.45755438e-04 9.99999338e-01 -1.06066910e-03 1.92882726e-01] [ 2.09414430e-02 1.06977136e-03 9.99780132e-01 -2.98388599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.233133365 meters Centerline goodness : 0.155472 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99780427e-01 3.88226778e-04 -2.09510775e-02 -1.12324907e-01] [-4.09897238e-04 9.99999385e-01 -1.03005186e-03 1.92602109e-01] [ 2.09506647e-02 1.03841348e-03 9.99779971e-01 -2.98061215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263133364999998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 28.293133365 meters Centerline goodness : 0.097861 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99762089e-01 1.09914042e-04 -2.18117928e-02 -1.09505212e-01] [-1.34757485e-04 9.99999344e-01 -1.13752478e-03 1.92523267e-01] [ 2.18116534e-02 1.14019345e-03 9.99761447e-01 -2.99131703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323133365 meters Centerline goodness : 0.087421 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99753165e-01 8.97307743e-05 -2.22171193e-02 -1.08179243e-01] [-1.13526168e-04 9.99999421e-01 -1.06977969e-03 1.91929619e-01] [ 2.22170104e-02 1.07203786e-03 9.99752597e-01 -2.99629325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.353133364999998 meters Centerline goodness : 0.092077 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99743492e-01 5.17882858e-05 -2.26483499e-02 -1.06958515e-01] [-7.40883612e-05 9.99999513e-01 -9.83784535e-04 1.91169268e-01] [ 2.26482879e-02 9.85210165e-04 9.99743009e-01 -2.99893383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383133365 meters Centerline goodness : 0.170438 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99740007e-01 -7.20735927e-05 -2.28015920e-02 -1.06684480e-01] [ 5.59489954e-05 9.99999748e-01 -7.07806955e-04 1.89009826e-01] [ 2.28016372e-02 7.06347205e-04 9.99739759e-01 -2.99589004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.413133365 meters Centerline goodness : 0.158345 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99744180e-01 -3.67761762e-05 -2.26179653e-02 -1.07501177e-01] [ 2.61167080e-05 9.99999888e-01 -4.71578460e-04 1.87716318e-01] [ 2.26179802e-02 4.70867115e-04 9.99744070e-01 -2.98917401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443133364999998 meters Centerline goodness : 0.087033 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99749529e-01 2.40079531e-05 -2.23803181e-02 -1.08461228e-01] [-2.86238957e-05 9.99999978e-01 -2.05929766e-04 1.86416707e-01] [ 2.23803127e-02 2.06518799e-04 9.99749508e-01 -2.98232339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.473133365 meters Centerline goodness : 0.161360 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.30 [[ 9.99752372e-01 1.10531326e-04 -2.22527065e-02 -1.09054893e-01] [-1.08996702e-04 9.99999992e-01 7.01763218e-05 1.85133563e-01] [ 2.22527141e-02 -6.77334725e-05 9.99752375e-01 -2.97752006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503133365 meters Centerline goodness : 0.038505 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99747032e-01 2.63083579e-04 -2.24900459e-02 -1.08331167e-01] [-2.50162797e-04 9.99999802e-01 5.77322646e-04 1.82656231e-01] [ 2.24901934e-02 -5.71550429e-04 9.99746900e-01 -2.97894725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.533133364999998 meters Centerline goodness : 0.108451 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99742275e-01 3.04693622e-04 -2.27000351e-02 -1.07537428e-01] [-2.87076007e-04 9.99999655e-01 7.79359885e-04 1.81339199e-01] [ 2.27002648e-02 -7.72642389e-04 9.99742017e-01 -2.98265662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 28.593133365 meters Centerline goodness : 0.099017 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.30 [[ 9.99766484e-01 -1.25561302e-03 -2.15731380e-02 -1.12981732e-01] [ 1.24583112e-03 9.99999115e-01 -4.66863613e-04 1.78756324e-01] [ 2.15737051e-02 4.39878106e-04 9.99767164e-01 -2.95201447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623133364999997 meters Centerline goodness : 0.086602 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.29 [[ 9.99770824e-01 -1.14787078e-03 -2.13771230e-02 -1.13849388e-01] [ 1.14260425e-03 9.99999314e-01 -2.58575811e-04 1.78001868e-01] [ 2.13774051e-02 2.34090960e-04 9.99771450e-01 -2.94601492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.653133365 meters Centerline goodness : 0.141137 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.29 [[ 9.99774914e-01 -1.05820102e-03 -2.11896766e-02 -1.14394841e-01] [ 1.05630225e-03 9.99999437e-01 -1.00800712e-04 1.77430074e-01] [ 2.11897714e-02 7.83953195e-05 9.99775469e-01 -2.94425479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683133365 meters Centerline goodness : 0.092040 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.18, Z:-0.29 [[ 9.99775223e-01 -9.94987483e-04 -2.11781239e-02 -1.14508561e-01] [ 9.95495323e-04 9.99999504e-01 1.34369530e-05 1.76864794e-01] [ 2.11781000e-02 -3.45166560e-05 9.99775718e-01 -2.94286493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.713133364999997 meters Centerline goodness : 0.089053 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99745572e-01 7.01332756e-03 -2.14383983e-02 -9.32906524e-02] [-7.03608607e-03 9.99974760e-01 -9.86330373e-04 1.72920045e-01] [ 2.14309397e-02 1.13692184e-03 9.99769685e-01 -2.93022040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743133365 meters Centerline goodness : 0.092859 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99745194e-01 7.03159359e-03 -2.14500453e-02 -9.31387700e-02] [-7.05433782e-03 9.99974633e-01 -9.84851346e-04 1.72796420e-01] [ 2.14425761e-02 1.13591627e-03 9.99769436e-01 -2.93284967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.773133365 meters Centerline goodness : 0.145376 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99746138e-01 7.07771418e-03 -2.13907850e-02 -9.33576090e-02] [-7.09875741e-03 9.99974391e-01 -9.07978392e-04 1.72392643e-01] [ 2.13838107e-02 1.05959588e-03 9.99770779e-01 -2.93207452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803133364999997 meters Centerline goodness : 0.160024 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.17, Z:-0.29 [[ 9.99753165e-01 7.16895930e-03 -2.10289046e-02 -9.43725121e-02] [-7.18374542e-03 9.99974000e-01 -6.27674988e-04 1.70669725e-01] [ 2.10238581e-02 7.78586353e-04 9.99778671e-01 -2.93029567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.833133365 meters Centerline goodness : 0.129985 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.29 [[ 9.99804432e-01 -1.05746332e-03 -1.97478828e-02 -7.51649125e-02] [ 1.06515088e-03 9.99999361e-01 3.78770995e-04 1.74140475e-01] [ 1.97474696e-02 -3.99731394e-04 9.99804920e-01 -2.92158374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863133365 meters Centerline goodness : 0.097765 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.17, Z:-0.29 [[ 9.99807668e-01 -1.00516062e-03 -1.95861313e-02 -7.55213755e-02] [ 1.01686595e-03 9.99999310e-01 5.87683951e-04 1.72895466e-01] [ 1.95855271e-02 -6.07487390e-04 9.99808001e-01 -2.92167446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.893133365 meters Centerline goodness : 0.097130 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.17, Z:-0.29 [[ 9.99727495e-01 -9.49690703e-04 -2.33245438e-02 -1.16375673e-01] [ 9.67106157e-04 9.99999262e-01 7.35389027e-04 1.66356904e-01] [ 2.33238282e-02 -7.57745940e-04 9.99727675e-01 -2.93889126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923133364999998 meters Centerline goodness : 0.149342 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.16, Z:-0.29 [[ 9.99659791e-01 6.39883635e-03 -2.52855229e-02 -9.43718021e-02] [-6.40009270e-03 9.99979519e-01 3.12414570e-05 1.61226062e-01] [ 2.52852049e-02 1.30598862e-04 9.99680270e-01 -2.92648384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.953133365 meters Centerline goodness : 0.164037 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.16, Z:-0.29 [[ 9.99654603e-01 6.51438708e-03 -2.54605224e-02 -9.37660873e-02] [-6.50394232e-03 9.99978728e-01 4.93023054e-04 1.58660979e-01] [ 2.54631926e-02 -3.27258996e-04 9.99675707e-01 -2.92888675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983133365 meters Centerline goodness : 0.145587 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.29 [[ 9.99712727e-01 -3.31311043e-03 -2.37378934e-02 -7.48855281e-02] [ 3.33571777e-03 9.99994020e-01 9.12839806e-04 1.56283135e-01] [ 2.37347271e-02 -9.91760484e-04 9.99717800e-01 -2.91503911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.013133364999998 meters Centerline goodness : 0.230278 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.29 [[ 0.99971692 -0.00332811 -0.02355854 -0.07546019] [ 0.00336414 0.99999323 0.00148959 0.15255521] [ 0.02355342 -0.00156842 0.99972135 -0.29111884] [ 0. 0. 0. 1. ]] SLAMing on 29.043133365 meters Centerline goodness : 0.101311 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.15, Z:-0.29 [[ 0.99971642 -0.00327642 -0.02358715 -0.07525474] [ 0.00332746 0.99999221 0.00212485 0.14863892] [ 0.02358001 -0.00220273 0.99971953 -0.29115618] [ 0. 0. 0. 1. ]] SLAMing on 29.073133365 meters Centerline goodness : 0.101517 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.14, Z:-0.29 [[ 9.99699846e-01 -6.84323797e-03 -2.35242045e-02 -7.47534414e-02] [ 6.82956996e-03 9.99976460e-01 -6.61312003e-04 1.43453011e-01] [ 2.35281762e-02 5.00453307e-04 9.99723049e-01 -2.91866641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103133364999998 meters Centerline goodness : 0.099799 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 9.99717670e-01 8.81833571e-04 -2.37445487e-02 -5.47669895e-02] [-9.18289938e-04 9.99998416e-01 -1.52449741e-03 1.37103126e-01] [ 2.37431667e-02 1.54587137e-03 9.99716896e-01 -2.90277329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.133133365 meters Centerline goodness : 0.104494 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971755 0.00102897 -0.0237437 -0.05466843] [-0.00105773 0.99999872 -0.00119845 0.13551769] [ 0.02374244 0.00122323 0.99971736 -0.29041504] [ 0. 0. 0. 1. ]] SLAMing on 29.163133365 meters Centerline goodness : 0.197564 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.13, Z:-0.29 [[ 0.99971635 0.00117427 -0.02378728 -0.05433405] [-0.00119876 0.99999877 -0.00101501 0.13490976] [ 0.02378606 0.00104324 0.99971653 -0.29082546] [ 0. 0. 0. 1. ]] SLAMing on 29.193133364999998 meters Centerline goodness : 0.097369 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 9.99696145e-01 1.66365508e-03 -2.45937002e-02 -5.19882722e-02] [-1.68510722e-03 9.99998218e-01 -8.51562757e-04 1.35397712e-01] [ 2.45922396e-02 8.92747027e-04 9.99697167e-01 -2.91624252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223133365 meters Centerline goodness : 0.093274 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.999691 0.00169556 -0.02479964 -0.05146743] [-0.00172214 0.99999797 -0.00105066 0.13664967] [ 0.02479781 0.00109304 0.99969189 -0.29176371] [ 0. 0. 0. 1. ]] SLAMing on 29.253133365 meters Centerline goodness : 0.093119 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.9996957 0.00177967 -0.02460359 -0.05206997] [-0.00180846 0.99999771 -0.00114797 0.13766065] [ 0.02460149 0.00119212 0.99969663 -0.29169604] [ 0. 0. 0. 1. ]] SLAMing on 29.283133364999998 meters Centerline goodness : 0.151646 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99970436 0.00183922 -0.0242446 -0.0533046 ] [-0.00186935 0.99999751 -0.00122019 0.13849315] [ 0.0242423 0.00126515 0.99970531 -0.29119495] [ 0. 0. 0. 1. ]] SLAMing on 29.313133365 meters Centerline goodness : 0.166688 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971615 0.00178736 -0.02375776 -0.05458893] [-0.0018213 0.99999735 -0.00140701 0.13940362] [ 0.02375518 0.00144988 0.99971675 -0.29112914] [ 0. 0. 0. 1. ]] SLAMing on 29.343133365 meters Centerline goodness : 0.102872 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971633 0.00172089 -0.02375497 -0.05444648] [-0.00175624 0.99999738 -0.00146742 0.13932159] [ 0.02375239 0.00150872 0.99971673 -0.29137654] [ 0. 0. 0. 1. ]] SLAMing on 29.373133364999997 meters Centerline goodness : 0.157988 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971338 0.00168181 -0.02388168 -0.05416568] [-0.00171686 0.99999748 -0.0014475 0.1389475 ] [ 0.02387918 0.00148809 0.99971374 -0.29133507] [ 0. 0. 0. 1. ]] SLAMing on 29.403133365 meters Centerline goodness : 0.157966 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.29 [[ 0.99971601 0.00178059 -0.02376397 -0.05486747] [-0.00180985 0.99999763 -0.00120987 0.13829442] [ 0.02376176 0.00125254 0.99971686 -0.29070928] [ 0. 0. 0. 1. ]] SLAMing on 29.433133365 meters Centerline goodness : 0.169574 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.29 [[ 0.99972038 0.00180512 -0.02357776 -0.0555705 ] [-0.00183178 0.99999771 -0.00110888 0.1378825 ] [ 0.02357571 0.00115176 0.99972139 -0.2902601 ] [ 0. 0. 0. 1. ]] SLAMing on 29.463133364999997 meters Centerline goodness : 0.169519 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.14, Z:-0.29 [[ 9.99734810e-01 -6.49117853e-03 -2.20946888e-02 -3.60887602e-02] [ 6.48562117e-03 9.99978916e-01 -3.23173827e-04 1.42605623e-01] [ 2.20963207e-02 1.79790343e-04 9.99755830e-01 -2.89242385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.493133365 meters Centerline goodness : 0.112781 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.14, Z:-0.29 [[ 9.99731836e-01 -6.61714563e-03 -2.21916753e-02 -3.56506146e-02] [ 6.61030149e-03 9.99978079e-01 -3.81752863e-04 1.42300226e-01] [ 2.21937149e-02 2.34956826e-04 9.99753662e-01 -2.89536193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523133365 meters Centerline goodness : 0.197540 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.14, Z:-0.29 [[ 9.99656658e-01 -6.33901007e-03 -2.54240503e-02 -7.90491728e-02] [ 6.34059223e-03 9.99979898e-01 -1.83842675e-05 1.39743706e-01] [ 2.54236558e-02 -1.42825580e-04 9.99676756e-01 -2.90133568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.553133364999997 meters Centerline goodness : 0.149882 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.29 [[ 9.99672211e-01 1.78972239e-03 -2.55395384e-02 -5.79099068e-02] [-1.81242552e-03 9.99997983e-01 -8.65820070e-04 1.38064494e-01] [ 2.55379373e-02 9.11824775e-04 9.99673438e-01 -2.89206093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583133365 meters Centerline goodness : 0.278926 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.29 [[ 0.99967322 0.00153407 -0.02551682 -0.05797836] [-0.0015697 0.99999782 -0.00137625 0.14005663] [ 0.02551465 0.00141585 0.99967345 -0.2892262 ] [ 0. 0. 0. 1. ]] SLAMing on 29.613133365 meters Centerline goodness : 0.095446 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99666529e-01 -6.09521713e-03 -2.50934073e-02 -4.05717261e-02] [ 6.09498144e-03 9.99981422e-01 -8.58770266e-05 1.46777965e-01] [ 2.50934646e-02 -6.70954627e-05 9.99685107e-01 -2.86637793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643133365 meters Centerline goodness : 0.163277 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99670923e-01 -6.09084425e-03 -2.49188321e-02 -4.14197529e-02] [ 6.08679851e-03 9.99981447e-01 -2.38204028e-04 1.48068940e-01] [ 2.49198207e-02 8.64497301e-05 9.99689449e-01 -2.86086770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.673133364999998 meters Centerline goodness : 0.097210 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99674663e-01 -6.07547369e-03 -2.47720960e-02 -4.20304628e-02] [ 6.06828496e-03 9.99981521e-01 -3.65358620e-04 1.49319748e-01] [ 2.47738580e-02 2.14915617e-04 9.99693058e-01 -2.85757065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703133365 meters Centerline goodness : 0.097210 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99674663e-01 -6.07547369e-03 -2.47720960e-02 -4.20304628e-02] [ 6.06828496e-03 9.99981521e-01 -3.65358620e-04 1.49319748e-01] [ 2.47738580e-02 2.14915617e-04 9.99693058e-01 -2.85757065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.733133365 meters Centerline goodness : 0.098313 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99667255e-01 -6.27554053e-03 -2.50199238e-02 -4.08921400e-02] [ 6.25746970e-03 9.99980101e-01 -8.00486049e-04 1.51103119e-01] [ 2.50244494e-02 6.43658276e-04 9.99686632e-01 -2.86644546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763133364999998 meters Centerline goodness : 0.097399 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 9.99659611e-01 -6.38346548e-03 -2.52965295e-02 -3.98782553e-02] [ 6.35947217e-03 9.99979249e-01 -1.02881908e-03 1.51898266e-01] [ 2.53025720e-02 8.67596304e-04 9.99679462e-01 -2.87250630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.793133365 meters Centerline goodness : 0.104272 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.29 [[ 0.99965421 -0.00642565 -0.02549843 -0.03917489] [ 0.00639699 0.99997881 -0.00120519 0.15294968] [ 0.02550563 0.00104166 0.99967414 -0.28767433] [ 0. 0. 0. 1. ]] SLAMing on 29.823133365 meters Centerline goodness : 0.089153 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.29 [[ 0.99965454 -0.00635694 -0.02550274 -0.03938259] [ 0.00632313 0.99997902 -0.00140615 0.155081 ] [ 0.02551114 0.00124441 0.99967376 -0.28748167] [ 0. 0. 0. 1. ]] SLAMing on 29.853133364999998 meters Centerline goodness : 0.164104 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.29 [[ 0.99971371 0.0014247 -0.02388469 -0.02048669] [-0.00149398 0.99999473 -0.00288289 0.15338336] [ 0.02388045 0.00291774 0.99971056 -0.2858561 ] [ 0. 0. 0. 1. ]] SLAMing on 29.883133365 meters Centerline goodness : 0.120360 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.29 [[ 0.99971886 0.0013553 -0.0236722 -0.02125377] [-0.00142438 0.99999478 -0.00290178 0.15286248] [ 0.02366814 0.00293468 0.99971556 -0.28545723] [ 0. 0. 0. 1. ]] SLAMing on 29.913133365 meters Centerline goodness : 0.096320 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.28 [[ 0.99972567 0.00133353 -0.0233839 -0.02248324] [-0.00139695 0.99999539 -0.0026961 0.15146442] [ 0.0233802 0.00272802 0.99972292 -0.28459819] [ 0. 0. 0. 1. ]] SLAMing on 29.943133364999998 meters Centerline goodness : 0.096270 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.28 [[ 0.99972573 0.00149078 -0.02337192 -0.02249708] [-0.00154659 0.999996 -0.00237012 0.15023327] [ 0.02336829 0.00240561 0.99972403 -0.2845875 ] [ 0. 0. 0. 1. ]] SLAMing on 29.973133365 meters Centerline goodness : 0.097841 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.28 [[ 0.99972362 0.00160378 -0.02345427 -0.02206315] [-0.00165281 0.99999649 -0.00207154 0.14885323] [ 0.02345086 0.00210973 0.99972276 -0.28491958] [ 0. 0. 0. 1. ]] SLAMing on 30.003133365 meters Centerline goodness : 0.103173 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.15, Z:-0.29 [[ 0.99971729 0.0016107 -0.02372221 -0.02073171] [-0.00165185 0.99999716 -0.00171531 0.14577828] [ 0.02371938 0.00175401 0.99971712 -0.28586369] [ 0. 0. 0. 1. ]] SLAMing on 30.033133364999998 meters Centerline goodness : 0.183539 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.29 [[ 0.99971882 0.00170043 -0.02365132 -0.02098343] [-0.00173579 0.99999741 -0.00147472 0.14447259] [ 0.02364876 0.00151536 0.99971918 -0.28570667] [ 0. 0. 0. 1. ]] SLAMing on 30.063133365 meters Centerline goodness : 0.152658 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.29 [[ 0.99972248 0.00184522 -0.0234854 -0.02165157] [-0.00187414 0.99999751 -0.00120955 0.14339052] [ 0.02348311 0.00125323 0.99972345 -0.28532183] [ 0. 0. 0. 1. ]] SLAMing on 30.093133365 meters Centerline goodness : 0.164333 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.29 [[ 0.99972424 0.00194698 -0.02340199 -0.02196441] [-0.00197101 0.99999755 -0.0010036 0.14244185] [ 0.02339998 0.00104945 0.99972563 -0.28515562] [ 0. 0. 0. 1. ]] SLAMing on 30.123133364999997 meters Centerline goodness : 0.131599 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.28 [[ 9.99723493e-01 2.06340026e-03 -2.34239116e-02 -2.20946388e-02] [-2.07698613e-03 9.99997689e-01 -5.55685569e-04 1.39409621e-01] [ 2.34227109e-02 6.04183057e-04 9.99725468e-01 -2.84837571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.153133365 meters Centerline goodness : 0.093605 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.14, Z:-0.28 [[ 9.99724595e-01 2.22081572e-03 -2.33623962e-02 -2.23777968e-02] [-2.22348611e-03 9.99997524e-01 -8.83270539e-05 1.36982935e-01] [ 2.33621422e-02 1.40248692e-04 9.99727058e-01 -2.84606590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183133365 meters Centerline goodness : 0.087205 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.13, Z:-0.28 [[ 9.99726412e-01 2.46912857e-03 -2.32595249e-02 -2.27475617e-02] [-2.45684495e-03 9.99996827e-01 5.56673053e-04 1.33938314e-01] [ 2.32608256e-02 -4.99375707e-04 9.99729306e-01 -2.84344649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.213133364999997 meters Centerline goodness : 0.149699 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.13, Z:-0.28 [[ 0.99972882 -0.00573414 -0.02256999 -0.00226578] [ 0.00577806 0.99998154 0.00188116 0.13497551] [ 0.02255878 -0.00201106 0.9997435 -0.28344249] [ 0. 0. 0. 1. ]] SLAMing on 30.243133365 meters Centerline goodness : 0.112741 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.13, Z:-0.28 [[ 9.99703425e-01 -9.38723827e-03 -2.24708903e-02 -1.86644108e-03] [ 9.37057732e-03 9.99955737e-01 -8.46629396e-04 1.28054537e-01] [ 2.24778432e-02 6.35813092e-04 9.99747139e-01 -2.84062532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.273133365 meters Centerline goodness : 0.160433 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.12, Z:-0.28 [[ 9.99704175e-01 -9.22806719e-03 -2.25034541e-02 -1.68128272e-03] [ 9.22586885e-03 9.99957420e-01 -2.01509753e-04 1.24243078e-01] [ 2.25043554e-02 -6.16377448e-06 9.99746745e-01 -2.84104705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303133364999997 meters Centerline goodness : 0.156840 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99770632e-01 -1.50271677e-03 -2.13641145e-02 -2.08274211e-02] [ 1.50050224e-03 9.99998867e-01 -1.19686294e-04 1.11635133e-01] [ 2.13642702e-02 8.76019402e-05 9.99771754e-01 -2.86008313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.333133365 meters Centerline goodness : 0.154428 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99769799e-01 -1.31004846e-03 -2.14157098e-02 -2.04358374e-02] [ 1.31715075e-03 9.99999082e-01 3.17537197e-04 1.09625775e-01] [ 2.14152742e-02 -3.45671818e-04 9.99770607e-01 -2.86383796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363133365 meters Centerline goodness : 0.149846 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99769812e-01 -1.15639069e-03 -2.14239395e-02 -2.03029229e-02] [ 1.17197680e-03 9.99999058e-01 7.14967895e-04 1.07572752e-01] [ 2.14230925e-02 -7.39911678e-04 9.99770225e-01 -2.86516007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.393133365 meters Centerline goodness : 0.155822 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.11, Z:-0.29 [[ 9.99772505e-01 -9.99649950e-04 -2.13058431e-02 -2.07265575e-02] [ 1.02358249e-03 9.99998857e-01 1.11240948e-03 1.05494731e-01] [ 2.13047067e-02 -1.13396470e-03 9.99772386e-01 -2.86281112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423133364999998 meters Centerline goodness : 0.157906 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.28 [[ 9.99752860e-01 7.43150726e-03 -2.09521205e-02 -1.13920514e-03] [-7.42489076e-03 9.99972358e-01 3.93566786e-04 9.90475389e-02] [ 2.09544661e-02 -2.37902314e-04 9.99780403e-01 -2.84455225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.453133365 meters Centerline goodness : 0.099896 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.10, Z:-0.28 [[ 9.99748718e-01 7.52350275e-03 -2.11162895e-02 -4.37385101e-04] [-7.51341222e-03 9.99971619e-01 5.57152073e-04 9.82454819e-02] [ 2.11198820e-02 -3.98356683e-04 9.99776871e-01 -2.84933426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483133365 meters Centerline goodness : 0.146528 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99743535e-01 7.58557927e-03 -2.13383080e-02 4.88484038e-04] [-7.57259446e-03 9.99971090e-01 6.89258706e-04 9.74585274e-02] [ 2.13429195e-02 -5.27495583e-04 9.99772075e-01 -2.85557109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.513133364999998 meters Centerline goodness : 0.148231 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99740020e-01 7.61289964e-03 -2.14926985e-02 1.04180378e-03] [-7.59803957e-03 9.99970836e-01 7.72977757e-04 9.67537925e-02] [ 2.14979563e-02 -6.09474424e-04 9.99768706e-01 -2.85844250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543133365 meters Centerline goodness : 0.098403 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99738133e-01 7.62434735e-03 -2.15762449e-02 1.39684472e-03] [-7.60965929e-03 9.99970755e-01 7.62774473e-04 9.63600915e-02] [ 2.15814296e-02 -5.98386855e-04 9.99766915e-01 -2.86161091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.573133365 meters Centerline goodness : 0.147404 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99739578e-01 7.66546033e-03 -2.14945932e-02 1.20482129e-03] [-7.65195960e-03 9.99970471e-01 7.10277132e-04 9.68965256e-02] [ 2.14994031e-02 -5.45616401e-04 9.99768712e-01 -2.86236529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603133364999998 meters Centerline goodness : 0.148450 Centerline is valid? [False, False] Translation: X:0.00, Y:0.10, Z:-0.29 [[ 9.99742128e-01 7.74676139e-03 -2.13463352e-02 7.07721120e-04] [-7.73291354e-03 9.99969833e-01 7.31191630e-04 9.72627590e-02] [ 2.13513556e-02 -5.65933711e-04 9.99771874e-01 -2.86069458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.633133365 meters Centerline goodness : 0.146528 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.28 [[ 9.99773655e-01 3.59250058e-04 -2.12722899e-02 1.88334444e-02] [-3.20356457e-04 9.99998271e-01 1.83174877e-03 1.02411809e-01] [ 2.12729112e-02 -1.82451945e-03 9.99772041e-01 -2.84368262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663133365 meters Centerline goodness : 0.149446 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.28 [[ 9.99768382e-01 3.20856387e-04 -2.15192891e-02 1.97080578e-02] [-2.81978384e-04 9.99998323e-01 1.80966831e-03 1.02080039e-01] [ 2.15198337e-02 -1.80318119e-03 9.99766795e-01 -2.84830468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.693133364999998 meters Centerline goodness : 0.126463 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.29 [[ 9.99761562e-01 3.17083037e-04 -2.18338861e-02 2.08443440e-02] [-2.76719180e-04 9.99998247e-01 1.85167593e-03 1.01604224e-01] [ 2.18344350e-02 -1.84519257e-03 9.99759898e-01 -2.85389250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723133365 meters Centerline goodness : 0.147467 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99699485e-01 6.06558790e-04 -2.45065862e-02 -2.50377977e-02] [-5.34941374e-04 9.99995568e-01 2.92882429e-03 9.62278591e-02] [ 2.45082541e-02 -2.91483454e-03 9.99695378e-01 -2.84511576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.753133365 meters Centerline goodness : 0.139321 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 0.9997095 0.00874579 -0.02245966 -0.00574907] [-0.00870709 0.99996044 0.00182065 0.0938772 ] [ 0.02247469 -0.00162456 0.99974609 -0.28336082] [ 0. 0. 0. 1. ]] SLAMing on 30.783133364999998 meters Centerline goodness : 0.163270 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99767178e-01 2.24186086e-04 -2.15763572e-02 -2.69054558e-02] [-1.69403532e-04 9.99996758e-01 2.54080280e-03 9.69718703e-02] [ 2.15768569e-02 -2.53655613e-03 9.99763975e-01 -2.85034770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.813133365 meters Centerline goodness : 0.149428 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99767996e-01 2.10865298e-04 -2.15385644e-02 -2.70370922e-02] [-1.56971642e-04 9.99996853e-01 2.50385356e-03 9.72796490e-02] [ 2.15390246e-02 -2.49989171e-03 9.99764883e-01 -2.85039793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843133365 meters Centerline goodness : 0.124975 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99770737e-01 2.05197131e-04 -2.14110320e-02 -2.73855585e-02] [-1.54139028e-04 9.99997141e-01 2.38628641e-03 9.83137956e-02] [ 2.14114604e-02 -2.38243905e-03 9.99767910e-01 -2.85036601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.873133364999997 meters Centerline goodness : 0.158604 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99772038e-01 1.32323522e-04 -2.13507473e-02 -2.74806763e-02] [-8.62094152e-05 9.99997662e-01 2.16074167e-03 9.95479903e-02] [ 2.13509833e-02 -2.15840847e-03 9.99769712e-01 -2.85123905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903133365 meters Centerline goodness : 0.145828 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.29 [[ 9.99768329e-01 -2.15645813e-04 -2.15230447e-02 -2.70497397e-02] [ 2.46197157e-04 9.99998966e-01 1.41683162e-03 1.02547326e-01] [ 2.15227169e-02 -1.42180230e-03 9.99767349e-01 -2.85277839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.933133365 meters Centerline goodness : 0.151157 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.10, Z:-0.28 [[ 9.99747928e-01 7.79644621e-03 -2.10545972e-02 -7.11800007e-03] [-7.80028440e-03 9.99969572e-01 -1.00176522e-04 1.02303769e-01] [ 2.10531755e-02 2.64383116e-04 9.99778322e-01 -2.83722732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963133364999997 meters Centerline goodness : 0.150146 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.29 [[ 9.99781349e-01 -2.70649929e-04 -2.09088739e-02 -2.72137238e-02] [ 2.94661453e-04 9.99999301e-01 1.14531686e-03 1.07806875e-01] [ 2.09085493e-02 -1.15122747e-03 9.99780730e-01 -2.85593069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.993133365 meters Centerline goodness : 0.140254 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.29 [[ 9.99783182e-01 -4.50575370e-04 -2.08179171e-02 -2.77907274e-02] [ 4.70218001e-04 9.99999449e-01 9.38659129e-04 1.09043311e-01] [ 2.08174827e-02 -9.48244570e-04 9.99782843e-01 -2.85005495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023133365 meters Centerline goodness : 0.115128 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.28 [[ 9.99780443e-01 -6.98507544e-04 -2.09422565e-02 -2.75099412e-02] [ 7.16162501e-04 9.99999394e-01 8.35542345e-04 1.08547310e-01] [ 2.09416602e-02 -8.50356954e-04 9.99780338e-01 -2.84881917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.053133364999997 meters Centerline goodness : 0.152809 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.28 [[ 9.99775092e-01 -9.04326996e-04 -2.11883627e-02 -2.70498566e-02] [ 9.22048170e-04 9.99999233e-01 8.26609053e-04 1.07503861e-01] [ 2.11875989e-02 -8.45959834e-04 9.99775160e-01 -2.84611554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083133365 meters Centerline goodness : 0.286770 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:-0.28 [[ 9.99772674e-01 -1.03532134e-03 -2.12961877e-02 -2.69342200e-02] [ 1.05574186e-03 9.99998994e-01 9.47660918e-04 1.06110446e-01] [ 2.12951851e-02 -9.69928768e-04 9.99772761e-01 -2.84317080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.113133365 meters Centerline goodness : 0.124652 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99780516e-01 -9.55395902e-04 -2.09286030e-02 -2.80696334e-02] [ 9.88453240e-04 9.99998280e-01 1.56924146e-03 1.03127348e-01] [ 2.09270677e-02 -1.58958398e-03 9.99779741e-01 -2.83729844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143133365 meters Centerline goodness : 0.117719 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99784067e-01 -8.46248162e-04 -2.07630265e-02 -2.85149475e-02] [ 8.84895829e-04 9.99997893e-01 1.85225271e-03 1.01890954e-01] [ 2.07614153e-02 -1.87022586e-03 9.99782709e-01 -2.83611647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.173133364999998 meters Centerline goodness : 0.127208 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99784112e-01 -7.83260462e-04 -2.07633258e-02 -2.84434921e-02] [ 8.26291240e-04 9.99997529e-01 2.06394329e-03 1.00623396e-01] [ 2.07616579e-02 -2.08065426e-03 9.99782289e-01 -2.83681840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203133365 meters Centerline goodness : 0.150107 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99777115e-01 -7.29925137e-04 -2.10994867e-02 -2.74318864e-02] [ 7.77712315e-04 9.99997151e-01 2.25673342e-03 9.90939937e-02] [ 2.10977793e-02 -2.27263976e-03 9.99774834e-01 -2.83974476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.233133365 meters Centerline goodness : 0.149275 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:-0.28 [[ 9.99772817e-01 -6.01725967e-04 -2.13061641e-02 -2.67416134e-02] [ 6.53824398e-04 9.99996813e-01 2.43834651e-03 9.84775450e-02] [ 2.13046290e-02 -2.45172305e-03 9.99770024e-01 -2.84362780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263133364999998 meters Centerline goodness : 0.153908 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 0.99973446 0.00789579 -0.0216489 -0.00561254] [-0.00785736 0.9999674 0.00185948 0.09459117] [ 0.02166287 -0.00168889 0.99976391 -0.28323534] [ 0. 0. 0. 1. ]] SLAMing on 31.293133365 meters Centerline goodness : 0.139646 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 9.99768005e-01 5.47238447e-03 -2.08323969e-02 -8.15702773e-03] [-5.48083456e-03 9.99984919e-01 -3.48548046e-04 9.09174652e-02] [ 2.08301754e-02 4.62646105e-04 9.99782921e-01 -2.82679594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323133365 meters Centerline goodness : 0.054080 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.28 [[ 0.99979952 0.00346894 -0.01972037 -0.01298281] [-0.00351152 0.99999158 -0.00212478 0.08888727] [ 0.01971283 0.00219361 0.99980328 -0.2804353 ] [ 0. 0. 0. 1. ]] SLAMing on 31.353133364999998 meters Centerline goodness : 0.142762 Centerline is valid? [False, False] Translation: X:0.01, Y:0.09, Z:-0.28 [[ 0.9998217 -0.00466392 -0.01829778 0.00673874] [ 0.00464407 0.99998858 -0.0011269 0.09076283] [ 0.01830282 0.00104172 0.99983195 -0.27942916] [ 0. 0. 0. 1. ]] SLAMing on 31.383133365 meters Centerline goodness : 0.133829 Centerline is valid? [False, False] Translation: X:0.01, Y:0.09, Z:-0.28 [[ 9.99822745e-01 -4.34707269e-03 -1.83188977e-02 6.82956950e-03] [ 4.34603885e-03 9.99990551e-01 -9.62463311e-05 8.56565290e-02] [ 1.83191430e-02 1.66146297e-05 9.99832190e-01 -2.79341402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.413133365 meters Centerline goodness : 0.137988 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:-0.28 [[ 9.99821357e-01 -4.19710228e-03 -1.84292550e-02 7.32141472e-03] [ 4.20653450e-03 9.99991041e-01 4.73071930e-04 8.26147457e-02] [ 1.84271043e-02 -5.50510716e-04 9.99830055e-01 -2.79589398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443133364999998 meters Centerline goodness : 0.153661 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:-0.28 [[ 9.99821660e-01 -4.20180296e-03 -1.84117548e-02 7.31513520e-03] [ 4.22060363e-03 9.99990611e-01 9.82384395e-04 7.91127197e-02] [ 1.84074541e-02 -1.05991792e-03 9.99830007e-01 -2.79500674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.473133365 meters Centerline goodness : 0.140071 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.28 [[ 9.99881960e-01 2.31991012e-04 -1.53626775e-02 2.70325578e-02] [-2.69183024e-04 9.99997038e-01 -2.41890941e-03 7.03493352e-02] [ 1.53620708e-02 2.42275926e-03 9.99879061e-01 -2.78742237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503133365 meters Centerline goodness : 0.252479 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.28 [[ 9.99886112e-01 3.90289177e-04 -1.50867893e-02 2.61034719e-02] [-4.15427421e-04 9.99998531e-01 -1.66314417e-03 6.63059911e-02] [ 1.50861180e-02 1.66922223e-03 9.99884805e-01 -2.78195093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.533133364999998 meters Centerline goodness : 0.135919 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:-0.28 [[ 9.99888031e-01 5.44881383e-04 -1.49542059e-02 2.56370517e-02] [-5.59352154e-04 9.99999379e-01 -9.63506811e-04 6.25584340e-02] [ 1.49536717e-02 9.71763596e-04 9.99887715e-01 -2.77872436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563133365 meters Centerline goodness : 0.114416 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99881395e-01 3.77103238e-04 -1.53965637e-02 2.69977959e-02] [-3.80663255e-04 9.99999901e-01 -2.28291612e-04 5.49582107e-02] [ 1.53964761e-02 2.34125442e-04 9.99881440e-01 -2.78157020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.593133365 meters Centerline goodness : 0.138294 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99876380e-01 5.22591780e-04 -1.57147089e-02 2.80786078e-02] [-5.18197765e-04 9.99999825e-01 2.83682234e-04 5.21385784e-02] [ 1.57148544e-02 -2.75503839e-04 9.99876476e-01 -2.78601380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623133364999997 meters Centerline goodness : 0.138294 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99876380e-01 5.22591780e-04 -1.57147089e-02 2.80786078e-02] [-5.18197765e-04 9.99999825e-01 2.83682234e-04 5.21385784e-02] [ 1.57148544e-02 -2.75503839e-04 9.99876476e-01 -2.78601380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.653133365 meters Centerline goodness : 0.139434 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99873768e-01 6.80671513e-04 -1.58740024e-02 2.86944191e-02] [-6.68533739e-04 9.99999480e-01 7.69926196e-04 4.94945502e-02] [ 1.58745182e-02 -7.59216701e-04 9.99873704e-01 -2.78940822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683133365 meters Centerline goodness : 0.135853 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99870713e-01 7.88216845e-04 -1.60604099e-02 2.93258643e-02] [-7.70654236e-04 9.99999098e-01 1.09969389e-03 4.76068813e-02] [ 1.60612622e-02 -1.08717469e-03 9.99870419e-01 -2.79216893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.713133364999997 meters Centerline goodness : 0.135751 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:-0.28 [[ 9.99865286e-01 9.13729899e-04 -1.63882338e-02 3.08447631e-02] [-8.89583812e-04 9.99998508e-01 1.48060879e-03 4.54151057e-02] [ 1.63895622e-02 -1.46583062e-03 9.99864608e-01 -2.80383905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743133365 meters Centerline goodness : 0.135687 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 9.99862564e-01 9.46332783e-04 -1.65516726e-02 3.13740794e-02] [-9.19467011e-04 9.99998248e-01 1.63068001e-03 4.44091448e-02] [ 1.65531868e-02 -1.61523718e-03 9.99861682e-01 -2.80595694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.773133365 meters Centerline goodness : 0.142518 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 9.99861050e-01 1.00283778e-03 -1.66395704e-02 3.15896494e-02] [-9.72891661e-04 9.99997893e-01 1.80769002e-03 4.34381138e-02] [ 1.66413482e-02 -1.79125035e-03 9.99859919e-01 -2.80597120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803133364999997 meters Centerline goodness : 0.136368 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986206 0.0010551 -0.01657524 0.03139635] [-0.00102287 0.99999757 0.00195322 0.04270642] [ 0.01657726 -0.001936 0.99986071 -0.28054223] [ 0. 0. 0. 1. ]] SLAMing on 31.833133365 meters Centerline goodness : 0.118627 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986466 0.00117339 -0.01640989 0.03097751] [-0.00113793 0.999997 0.0021704 0.04178067] [ 0.01641239 -0.00215143 0.99986299 -0.28046975] [ 0. 0. 0. 1. ]] SLAMing on 31.863133365 meters Centerline goodness : 0.115848 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986429 0.00119134 -0.01643125 0.0310239 ] [-0.00115433 0.99999678 0.00226212 0.04107598] [ 0.01643389 -0.00224285 0.99986244 -0.28047493] [ 0. 0. 0. 1. ]] SLAMing on 31.893133365 meters Centerline goodness : 0.119214 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.9998596 0.00122098 -0.01671181 0.03190848] [-0.00117979 0.99999624 0.00247443 0.03951442] [ 0.01671477 -0.00245437 0.99985729 -0.2808097 ] [ 0. 0. 0. 1. ]] SLAMing on 31.923133364999998 meters Centerline goodness : 0.118666 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99985903 0.00130223 -0.01673993 0.03191589] [-0.0012579 0.99999568 0.00265796 0.03873576] [ 0.01674332 -0.00263652 0.99985634 -0.28072177] [ 0. 0. 0. 1. ]] SLAMing on 31.953133365 meters Centerline goodness : 0.170863 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986 0.00135963 -0.01667755 0.03177293] [-0.00131254 0.99999512 0.00283446 0.03777184] [ 0.01668133 -0.00281218 0.9998569 -0.28070766] [ 0. 0. 0. 1. ]] SLAMing on 31.983133365 meters Centerline goodness : 0.137960 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.28 [[ 0.99986014 0.00138437 -0.01666692 0.03180072] [-0.00133301 0.99999433 0.0030924 0.0357961 ] [ 0.0166711 -0.00306975 0.99985632 -0.28073667] [ 0. 0. 0. 1. ]] SLAMing on 32.013133364999995 meters Centerline goodness : 0.137307 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99985875 0.0013767 -0.01675079 0.03181859] [-0.00132336 0.99999402 0.00319487 0.03493081] [ 0.01675509 -0.00317225 0.99985459 -0.28043859] [ 0. 0. 0. 1. ]] SLAMing on 32.043133364999996 meters Centerline goodness : 0.144020 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99986152 0.00155335 -0.01656899 0.03085207] [-0.00149309 0.99999223 0.00364887 0.03273307] [ 0.01657453 -0.00362363 0.99985607 -0.27952743] [ 0. 0. 0. 1. ]] SLAMing on 32.073133365 meters Centerline goodness : 0.133516 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99986409 0.00166984 -0.01640191 0.03022079] [-0.00160528 0.99999091 0.00394881 0.03130584] [ 0.01640836 -0.00392194 0.99985768 -0.27913581] [ 0. 0. 0. 1. ]] SLAMing on 32.103133365 meters Centerline goodness : 0.134847 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.9998679 0.00176853 -0.01615718 0.02946277] [-0.00169995 0.99998949 0.00425703 0.02973303] [ 0.01616454 -0.004229 0.9998604 -0.27886045] [ 0. 0. 0. 1. ]] SLAMing on 32.13313336499999 meters Centerline goodness : 0.131135 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.28 [[ 0.99987022 0.00186563 -0.01600187 0.02891881] [-0.00179196 0.99998774 0.00461658 0.02773746] [ 0.01601028 -0.00458731 0.9998613 -0.27853925] [ 0. 0. 0. 1. ]] SLAMing on 32.16313336499999 meters Centerline goodness : 0.132468 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.28 [[ 9.99890217e-01 -3.05054045e-04 -1.48142450e-02 2.44631706e-02] [ 3.48956143e-04 9.99995555e-01 2.96101110e-03 2.28286262e-02] [ 1.48132759e-02 -2.96585555e-03 9.99885879e-01 -2.76680066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.193133364999994 meters Centerline goodness : 0.132881 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.28 [[ 9.99888870e-01 -2.16066470e-04 -1.49064016e-02 2.47158746e-02] [ 2.66157130e-04 9.99994325e-01 3.35844356e-03 2.04190823e-02] [ 1.49055914e-02 -3.36203778e-03 9.99883253e-01 -2.76681089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223133364999995 meters Centerline goodness : 0.130895 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.28 [[ 9.99885895e-01 -6.62487376e-05 -1.51060739e-02 2.54055431e-02] [ 1.23825368e-04 9.99992732e-01 3.81058525e-03 1.79865559e-02] [ 1.51057117e-02 -3.81202096e-03 9.99878636e-01 -2.76987812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.253133365 meters Centerline goodness : 0.132241 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.28 [[ 9.99883650e-01 9.91803830e-05 -1.52537476e-02 2.59841825e-02] [-3.44612008e-05 9.99990998e-01 4.24304247e-03 1.58830675e-02] [ 1.52540311e-02 -4.24202313e-03 9.99874652e-01 -2.77336260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283133365 meters Centerline goodness : 0.128973 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99883782e-01 4.19256691e-04 -1.52396226e-02 2.60235894e-02] [-3.42729522e-04 9.99987322e-01 5.02385703e-03 1.20640752e-02] [ 1.52415357e-02 -5.01805010e-03 9.99871249e-01 -2.77351769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.313133365 meters Centerline goodness : 0.130089 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99884942e-01 5.04030191e-04 -1.51607309e-02 2.57930508e-02] [-4.24577675e-04 9.99986163e-01 5.24344068e-03 1.08679415e-02] [ 1.51631639e-02 -5.23640047e-03 9.99871321e-01 -2.77265136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34313336499999 meters Centerline goodness : 0.128125 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99884772e-01 6.20200000e-04 -1.51676954e-02 2.58755578e-02] [-5.38012128e-04 9.99985156e-01 5.42209331e-03 1.01344658e-02] [ 1.51708330e-02 -5.41330813e-03 9.99870263e-01 -2.77353163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.373133364999994 meters Centerline goodness : 0.126663 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 9.99882030e-01 7.39984446e-04 -1.53420372e-02 2.65851373e-02] [-6.56074403e-04 9.99984805e-01 5.47360135e-03 1.00923815e-02] [ 1.53458545e-02 -5.46289011e-03 9.99867322e-01 -2.77859774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403133364999995 meters Centerline goodness : 0.131040 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99987285 0.00139911 -0.01588507 0.02857737] [-0.00130698 0.99998227 0.00580889 0.0099657 ] [ 0.01589291 -0.00578739 0.99985695 -0.27911067] [ 0. 0. 0. 1. ]] SLAMing on 32.433133364999996 meters Centerline goodness : 0.134035 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99987056 0.00151052 -0.01601807 0.02903247] [-0.0014184 0.9999824 0.00576108 0.01040225] [ 0.01602649 -0.00573762 0.99985511 -0.27941834] [ 0. 0. 0. 1. ]] SLAMing on 32.463133365 meters Centerline goodness : 0.128119 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99988053 0.00182947 -0.01534865 0.02719072] [-0.00173748 0.99998046 0.0060045 0.00979835] [ 0.01535934 -0.00597712 0.99986417 -0.2791397 ] [ 0. 0. 0. 1. ]] SLAMing on 32.493133365 meters Centerline goodness : 0.133369 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.999882 0.00192144 -0.0152413 0.02669139] [-0.00182757 0.99997929 0.00617028 0.00898783] [ 0.01525284 -0.00614169 0.99986481 -0.27877664] [ 0. 0. 0. 1. ]] SLAMing on 32.52313336499999 meters Centerline goodness : 0.132628 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99988261 0.00200438 -0.01519074 0.02660691] [-0.00190815 0.99997804 0.00634699 0.00814765] [ 0.01520313 -0.00631726 0.99986447 -0.2788364 ] [ 0. 0. 0. 1. ]] SLAMing on 32.553133364999994 meters Centerline goodness : 0.129010 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.28 [[ 0.99987986 0.00222437 -0.01534013 0.02749873] [-0.00212019 0.9999746 0.0068046 0.0061985 ] [ 0.01535487 -0.00677126 0.99985918 -0.27968641] [ 0. 0. 0. 1. ]] SLAMing on 32.583133364999995 meters Centerline goodness : 0.130056 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 0.99984736 0.00956439 -0.01462128 0.04945127] [-0.00949976 0.99994483 0.00448342 0.00430926] [ 0.01466335 -0.00434383 0.99988305 -0.27987817] [ 0. 0. 0. 1. ]] SLAMing on 32.613133364999996 meters Centerline goodness : 0.132327 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 0.99987581 0.00700357 -0.01411823 0.0478751 ] [-0.00697751 0.99997386 0.00189438 0.00315301] [ 0.01413113 -0.00179564 0.99989854 -0.27965512] [ 0. 0. 0. 1. ]] SLAMing on 32.643133365 meters Centerline goodness : 0.124732 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 0.9999002 0.00396726 -0.01355914 0.04599885] [-0.00398245 0.99999147 -0.00109357 0.00164032] [ 0.01355469 0.00114746 0.99990747 -0.27920437] [ 0. 0. 0. 1. ]] SLAMing on 32.673133365 meters Centerline goodness : 0.137487 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 9.99900461e-01 4.03891439e-03 -1.35187256e-02 4.58211315e-02] [-4.05213313e-03 9.99991338e-01 -9.50561427e-04 1.13292268e-03] [ 1.35147693e-02 1.00524648e-03 9.99908166e-01 -2.79110126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70313336499999 meters Centerline goodness : 0.126486 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.28 [[ 9.99899949e-01 4.11195745e-03 -1.35345521e-02 4.57605092e-02] [-4.12359393e-03 9.99991152e-01 -8.31966432e-04 8.18662320e-04] [ 1.35310113e-02 8.87694189e-04 9.99908058e-01 -2.78964486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73313336499999 meters Centerline goodness : 0.129666 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99893725e-01 -2.98638862e-03 -1.42695253e-02 6.49214926e-02] [ 2.98450020e-03 9.99995535e-01 -1.53632870e-04 7.38052269e-03] [ 1.42699204e-02 1.11029141e-04 9.99898173e-01 -2.77555863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763133364999995 meters Centerline goodness : 0.133855 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.28 [[ 0.9998885 0.0045724 -0.0142156 0.04458653] [-0.00458991 0.99998875 -0.00119913 0.00220518] [ 0.01420995 0.00126424 0.99989823 -0.27854359] [ 0. 0. 0. 1. ]] SLAMing on 32.793133364999996 meters Centerline goodness : 0.133593 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99912619e-01 -2.47340756e-03 -1.29860189e-02 6.21981648e-02] [ 2.47515789e-03 9.99996930e-01 1.18715393e-04 9.54428838e-03] [ 1.29856854e-02 -1.50847467e-04 9.99915671e-01 -2.76787486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823133365 meters Centerline goodness : 0.128510 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99918757e-01 -2.38654317e-03 -1.25213363e-02 6.05215613e-02] [ 2.38731987e-03 9.99997149e-01 4.70838962e-05 1.08348147e-02] [ 1.25211882e-02 -7.69725060e-05 9.99921604e-01 -2.76057218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.853133365 meters Centerline goodness : 0.130365 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.28 [[ 9.99924413e-01 -2.59522436e-03 -1.20180058e-02 5.86880353e-02] [ 2.58856976e-03 9.99996488e-01 -5.69241340e-04 1.41225349e-02] [ 1.20194409e-02 5.38088867e-04 9.99927619e-01 -2.75249378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88313336499999 meters Centerline goodness : 0.130235 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 9.99923138e-01 -2.79304878e-03 -1.20796179e-02 5.88348154e-02] [ 2.78107700e-03 9.99995625e-01 -1.00775632e-03 1.60133484e-02] [ 1.20823797e-02 9.74084516e-04 9.99926531e-01 -2.75328811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91313336499999 meters Centerline goodness : 0.125927 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99992199 -0.00291966 -0.01214485 0.05894261] [ 0.00290312 0.99999483 -0.00137944 0.01800215] [ 0.01214881 0.00134407 0.9999253 -0.27535676] [ 0. 0. 0. 1. ]] SLAMing on 32.943133364999994 meters Centerline goodness : 0.129677 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.99992552 -0.00289174 -0.01185706 0.05777989] [ 0.002872 0.99999446 -0.00168174 0.02107383] [ 0.01186186 0.00164756 0.99992829 -0.27483549] [ 0. 0. 0. 1. ]] SLAMing on 32.973133364999995 meters Centerline goodness : 0.121954 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.99992612 -0.00299237 -0.01178103 0.05726002] [ 0.00297081 0.99999388 -0.00184715 0.02179675] [ 0.01178648 0.00181202 0.9999289 -0.27430293] [ 0. 0. 0. 1. ]] SLAMing on 33.003133365 meters Centerline goodness : 0.122033 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.9999124 -0.00343183 -0.01278374 0.05977733] [ 0.0034046 0.99999189 -0.00215117 0.02159884] [ 0.01279102 0.00210746 0.99991597 -0.27446904] [ 0. 0. 0. 1. ]] SLAMing on 33.033133365 meters Centerline goodness : 0.124547 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.27 [[ 0.99990837 -0.00342016 -0.01309781 0.06087248] [ 0.00339299 0.99999205 -0.00209633 0.02137023] [ 0.01310488 0.0020517 0.99991202 -0.27497884] [ 0. 0. 0. 1. ]] SLAMing on 33.063133365 meters Centerline goodness : 0.135115 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990709 -0.00334718 -0.01321412 0.06153884] [ 0.00332124 0.99999251 -0.00198515 0.02116238] [ 0.01322066 0.00194108 0.99991072 -0.27561832] [ 0. 0. 0. 1. ]] SLAMing on 33.09313336499999 meters Centerline goodness : 0.124706 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990965 -0.00325797 -0.01304133 0.06117548] [ 0.00323501 0.99999318 -0.00178099 0.02016906] [ 0.01304704 0.00173864 0.99991337 -0.27563248] [ 0. 0. 0. 1. ]] SLAMing on 33.123133364999994 meters Centerline goodness : 0.134819 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990989 -0.00327172 -0.01301973 0.06109467] [ 0.00324942 0.99999322 -0.00173342 0.01955509] [ 0.01302531 0.00169096 0.99991374 -0.27557772] [ 0. 0. 0. 1. ]] SLAMing on 33.153133364999995 meters Centerline goodness : 0.129314 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990811 -0.00327862 -0.01315392 0.06162383] [ 0.00325582 0.99999316 -0.00175425 0.01953392] [ 0.01315958 0.00171127 0.99991194 -0.27593807] [ 0. 0. 0. 1. ]] SLAMing on 33.183133364999996 meters Centerline goodness : 0.123243 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99990547 -0.00320377 -0.01337129 0.06255546] [ 0.00318091 0.99999344 -0.00173068 0.01979469] [ 0.01337674 0.00168798 0.9999091 -0.27667016] [ 0. 0. 0. 1. ]] SLAMing on 33.213133365 meters Centerline goodness : 0.136866 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.28 [[ 0.99989739 -0.00303908 -0.01399918 0.06476015] [ 0.0030176 0.99999424 -0.00155528 0.01931856] [ 0.01400383 0.00151288 0.9999008 -0.27781304] [ 0. 0. 0. 1. ]] SLAMing on 33.243133365 meters Centerline goodness : 0.129771 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.28 [[ 0.99989528 -0.00302575 -0.01415151 0.06524289] [ 0.00300677 0.99999455 -0.00136273 0.01783517] [ 0.01415556 0.00132004 0.99989893 -0.27798263] [ 0. 0. 0. 1. ]] SLAMing on 33.27313336499999 meters Centerline goodness : 0.126828 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.28 [[ 0.99991261 0.00330973 -0.01279884 0.0471995 ] [-0.00334393 0.99999089 -0.00265163 0.00919864] [ 0.01278995 0.0026942 0.99991458 -0.28027919] [ 0. 0. 0. 1. ]] SLAMing on 33.303133364999994 meters Centerline goodness : 0.125338 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.28 [[ 0.99992665 -0.004911 -0.01107148 0.06686922] [ 0.0048935 0.99998674 -0.00160708 0.0090696 ] [ 0.01107922 0.00155278 0.99993742 -0.2787778 ] [ 0. 0. 0. 1. ]] SLAMing on 33.333133364999995 meters Centerline goodness : 0.124565 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.28 [[ 0.99992653 -0.00479014 -0.01113523 0.06674386] [ 0.00477624 0.99998778 -0.00127436 0.00744915] [ 0.01114119 0.00122109 0.99993719 -0.27830056] [ 0. 0. 0. 1. ]] SLAMing on 33.363133364999996 meters Centerline goodness : 0.125807 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.28 [[ 9.99924708e-01 -4.82630945e-03 -1.12820926e-02 6.69907455e-02] [ 4.81598443e-03 9.99987959e-01 -9.42158608e-04 4.77027197e-03] [ 1.12865040e-02 8.87753288e-04 9.99935911e-01 -2.78063075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.393133365 meters Centerline goodness : 0.125779 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.28 [[ 9.99927184e-01 -4.71330855e-03 -1.11090774e-02 6.63671485e-02] [ 4.70670745e-03 9.99988731e-01 -6.20278167e-04 3.27140129e-03] [ 1.11118757e-02 5.67945824e-04 9.99938100e-01 -2.77716540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423133365 meters Centerline goodness : 0.126542 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.28 [[ 9.99930562e-01 -4.53860686e-03 -1.08753094e-02 6.54043799e-02] [ 4.53620947e-03 9.99989681e-01 -2.45099635e-04 1.81018128e-03] [ 1.08763096e-02 1.95749934e-04 9.99940832e-01 -2.77085544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45313336499999 meters Centerline goodness : 0.120704 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.28 [[ 9.99937270e-01 -4.61131305e-03 -1.02074677e-02 6.32023490e-02] [ 4.61401617e-03 9.99989326e-01 2.41284371e-04 -1.39382707e-03] [ 1.02062461e-02 -2.88366656e-04 9.99947873e-01 -2.75950866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48313336499999 meters Centerline goodness : 0.123286 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.28 [[ 9.99937373e-01 -4.73082365e-03 -1.01424129e-02 6.25586135e-02] [ 4.73579767e-03 9.99988677e-01 4.66457728e-04 -3.56165129e-03] [ 1.01400914e-02 -5.14460931e-04 9.99948456e-01 -2.75129887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.513133364999995 meters Centerline goodness : 0.123286 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.28 [[ 9.99937373e-01 -4.73082365e-03 -1.01424129e-02 6.25586135e-02] [ 4.73579767e-03 9.99988677e-01 4.66457728e-04 -3.56165129e-03] [ 1.01400914e-02 -5.14460931e-04 9.99948456e-01 -2.75129887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543133364999996 meters Centerline goodness : 0.147305 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.27 [[ 9.99938383e-01 -4.78437931e-03 -1.00169703e-02 6.17352281e-02] [ 4.79300587e-03 9.99988163e-01 8.37365365e-04 -6.22475358e-03] [ 1.00128454e-02 -8.85325167e-04 9.99949478e-01 -2.74240510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.573133365 meters Centerline goodness : 0.125821 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.27 [[ 0.99994154 -0.00464969 -0.00976188 0.0606468 ] [ 0.00466371 0.99998812 0.00141455 -0.0089716 ] [ 0.00975519 -0.00146 0.99995135 -0.27344423] [ 0. 0. 0. 1. ]] SLAMing on 33.603133365 meters Centerline goodness : 0.124054 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.27 [[ 0.99994118 -0.00467632 -0.00978597 0.06090591] [ 0.00469727 0.99998672 0.00211893 -0.01286027] [ 0.00977593 -0.00216478 0.99994987 -0.27360883] [ 0. 0. 0. 1. ]] SLAMing on 33.63313336499999 meters Centerline goodness : 0.127351 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.28 [[ 9.99941826e-01 2.26763657e-03 -1.05452379e-02 4.28782437e-02] [-2.26061836e-03 9.99997215e-01 6.77405279e-04 -2.06500965e-02] [ 1.05467446e-02 -6.53527113e-04 9.99944168e-01 -2.75709120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66313336499999 meters Centerline goodness : 0.130735 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.28 [[ 9.99938926e-01 2.21645676e-03 -1.08273364e-02 4.36205055e-02] [-2.20707010e-03 9.99997178e-01 8.78813349e-04 -2.24325875e-02] [ 1.08292537e-02 -8.54862987e-04 9.99940996e-01 -2.75812032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.693133364999994 meters Centerline goodness : 0.125893 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.27 [[ 0.99994808 0.00188807 -0.01001315 0.04106137] [-0.00187474 0.99999734 0.0013406 -0.02684301] [ 0.01001566 -0.00132176 0.99994897 -0.27464679] [ 0. 0. 0. 1. ]] SLAMing on 33.723133364999995 meters Centerline goodness : 0.123174 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.27 [[ 0.99994797 0.00188457 -0.01002502 0.04081601] [-0.00186663 0.99999664 0.00179903 -0.02979024] [ 0.01002837 -0.00178022 0.99994813 -0.27428695] [ 0. 0. 0. 1. ]] SLAMing on 33.753133365 meters Centerline goodness : 0.137327 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.27 [[ 0.99994199 0.00181591 -0.01061697 0.04233844] [-0.00179266 0.99999597 0.00219934 -0.03275608] [ 0.01062092 -0.00218018 0.99994122 -0.2744173 ] [ 0. 0. 0. 1. ]] SLAMing on 33.783133365 meters Centerline goodness : 0.145853 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.28 [[ 9.99927351e-01 -6.74261719e-05 -1.20535743e-02 4.81425448e-02] [ 8.06434963e-05 9.99999396e-01 1.09606545e-03 -3.95206829e-02] [ 1.20534931e-02 -1.09695787e-03 9.99926752e-01 -2.77288866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.813133365 meters Centerline goodness : 0.134714 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.04, Z:-0.28 [[ 9.99924827e-01 6.90899071e-05 -1.22611731e-02 4.85068737e-02] [-4.90566391e-05 9.99998664e-01 1.63417181e-03 -4.24736576e-02] [ 1.22612696e-02 -1.63344748e-03 9.99923494e-01 -2.77083811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84313336499999 meters Centerline goodness : 0.132254 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 9.99925574e-01 2.65209007e-04 -1.21973928e-02 4.80500195e-02] [-2.38190476e-04 9.99997515e-01 2.21650645e-03 -4.53644948e-02] [ 1.21979503e-02 -2.21343618e-03 9.99923152e-01 -2.76554180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.873133364999994 meters Centerline goodness : 0.125757 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 9.99924387e-01 4.08444006e-04 -1.22903978e-02 4.81923992e-02] [-3.71961964e-04 9.99995519e-01 2.97047638e-03 -5.00131515e-02] [ 1.22915560e-02 -2.96568022e-03 9.99920058e-01 -2.76356445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903133364999995 meters Centerline goodness : 0.128799 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99901050e-01 7.36834852e-03 -1.19832089e-02 7.02266388e-02] [-7.36497093e-03 9.99972825e-01 3.25966315e-04 -5.35673144e-02] [ 1.19852851e-02 -2.37678076e-04 9.99928146e-01 -2.76860456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.933133364999996 meters Centerline goodness : 0.126947 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99897953e-01 7.39809613e-03 -1.22209350e-02 7.10912176e-02] [-7.39275891e-03 9.99972557e-01 4.81846035e-04 -5.46126760e-02] [ 1.22241643e-02 -3.91450438e-04 9.99925205e-01 -2.77296887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963133365 meters Centerline goodness : 0.132457 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 0.99989079 -0.00130733 -0.01472074 0.05291313] [ 0.00133774 0.99999699 0.00205631 -0.05452433] [ 0.01471801 -0.00207578 0.99988953 -0.27840124] [ 0. 0. 0. 1. ]] SLAMing on 33.993133365 meters Centerline goodness : 0.142148 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.28 [[ 9.99879447e-01 5.76427681e-03 -1.44174997e-02 7.53637167e-02] [-5.77020725e-03 9.99983284e-01 -3.69771640e-04 -5.75382997e-02] [ 1.44151273e-02 4.52919025e-04 9.99895994e-01 -2.78779620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02313336499999 meters Centerline goodness : 0.164470 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.05, Z:-0.28 [[ 9.99881496e-01 -3.21662894e-03 -1.50548207e-02 5.53772048e-02] [ 3.22982226e-03 9.99994421e-01 8.52119836e-04 -5.48367816e-02] [ 1.50519957e-02 -9.00643251e-04 9.99886307e-01 -2.79613394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.053133364999994 meters Centerline goodness : 0.148305 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99988969 -0.00307281 -0.01453181 0.05377838] [ 0.00309039 0.99999452 0.00118757 -0.05615359] [ 0.01452808 -0.00123234 0.9998937 -0.27904623] [ 0. 0. 0. 1. ]] SLAMing on 34.083133364999995 meters Centerline goodness : 0.141788 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99989349 -0.00299609 -0.01428403 0.05310662] [ 0.00301484 0.99999462 0.00129127 -0.05634964] [ 0.01428008 -0.0013342 0.99989714 -0.2789161 ] [ 0. 0. 0. 1. ]] SLAMing on 34.113133364999996 meters Centerline goodness : 0.132278 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99989546 -0.00301756 -0.0141408 0.05275568] [ 0.00303528 0.99999463 0.00123181 -0.055964 ] [ 0.01413701 -0.0012746 0.99989926 -0.27890134] [ 0. 0. 0. 1. ]] SLAMing on 34.143133365 meters Centerline goodness : 0.121876 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.28 [[ 0.99989639 -0.00308418 -0.01406032 0.0525072 ] [ 0.00309979 0.9999946 0.00108895 -0.05533292] [ 0.01405689 -0.00113242 0.99990056 -0.27883505] [ 0. 0. 0. 1. ]] SLAMing on 34.173133365 meters Centerline goodness : 0.108959 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.28 [[ 9.99896897e-01 -3.17927046e-03 -1.40031189e-02 5.20385371e-02] [ 3.18971804e-03 9.99994651e-01 7.23818939e-04 -5.30220310e-02] [ 1.40007428e-02 -7.68410312e-04 9.99901690e-01 -2.78387229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20313336499999 meters Centerline goodness : 0.123583 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99907028e-01 5.36662985e-03 -1.25353058e-02 7.15250441e-02] [-5.37252677e-03 9.99985472e-01 -4.36797145e-04 -5.43149635e-02] [ 1.25327796e-02 5.04102801e-04 9.99921335e-01 -2.77779603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23313336499999 meters Centerline goodness : 0.176340 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.28 [[ 9.99911889e-01 5.15456464e-03 -1.22329096e-02 7.04169440e-02] [-5.16216992e-03 9.99986502e-01 -5.90212228e-04 -5.37411937e-02] [ 1.22297022e-02 6.53308582e-04 9.99925001e-01 -2.77237138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263133364999995 meters Centerline goodness : 0.132706 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99924885e-01 -2.96216121e-03 -1.18932596e-02 9.08194468e-02] [ 2.96358931e-03 9.99995603e-01 1.02454743e-04 -5.08326763e-02] [ 1.18929038e-02 -1.37693785e-04 9.99929267e-01 -2.75887529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.293133364999996 meters Centerline goodness : 0.119814 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99921939e-01 -3.59887639e-03 -1.19651149e-02 9.13180413e-02] [ 3.60083483e-03 9.99993507e-01 1.42140152e-04 -5.31384337e-02] [ 1.19645257e-02 -1.85213459e-04 9.99928405e-01 -2.76384155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323133365 meters Centerline goodness : 0.159117 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99920546e-01 -3.63476843e-03 -1.20702405e-02 9.16268617e-02] [ 3.63966367e-03 9.99993303e-01 3.83621130e-04 -5.44397609e-02] [ 1.20687652e-02 -4.27522265e-04 9.99927078e-01 -2.76509786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.353133365 meters Centerline goodness : 0.121332 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.28 [[ 9.99920050e-01 -3.67183055e-03 -1.21000509e-02 9.16588375e-02] [ 3.67843851e-03 9.99993097e-01 5.23899410e-04 -5.53154417e-02] [ 1.20980437e-02 -5.68366817e-04 9.99926654e-01 -2.76488293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38313336499999 meters Centerline goodness : 0.120078 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.28 [[ 9.99919017e-01 -3.73734713e-03 -1.21651812e-02 9.17432274e-02] [ 3.74418141e-03 9.99992845e-01 5.39062834e-04 -5.56243366e-02] [ 1.21630795e-02 -5.84567825e-04 9.99925856e-01 -2.76394498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41313336499999 meters Centerline goodness : 0.166055 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99915753e-01 -3.87726572e-03 -1.23876051e-02 9.23226996e-02] [ 3.87916671e-03 9.99992468e-01 1.29435321e-04 -5.34770004e-02] [ 1.23870099e-02 -1.77478002e-04 9.99923262e-01 -2.76438926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443133364999994 meters Centerline goodness : 0.146418 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.28 [[ 9.99912282e-01 -3.94640903e-03 -1.26433357e-02 9.32345102e-02] [ 3.94357403e-03 9.99992193e-01 -2.49151930e-04 -5.10954376e-02] [ 1.26442202e-02 1.99270145e-04 9.99920039e-01 -2.76933113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.473133364999995 meters Centerline goodness : 0.121989 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.28 [[ 0.99990674 0.00523514 -0.01261339 0.11534953] [-0.00525 0.99998556 -0.00114557 -0.05060278] [ 0.01260721 0.00121168 0.99991979 -0.2772321 ] [ 0. 0. 0. 1. ]] SLAMing on 34.503133365 meters Centerline goodness : 0.126705 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99917538e-01 -2.28717137e-03 -1.26367329e-02 1.34566921e-01] [ 2.28157931e-03 9.99997293e-01 -4.56923084e-04 -4.46385649e-02] [ 1.26377438e-02 4.28053697e-04 9.99920049e-01 -2.75593472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.533133365 meters Centerline goodness : 0.119864 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99918963e-01 -2.39804285e-03 -1.25026806e-02 1.34153363e-01] [ 2.38976582e-03 9.99996915e-01 -6.76917926e-04 -4.36305930e-02] [ 1.25042653e-02 6.46984592e-04 9.99921609e-01 -2.75502539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563133365 meters Centerline goodness : 0.145049 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99917789e-01 -2.65220469e-03 -1.25451282e-02 1.34243080e-01] [ 2.64187041e-03 9.99996157e-01 -8.40268156e-04 -4.29778368e-02] [ 1.25473086e-02 8.07056474e-04 9.99920954e-01 -2.75588051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59313336499999 meters Centerline goodness : 0.137806 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.28 [[ 9.99914651e-01 -2.68305644e-03 -1.27863712e-02 1.34970926e-01] [ 2.67413140e-03 9.99996169e-01 -7.15057483e-04 -4.35279624e-02] [ 1.27882408e-02 6.80804017e-04 9.99917995e-01 -2.75933526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623133364999994 meters Centerline goodness : 0.125005 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 9.99907836e-01 -2.83041809e-03 -1.32781288e-02 1.36353586e-01] [ 2.82135733e-03 9.99995774e-01 -7.01064379e-04 -4.39217262e-02] [ 1.32800570e-02 6.63537420e-04 9.99911596e-01 -2.76379591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.653133364999995 meters Centerline goodness : 0.174328 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.99989045 -0.00347791 -0.01438712 0.13938154] [ 0.00346226 0.99999339 -0.00111269 -0.04376542] [ 0.01439089 0.00106276 0.99989588 -0.27706981] [ 0. 0. 0. 1. ]] SLAMing on 34.683133364999996 meters Centerline goodness : 0.124816 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.9998876 -0.00356054 -0.01456394 0.13992581] [ 0.00354284 0.99999295 -0.00124051 -0.04328104] [ 0.01456825 0.00118877 0.99989317 -0.27728611] [ 0. 0. 0. 1. ]] SLAMing on 34.713133365 meters Centerline goodness : 0.099296 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.99988755 -0.00363123 -0.01454965 0.13982907] [ 0.00361045 0.99999242 -0.00145456 -0.0420705 ] [ 0.01455482 0.00140187 0.99989309 -0.27718575] [ 0. 0. 0. 1. ]] SLAMing on 34.743133365 meters Centerline goodness : 0.039324 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.9998916 -0.00370358 -0.01425047 0.13878641] [ 0.00367713 0.99999147 -0.00188165 -0.03934762] [ 0.01425732 0.00182905 0.99989669 -0.27663146] [ 0. 0. 0. 1. ]] SLAMing on 34.77313336499999 meters Centerline goodness : 0.124608 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.9998925 -0.0037554 -0.01417314 0.13857554] [ 0.00372604 0.99999086 -0.00209674 -0.03805386] [ 0.01418089 0.00204371 0.99989736 -0.27661318] [ 0. 0. 0. 1. ]] SLAMing on 34.803133364999994 meters Centerline goodness : 0.171250 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.28 [[ 0.99989247 -0.00389539 -0.0141378 0.13860604] [ 0.00385993 0.99998934 -0.00253454 -0.03564932] [ 0.01414752 0.0024797 0.99989684 -0.27674357] [ 0. 0. 0. 1. ]] SLAMing on 34.833133364999995 meters Centerline goodness : 0.195006 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.28 [[ 0.99989225 -0.00401174 -0.01412078 0.13860935] [ 0.00397235 0.99998814 -0.00281675 -0.03428473] [ 0.01413191 0.00276035 0.99989633 -0.2768204 ] [ 0. 0. 0. 1. ]] SLAMing on 34.863133364999996 meters Centerline goodness : 0.124923 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.28 [[ 0.99989459 0.00441085 -0.01383318 0.11607558] [-0.00445708 0.99998458 -0.00331296 -0.0357878 ] [ 0.01381835 0.00337427 0.99989883 -0.27731001] [ 0. 0. 0. 1. ]] SLAMing on 34.893133365 meters Centerline goodness : 0.185147 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:-0.28 [[ 0.99990957 -0.00259566 -0.01319505 0.13414104] [ 0.00256878 0.99999459 -0.00205327 -0.02903563] [ 0.01320031 0.00201918 0.99991083 -0.27509708] [ 0. 0. 0. 1. ]] SLAMing on 34.923133365 meters Centerline goodness : 0.123131 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.27 [[ 9.99922152e-01 -4.39403320e-04 -1.24698181e-02 1.30685754e-01] [ 4.29267651e-04 9.99999575e-01 -8.15480985e-04 -2.14414511e-02] [ 1.24701712e-02 8.10064612e-04 9.99921916e-01 -2.73099438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95313336499999 meters Centerline goodness : 0.109568 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.27 [[ 9.99922439e-01 -5.69063821e-04 -1.24415471e-02 1.30692306e-01] [ 5.51373829e-04 9.99998832e-01 -1.42523215e-03 -1.78977631e-02] [ 1.24423436e-02 1.41826166e-03 9.99921585e-01 -2.73137045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98313336499999 meters Centerline goodness : 0.184944 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.27 [[ 9.99922657e-01 -7.27337600e-04 -1.24157813e-02 1.30685021e-01] [ 7.02064667e-04 9.99997673e-01 -2.03978633e-03 -1.43816313e-02] [ 1.24172360e-02 2.03091189e-03 9.99920841e-01 -2.73195209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.013133364999995 meters Centerline goodness : 0.093689 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.27 [[ 9.99933194e-01 4.49913209e-04 -1.15501079e-02 1.28064002e-01] [-4.70635704e-04 9.99998285e-01 -1.79148329e-03 -5.49926546e-03] [ 1.15492821e-02 1.79679951e-03 9.99931690e-01 -2.72438491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043133364999996 meters Centerline goodness : 0.093216 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.27 [[ 9.99936336e-01 2.09660696e-04 -1.12818409e-02 1.27162113e-01] [-2.37543258e-04 9.99996921e-01 -2.47017169e-03 -1.95333745e-03] [ 1.12812883e-02 2.47269435e-03 9.99933307e-01 -2.72039186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.073133365 meters Centerline goodness : 0.128074 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.27 [[ 9.99924989e-01 -6.44850198e-03 -1.04131073e-02 1.03967643e-01] [ 6.44664474e-03 9.99979198e-01 -2.11912834e-04 5.59287636e-03] [ 1.04142572e-02 1.44767335e-04 9.99945760e-01 -2.71813608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103133365 meters Centerline goodness : 0.127838 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.27 [[ 0.99992271 -0.00689453 -0.01034624 0.10378224] [ 0.00688111 0.99997544 -0.00133214 0.01237813] [ 0.01035517 0.00126085 0.99994559 -0.27181485] [ 0. 0. 0. 1. ]] SLAMing on 35.13313336499999 meters Centerline goodness : 0.090522 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.27 [[ 0.99991995 -0.00712372 -0.01045695 0.104205 ] [ 0.00710455 0.99997302 -0.00186924 0.01509134] [ 0.01046999 0.0017948 0.99994358 -0.27205519] [ 0. 0. 0. 1. ]] SLAMing on 35.16313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 35.193133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 35.223133364999995 meters Centerline goodness : 0.096963 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.27 [[ 0.99990628 -0.0082575 -0.0109199 0.10560192] [ 0.00822113 0.99996052 -0.00337115 0.02261398] [ 0.0109473 0.00328106 0.99993469 -0.27239027] [ 0. 0. 0. 1. ]] SLAMing on 35.253133365 meters Centerline goodness : 0.103629 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.27 [[ 9.99950915e-01 1.46715351e-04 -9.90689285e-03 1.25378651e-01] [-1.88668012e-04 9.99991019e-01 -4.23389232e-03 2.06760838e-02] [ 9.90618270e-03 4.23555362e-03 9.99941962e-01 -2.71917055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283133365 meters Centerline goodness : 0.115169 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.27 [[ 9.99948643e-01 -1.85522707e-04 -1.01330014e-02 1.26144307e-01] [ 1.33827610e-04 9.99986975e-01 -5.10209681e-03 2.53450285e-02] [ 1.01338159e-02 5.10047870e-03 9.99935643e-01 -2.72134581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 35.34313336499999 meters Centerline goodness : 0.180865 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.27 [[ 9.99944130e-01 -4.94331126e-04 -1.05589693e-02 1.27952812e-01] [ 4.31813482e-04 9.99982370e-01 -5.92226881e-03 2.95260611e-02] [ 1.05617107e-02 5.91737843e-03 9.99926715e-01 -2.73358056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.373133364999994 meters Centerline goodness : 0.143651 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.27 [[ 9.99943432e-01 -7.52866465e-04 -1.06097308e-02 1.28229730e-01] [ 6.82507176e-04 9.99977764e-01 -6.63364208e-03 3.34171730e-02] [ 1.06144892e-02 6.62602561e-03 9.99921711e-01 -2.73554979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403133364999995 meters Centerline goodness : 0.094936 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.27 [[ 9.99943687e-01 -8.88722645e-04 -1.05750789e-02 1.28178192e-01] [ 8.14655944e-04 9.99975125e-01 -7.00613866e-03 3.53675388e-02] [ 1.05810424e-02 6.99712908e-03 9.99919538e-01 -2.73570841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.433133364999996 meters Centerline goodness : 0.094936 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.27 [[ 9.99943687e-01 -8.88722645e-04 -1.05750789e-02 1.28178192e-01] [ 8.14655944e-04 9.99975125e-01 -7.00613866e-03 3.53675388e-02] [ 1.05810424e-02 6.99712908e-03 9.99919538e-01 -2.73570841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463133365 meters Centerline goodness : 0.160722 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.27 [[ 9.99912074e-01 -1.03194510e-03 -1.32204088e-02 8.31267750e-02] [ 9.38960966e-04 9.99974795e-01 -7.03765549e-03 3.97223747e-02] [ 1.32273380e-02 7.02462325e-03 9.99887840e-01 -2.72746224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.493133365 meters Centerline goodness : 0.143689 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.27 [[ 0.99990888 -0.0011534 -0.01344975 0.08397169] [ 0.00105458 0.99997242 -0.00735185 0.04133716] [ 0.01345786 0.00733699 0.99988252 -0.27321466] [ 0. 0. 0. 1. ]] SLAMing on 35.52313336499999 meters Centerline goodness : 0.143827 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.27 [[ 0.9999017 -0.00134523 -0.01395654 0.08581514] [ 0.00123486 0.99996792 -0.00791361 0.04432324] [ 0.01396673 0.0078956 0.99987129 -0.27417469] [ 0. 0. 0. 1. ]] SLAMing on 35.553133364999994 meters Centerline goodness : 0.164439 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.27 [[ 0.99990328 0.00125876 -0.01385095 0.08566226] [-0.00133261 0.99998494 -0.0053241 0.04566046] [ 0.01384404 0.00534204 0.9998899 -0.27430223] [ 0. 0. 0. 1. ]] SLAMing on 35.583133364999995 meters Centerline goodness : 0.142110 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.27 [[ 0.99988144 -0.00527011 -0.01446833 0.06289439] [ 0.0052292 0.99998223 -0.00286363 0.05113046] [ 0.01448317 0.00278763 0.99989123 -0.27372171] [ 0. 0. 0. 1. ]] SLAMing on 35.613133364999996 meters Centerline goodness : 0.122990 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.27 [[ 0.99988437 -0.00539662 -0.01421717 0.0620588 ] [ 0.00534821 0.99997978 -0.00344065 0.05435252] [ 0.01423545 0.00336422 0.99989301 -0.27325682] [ 0. 0. 0. 1. ]] SLAMing on 35.643133365 meters Centerline goodness : 0.148410 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.27 [[ 0.99988573 -0.0054941 -0.01408324 0.06168443] [ 0.0054418 0.99997817 -0.00374914 0.05594236] [ 0.01410353 0.00367208 0.9998938 -0.27315221] [ 0. 0. 0. 1. ]] SLAMing on 35.673133365 meters Centerline goodness : 0.119747 Centerline is valid? [False, False] Translation: X:0.06, Y:0.06, Z:-0.27 [[ 0.99988796 -0.00567213 -0.01385289 0.06085241] [ 0.00561333 0.99997509 -0.00427942 0.05866296] [ 0.01387682 0.00420118 0.99989489 -0.27267804] [ 0. 0. 0. 1. ]] SLAMing on 35.70313336499999 meters Centerline goodness : 0.120164 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.27 [[ 0.99991407 0.00253975 -0.0128607 0.03992908] [-0.00260489 0.99998385 -0.00505068 0.05577464] [ 0.01284766 0.00508375 0.99990454 -0.27427534] [ 0. 0. 0. 1. ]] SLAMing on 35.73313336499999 meters Centerline goodness : 0.164503 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.27 [[ 0.99991713 0.00248432 -0.01263169 0.03935165] [-0.0025495 0.99998351 -0.0051463 0.05631529] [ 0.0126187 0.00517808 0.99990697 -0.27420425] [ 0. 0. 0. 1. ]] SLAMing on 35.763133364999995 meters Centerline goodness : 0.129211 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.9999133 -0.00641181 -0.01150169 0.01698702] [ 0.00635561 0.99996772 -0.00491599 0.06272586] [ 0.01153284 0.00484247 0.99992177 -0.27451099] [ 0. 0. 0. 1. ]] SLAMing on 35.793133364999996 meters Centerline goodness : 0.148850 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.99991372 -0.0064352 -0.01145161 0.01670239] [ 0.00637938 0.99996763 -0.00490428 0.06271003] [ 0.0114828 0.0048308 0.9999224 -0.27430166] [ 0. 0. 0. 1. ]] SLAMing on 35.823133365 meters Centerline goodness : 0.104876 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.99991368 -0.00646827 -0.0114368 0.01671451] [ 0.00641291 0.99996757 -0.00487085 0.06250763] [ 0.01146793 0.00479708 0.99992273 -0.27443484] [ 0. 0. 0. 1. ]] SLAMing on 35.853133365 meters Centerline goodness : 0.152048 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.27 [[ 0.99991147 -0.00660606 -0.01155081 0.01707715] [ 0.00654906 0.99996623 -0.00496547 0.06257268] [ 0.01158322 0.00488938 0.99992096 -0.27462569] [ 0. 0. 0. 1. ]] SLAMing on 35.88313336499999 meters Centerline goodness : 0.150358 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-0.28 [[ 0.99992108 0.00199313 -0.01240405 -0.00385992] [-0.00206362 0.99998178 -0.00567251 0.06008207] [ 0.01239252 0.00569766 0.99990698 -0.27536156] [ 0. 0. 0. 1. ]] SLAMing on 35.91313336499999 meters Centerline goodness : 0.149277 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-0.28 [[ 0.99991793 0.00197273 -0.01265868 -0.00314743] [-0.00204599 0.99998122 -0.00577755 0.06087306] [ 0.01264705 0.00580297 0.99990318 -0.27549774] [ 0. 0. 0. 1. ]] SLAMing on 35.943133364999994 meters Centerline goodness : 0.148087 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-0.28 [[ 0.99992004 0.00187397 -0.01250629 -0.00352958] [-0.00195048 0.99997944 -0.00610835 0.06280692] [ 0.01249459 0.00613225 0.99990314 -0.27543327] [ 0. 0. 0. 1. ]] SLAMing on 35.973133364999995 meters Centerline goodness : 0.107615 Centerline is valid? [False, False] Translation: X:0.01, Y:0.07, Z:-0.27 [[ 0.99991952 -0.00608905 -0.01113003 0.01487881] [ 0.00603443 0.99996962 -0.0049344 0.06733118] [ 0.01115974 0.00486684 0.99992588 -0.27375785] [ 0. 0. 0. 1. ]] SLAMing on 36.003133365 meters Centerline goodness : 0.275725 Centerline is valid? [False, False] Translation: X:0.01, Y:0.07, Z:-0.27 [[ 0.9999223 -0.00626492 -0.0107774 0.01416959] [ 0.00620636 0.99996584 -0.00545834 0.07036293] [ 0.01081123 0.00539103 0.99992702 -0.27391254] [ 0. 0. 0. 1. ]] SLAMing on 36.033133365 meters Centerline goodness : 0.124011 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.27 [[ 0.99991888 -0.00637042 -0.01102976 0.01520752] [ 0.00630796 0.99996392 -0.00568848 0.07152436] [ 0.0110656 0.00561844 0.99992299 -0.27461144] [ 0. 0. 0. 1. ]] SLAMing on 36.06313336499999 meters Centerline goodness : 0.266216 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99899933e-01 -6.14961229e-04 -1.41331510e-02 3.26969260e-02] [ 5.24071616e-04 9.99979166e-01 -6.43375586e-03 6.68081237e-02] [ 1.41368131e-02 6.42570526e-03 9.99879423e-01 -2.73152454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09313336499999 meters Centerline goodness : 0.246456 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99894027e-01 -7.79100537e-04 -1.45371011e-02 3.42251760e-02] [ 6.83542826e-04 9.99978137e-01 -6.57717889e-03 6.70886293e-02] [ 1.45419076e-02 6.56654516e-03 9.99872699e-01 -2.74077260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123133364999994 meters Centerline goodness : 0.153290 Centerline is valid? [False, False] Translation: X:0.04, Y:0.07, Z:-0.27 [[ 9.99889591e-01 -9.78932761e-04 -1.48272729e-02 3.50631000e-02] [ 8.79028227e-04 9.99976880e-01 -6.74290915e-03 6.76429022e-02] [ 1.48335310e-02 6.72913108e-03 9.99867334e-01 -2.74439193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.153133364999995 meters Centerline goodness : 0.162892 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99892148e-01 -9.91119233e-04 -1.46530065e-02 3.43264059e-02] [ 8.92186017e-04 9.99976775e-01 -6.75673085e-03 6.78299541e-02] [ 1.46593629e-02 6.74292891e-03 9.99869810e-01 -2.73943736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183133364999996 meters Centerline goodness : 0.123038 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 9.99893929e-01 -1.06757183e-03 -1.45255348e-02 3.38085038e-02] [ 9.68169768e-04 9.99976080e-01 -6.84857550e-03 6.81017564e-02] [ 1.45324987e-02 6.83378588e-03 9.99871045e-01 -2.73644550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.213133365 meters Centerline goodness : 0.204637 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 0.99989373 -0.00129179 -0.0145213 0.03378502] [ 0.00118656 0.99997299 -0.00725278 0.06951089] [ 0.01453028 0.00723478 0.99986826 -0.27357876] [ 0. 0. 0. 1. ]] SLAMing on 36.243133365 meters Centerline goodness : 0.145390 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 0.99989442 -0.0013415 -0.01446924 0.03371561] [ 0.00123345 0.99997131 -0.00747414 0.07077201] [ 0.01447886 0.0074555 0.99986738 -0.27364195] [ 0. 0. 0. 1. ]] SLAMing on 36.27313336499999 meters Centerline goodness : 0.266280 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.27 [[ 0.99989979 0.00245706 -0.01394203 0.03220089] [-0.00251363 0.99998867 -0.00404194 0.07306502] [ 0.01393194 0.00407658 0.99989464 -0.27317979] [ 0. 0. 0. 1. ]] SLAMing on 36.303133364999994 meters Centerline goodness : 0.143906 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.27 [[ 0.99989943 0.0024469 -0.01396904 0.0322909 ] [-0.00250881 0.9999871 -0.00441632 0.07547063] [ 0.01395805 0.00445092 0.99989268 -0.27302981] [ 0. 0. 0. 1. ]] SLAMing on 36.333133364999995 meters Centerline goodness : 0.121198 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.27 [[ 0.9998952 0.00238756 -0.01427904 0.03302037] [-0.00245669 0.99998534 -0.00482588 0.0778368 ] [ 0.01426731 0.00486045 0.9998864 -0.27289795] [ 0. 0. 0. 1. ]] SLAMing on 36.363133364999996 meters Centerline goodness : 0.122539 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.27 [[ 0.99984711 0.00400034 -0.01702214 -0.01133241] [-0.00408636 0.99997904 -0.00502171 0.08877949] [ 0.0170017 0.0050905 0.9998425 -0.27156162] [ 0. 0. 0. 1. ]] SLAMing on 36.393133365 meters Centerline goodness : 0.148160 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.09, Z:-0.27 [[ 0.9998448 0.00392337 -0.01717518 -0.01095137] [-0.00402021 0.9999762 -0.00560746 0.0922414 ] [ 0.01715277 0.00567564 0.99983677 -0.27147989] [ 0. 0. 0. 1. ]] SLAMing on 36.423133365 meters Centerline goodness : 0.144209 Centerline is valid? [False, False] Translation: X:0.01, Y:0.10, Z:-0.27 [[ 0.9998635 -0.0017128 -0.0164332 0.01154121] [ 0.00166946 0.99999509 -0.00265064 0.09625208] [ 0.01643766 0.00262284 0.99986145 -0.27134664] [ 0. 0. 0. 1. ]] SLAMing on 36.45313336499999 meters Centerline goodness : 0.125427 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.10, Z:-0.27 [[ 9.99829286e-01 -7.28220663e-04 -1.84626347e-02 -3.50737377e-02] [ 6.82434884e-04 9.99996677e-01 -2.48609478e-03 1.03011129e-01] [ 1.84643838e-02 2.47307082e-03 9.99826460e-01 -2.70484575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48313336499999 meters Centerline goodness : 0.123398 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 9.99831480e-01 -9.53979853e-04 -1.83330833e-02 -3.55114889e-02] [ 8.94886374e-04 9.99994379e-01 -3.23125807e-03 1.07512294e-01] [ 1.83360628e-02 3.21430751e-03 9.99826714e-01 -2.70237543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.513133364999995 meters Centerline goodness : 0.125063 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 9.99833738e-01 -1.06141132e-03 -1.82035713e-02 -3.60601187e-02] [ 9.97957222e-04 9.99993396e-01 -3.49453466e-03 1.08913449e-01] [ 1.82071602e-02 3.47578727e-03 9.99828194e-01 -2.69819140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543133364999996 meters Centerline goodness : 0.123484 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99983724 -0.00117243 -0.01800341 -0.03664725] [ 0.00110632 0.99999261 -0.00368139 0.10977597] [ 0.01800759 0.00366088 0.99983115 -0.26968122] [ 0. 0. 0. 1. ]] SLAMing on 36.573133365 meters Centerline goodness : 0.125786 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99984166 -0.001518 -0.0177301 -0.03713588] [ 0.00144723 0.99999094 -0.00400364 0.11055703] [ 0.01773601 0.00397735 0.99983479 -0.26997679] [ 0. 0. 0. 1. ]] SLAMing on 36.603133365 meters Centerline goodness : 0.159106 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99984117 -0.00159791 -0.01775041 -0.0369291 ] [ 0.00152528 0.99999041 -0.00410429 0.11083909] [ 0.0177568 0.00407656 0.99983403 -0.27023089] [ 0. 0. 0. 1. ]] SLAMing on 36.63313336499999 meters Centerline goodness : 0.124104 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99983829 -0.00164352 -0.01790779 -0.03637675] [ 0.0015684 0.99998992 -0.00420797 0.1113407 ] [ 0.01791452 0.0041792 0.99983079 -0.27051472] [ 0. 0. 0. 1. ]] SLAMing on 36.66313336499999 meters Centerline goodness : 0.141721 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.11, Z:-0.27 [[ 0.99983297 -0.00165527 -0.01820125 -0.03559504] [ 0.00157563 0.99998913 -0.00438903 0.11265941] [ 0.01820831 0.00435962 0.99982471 -0.27058237] [ 0. 0. 0. 1. ]] SLAMing on 36.693133364999994 meters Centerline goodness : 0.150397 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.12, Z:-0.27 [[ 9.99786614e-01 7.14396458e-04 -2.06450003e-02 -8.20054153e-02] [-7.86975959e-04 9.99993538e-01 -3.50768646e-03 1.21163798e-01] [ 2.06423610e-02 3.52318509e-03 9.99780716e-01 -2.69133239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723133364999995 meters Centerline goodness : 0.123280 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.12, Z:-0.27 [[ 9.99787214e-01 -5.09752581e-03 -1.99885367e-02 -5.89190733e-02] [ 5.08108634e-03 9.99986710e-01 -8.73145716e-04 1.24441842e-01] [ 1.99927220e-02 7.71396442e-04 9.99799828e-01 -2.69418210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.753133365 meters Centerline goodness : 0.150066 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.27 [[ 0.9998005 -0.0018193 -0.01989074 -0.05908339] [ 0.00185014 0.99999711 0.00153233 0.12987226] [ 0.0198879 -0.00156882 0.99980099 -0.26949035] [ 0. 0. 0. 1. ]] SLAMing on 36.783133365 meters Centerline goodness : 0.124956 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.13, Z:-0.27 [[ 0.99980011 -0.00185019 -0.01990795 -0.05893249] [ 0.00187191 0.99999767 0.0010725 0.13267583] [ 0.01990592 -0.00110955 0.99980124 -0.26959974] [ 0. 0. 0. 1. ]] SLAMing on 36.81313336499999 meters Centerline goodness : 0.153532 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.13, Z:-0.27 [[ 9.99801365e-01 6.47529648e-03 -1.88494135e-02 -3.84613670e-02] [-6.47369488e-03 9.99979035e-01 1.45985718e-04 1.30944096e-01] [ 1.88499636e-02 -2.39313681e-05 9.99822323e-01 -2.69039943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84313336499999 meters Centerline goodness : 0.124136 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.14, Z:-0.27 [[ 9.99857473e-01 4.64529502e-04 -1.68765349e-02 -5.50286815e-02] [-4.47847328e-04 9.99999407e-01 9.92249209e-04 1.41194817e-01] [ 1.68769859e-02 -9.84549676e-04 9.99857089e-01 -2.71802793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.873133364999994 meters Centerline goodness : 0.123219 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.27 [[ 9.99853768e-01 3.51783101e-04 -1.70973416e-02 -5.43976678e-02] [-3.39082079e-04 9.99999664e-01 7.45758547e-04 1.42248495e-01] [ 1.70975982e-02 -7.39852091e-04 9.99853552e-01 -2.71946736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903133364999995 meters Centerline goodness : 0.111267 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.15, Z:-0.27 [[ 0.99981042 -0.00781638 -0.01783347 -0.07423771] [ 0.0078433 0.9999682 0.00144008 0.14851964] [ 0.01782164 -0.00157968 0.99983993 -0.27301955] [ 0. 0. 0. 1. ]] SLAMing on 36.933133364999996 meters Centerline goodness : 0.117224 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99869230e-01 1.02285213e-04 -1.61713625e-02 -5.55104068e-02] [-9.64950741e-05 9.99999931e-01 3.58828796e-04 1.45779791e-01] [ 1.61713981e-02 -3.57221415e-04 9.99869171e-01 -2.72098193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963133365 meters Centerline goodness : 0.125189 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99869883e-01 9.52210929e-05 -1.61309652e-02 -5.56585045e-02] [-9.09794594e-05 9.99999961e-01 2.63683401e-04 1.46507283e-01] [ 1.61309897e-02 -2.62181504e-04 9.99869853e-01 -2.71942050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.993133365 meters Centerline goodness : 0.150113 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99867268e-01 1.05798343e-04 -1.62921959e-02 -5.52288263e-02] [-1.02505212e-04 9.99999974e-01 2.02964317e-04 1.46969238e-01] [ 1.62922169e-02 -2.01267343e-04 9.99867253e-01 -2.72017607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02313336499999 meters Centerline goodness : 0.154837 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.27 [[ 9.99863705e-01 1.13372640e-04 -1.65093729e-02 -5.44962607e-02] [-1.10275789e-04 9.99999976e-01 1.88491660e-04 1.47080238e-01] [ 1.65093939e-02 -1.86645386e-04 9.99863693e-01 -2.72356214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.053133364999994 meters Centerline goodness : 0.125000 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.27 [[ 9.99862022e-01 2.55725329e-04 -1.66094006e-02 -5.43926532e-02] [-2.51645824e-04 9.99999938e-01 2.47703722e-04 1.47103429e-01] [ 1.66094629e-02 -2.43489858e-04 9.99862024e-01 -2.72120802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083133364999995 meters Centerline goodness : 0.121329 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99869114e-01 3.36318381e-04 -1.61753683e-02 -5.58818768e-02] [-3.32961805e-04 9.99999922e-01 2.10204203e-04 1.47446097e-01] [ 1.61754377e-02 -2.04790911e-04 9.99869148e-01 -2.71373162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.113133364999996 meters Centerline goodness : 0.154684 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99877134e-01 4.11497718e-04 -1.56699379e-02 -5.75703935e-02] [-4.09542763e-04 9.99999908e-01 1.27967072e-04 1.48055062e-01] [ 1.56699892e-02 -1.21533840e-04 9.99877211e-01 -2.70540728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143133365 meters Centerline goodness : 0.144364 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99883073e-01 9.67381236e-04 -1.52612135e-02 -5.87263112e-02] [-9.63632527e-04 9.99999504e-01 2.52987925e-04 1.49199538e-01] [ 1.52614506e-02 -2.38252142e-04 9.99883509e-01 -2.70148924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.173133365 meters Centerline goodness : 0.151583 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99877998e-01 1.08224886e-03 -1.55825990e-02 -5.79216280e-02] [-1.08043446e-03 9.99999409e-01 1.24855472e-04 1.50451784e-01] [ 1.55827249e-02 -1.08004262e-04 9.99878576e-01 -2.70220163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20313336499999 meters Centerline goodness : 0.147866 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.27 [[ 9.99884164e-01 1.61212837e-03 -1.51347130e-02 -5.93164941e-02] [-1.61007417e-03 9.99998693e-01 1.47911150e-04 1.52271563e-01] [ 1.51349316e-02 -1.23526007e-04 9.99885453e-01 -2.69654192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23313336499999 meters Centerline goodness : 0.114093 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.27 [[ 0.99989446 -0.00402833 -0.01395863 -0.08361376] [ 0.00406847 0.99998767 0.00284818 0.15715734] [ 0.01394698 -0.00290467 0.99989852 -0.26924069] [ 0. 0. 0. 1. ]] SLAMing on 37.263133364999995 meters Centerline goodness : 0.132899 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.16, Z:-0.27 [[ 0.99989888 -0.00400041 -0.01364678 -0.08465042] [ 0.00403725 0.99998828 0.00267304 0.15849133] [ 0.01363592 -0.00272787 0.99990331 -0.26880032] [ 0. 0. 0. 1. ]] SLAMing on 37.293133364999996 meters Centerline goodness : 0.143482 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 0.99991451 0.00401815 -0.01244308 -0.06539966] [-0.00400337 0.99999125 0.00121254 0.15619154] [ 0.01244784 -0.00116262 0.99992185 -0.26802279] [ 0. 0. 0. 1. ]] SLAMing on 37.323133365 meters Centerline goodness : 0.143482 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 0.99991451 0.00401815 -0.01244308 -0.06539966] [-0.00400337 0.99999125 0.00121254 0.15619154] [ 0.01244784 -0.00116262 0.99992185 -0.26802279] [ 0. 0. 0. 1. ]] SLAMing on 37.353133365 meters Centerline goodness : 0.155034 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 0.99991466 0.00393659 -0.0124568 -0.06508609] [-0.00392338 0.99999172 0.00108415 0.15659266] [ 0.01246097 -0.00103519 0.99992182 -0.26851021] [ 0. 0. 0. 1. ]] SLAMing on 37.38313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 37.41313336499999 meters Centerline goodness : 0.145292 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.27 [[ 9.99916095e-01 3.86791629e-03 -1.23629433e-02 -6.51086835e-02] [-3.85854800e-03 9.99992250e-01 7.81534367e-04 1.58611480e-01] [ 1.23658704e-02 -7.33765782e-04 9.99923270e-01 -2.68819931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443133364999994 meters Centerline goodness : 0.154153 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.27 [[ 9.99915269e-01 3.77797492e-03 -1.24571910e-02 -6.48683163e-02] [-3.77126564e-03 9.99992731e-01 5.62033863e-04 1.59711983e-01] [ 1.24592238e-02 -5.15006865e-04 9.99922248e-01 -2.68816264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.473133364999995 meters Centerline goodness : 0.151114 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.17, Z:-0.27 [[ 0.99989163 -0.00125649 -0.01466767 -0.04312561] [ 0.00130179 0.99999441 0.00307927 0.16575345] [ 0.01466372 -0.00309803 0.99988768 -0.26855942] [ 0. 0. 0. 1. ]] SLAMing on 37.503133365 meters Centerline goodness : 0.151698 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.17, Z:-0.27 [[ 0.99988534 -0.00128777 -0.01508791 -0.04172516] [ 0.00133094 0.99999505 0.00285163 0.16704862] [ 0.01508416 -0.00287138 0.9998821 -0.26920206] [ 0. 0. 0. 1. ]] SLAMing on 37.533133365 meters Centerline goodness : 0.151039 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.17, Z:-0.27 [[ 0.99987856 -0.00134985 -0.01552567 -0.04013846] [ 0.0013905 0.99999563 0.00260802 0.16817675] [ 0.01552209 -0.00262929 0.99987607 -0.27009714] [ 0. 0. 0. 1. ]] SLAMing on 37.56313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 37.59313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 37.623133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 37.653133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 37.683133364999996 meters Centerline goodness : 0.095299 Centerline is valid? [False, False] Translation: X:0.00, Y:0.18, Z:-0.27 [[ 0.99987029 0.00290128 -0.01584278 0.00453507] [-0.00283533 0.99998723 0.0041838 0.17569778] [ 0.01585471 -0.00413834 0.99986574 -0.27041994] [ 0. 0. 0. 1. ]] SLAMing on 37.713133365 meters Centerline goodness : 0.168891 Centerline is valid? [False, False] Translation: X:0.01, Y:0.18, Z:-0.27 [[ 0.99986626 0.00331165 -0.01601531 0.00511764] [-0.00325216 0.99998772 0.00373924 0.17960167] [ 0.0160275 -0.00368666 0.99986475 -0.27078495] [ 0. 0. 0. 1. ]] SLAMing on 37.743133365 meters Centerline goodness : 0.234653 Centerline is valid? [False, False] Translation: X:0.00, Y:0.18, Z:-0.27 [[ 0.99987008 0.00339203 -0.01575837 0.0044604 ] [-0.00333823 0.99998851 0.00343914 0.18191673] [ 0.01576986 -0.00338609 0.99986991 -0.27074917] [ 0. 0. 0. 1. ]] SLAMing on 37.77313336499999 meters Centerline goodness : 0.101676 Centerline is valid? [False, False] Translation: X:0.03, Y:0.19, Z:-0.27 [[ 0.99988727 -0.00241139 -0.01482003 0.02557842] [ 0.00250627 0.99997646 0.00638744 0.18668999] [ 0.01480428 -0.00642387 0.99986978 -0.27055931] [ 0. 0. 0. 1. ]] SLAMing on 37.803133364999994 meters Centerline goodness : 0.241501 Centerline is valid? [False, False] Translation: X:0.00, Y:0.19, Z:-0.27 [[ 0.99987631 0.00619166 -0.01445788 0.00393369] [-0.00611882 0.99996839 0.00507715 0.18567771] [ 0.01448886 -0.00498805 0.99988259 -0.27135934] [ 0. 0. 0. 1. ]] SLAMing on 37.833133364999995 meters Centerline goodness : 0.254109 Centerline is valid? [False, False] Translation: X:0.00, Y:0.19, Z:-0.27 [[ 0.99989345 0.0030559 -0.01427381 0.00321971] [-0.00303257 0.99999403 0.0016562 0.18693598] [ 0.01427878 -0.00161274 0.99989675 -0.27112609] [ 0. 0. 0. 1. ]] SLAMing on 37.863133364999996 meters Centerline goodness : 0.214974 Centerline is valid? [False, False] Translation: X:0.00, Y:0.19, Z:-0.27 [[ 0.99989445 0.00298344 -0.0142192 0.00289749] [-0.00296101 0.99999434 0.00159845 0.18687393] [ 0.01422389 -0.00155618 0.99989762 -0.27090041] [ 0. 0. 0. 1. ]] SLAMing on 37.893133365 meters Centerline goodness : 0.232178 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99988047 0.00343414 -0.01507522 -0.04707758] [-0.00340711 0.99999254 0.00181881 0.18657749] [ 0.01508136 -0.00176723 0.99988471 -0.26865903] [ 0. 0. 0. 1. ]] SLAMing on 37.923133365 meters Centerline goodness : 0.242780 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.19, Z:-0.27 [[ 0.99989588 -0.00489465 -0.01357436 -0.02740005] [ 0.0049313 0.99998428 0.0026681 0.18966445] [ 0.01356109 -0.00273476 0.9999043 -0.26783791] [ 0. 0. 0. 1. ]] SLAMing on 37.95313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 37.98313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.013133364999995 meters Centerline goodness : 0.229862 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.19, Z:-0.27 [[ 0.9999028 -0.00469192 -0.01312911 -0.02862256] [ 0.00473157 0.99998433 0.00299092 0.18811683] [ 0.01311487 -0.00305275 0.99990934 -0.26762079] [ 0. 0. 0. 1. ]] SLAMing on 38.043133364999996 meters Centerline goodness : 0.088230 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.19, Z:-0.27 [[ 0.99990409 -0.00462173 -0.01305552 -0.02874124] [ 0.00466044 0.99998483 0.00293626 0.18868187] [ 0.01304175 -0.00299682 0.99991046 -0.26776254] [ 0. 0. 0. 1. ]] SLAMing on 38.073133365 meters Centerline goodness : 0.090281 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.9999076 0.00391173 -0.01301872 -0.04880278] [-0.00388911 0.99999088 0.00176266 0.18453938] [ 0.0130255 -0.00171186 0.9999137 -0.2695914 ] [ 0. 0. 0. 1. ]] SLAMing on 38.103133365 meters Centerline goodness : 0.096964 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99990089 0.00427502 -0.01341431 -0.04759322] [-0.004253 0.99998956 0.00166902 0.18593124] [ 0.01342131 -0.00161181 0.99990863 -0.27018541] [ 0. 0. 0. 1. ]] SLAMing on 38.13313336499999 meters Centerline goodness : 0.175253 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.999896 0.0043775 -0.01374169 -0.04667559] [-0.00435734 0.99998939 0.00149647 0.18734611] [ 0.0137481 -0.00143644 0.99990446 -0.27052778] [ 0. 0. 0. 1. ]] SLAMing on 38.16313336499999 meters Centerline goodness : 0.120374 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99989441 0.00446981 -0.01382683 -0.04624404] [-0.00445189 0.99998921 0.00132682 0.18871395] [ 0.01383261 -0.00126513 0.99990352 -0.27098052] [ 0. 0. 0. 1. ]] SLAMing on 38.193133364999994 meters Centerline goodness : 0.041767 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99989578 0.0046276 -0.01367512 -0.04629533] [-0.0046124 0.99998871 0.00114274 0.19041124] [ 0.01368025 -0.00107954 0.99990584 -0.27160471] [ 0. 0. 0. 1. ]] SLAMing on 38.223133364999995 meters Centerline goodness : 0.088710 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 9.99894762e-01 4.57999876e-03 -1.37655137e-02 -4.57900966e-02] [-4.56704700e-03 9.99989098e-01 9.72173272e-04 1.91227904e-01] [ 1.37698162e-02 -9.09203214e-04 9.99904778e-01 -2.72141294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.253133365 meters Centerline goodness : 0.091069 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99891779e-01 4.51237792e-03 -1.40024869e-02 -4.48142571e-02] [-4.50137373e-03 9.99989535e-01 8.17291444e-04 1.91889763e-01] [ 1.40060283e-02 -7.54172569e-04 9.99901626e-01 -2.72812211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.31313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.34313336499999 meters Centerline goodness : 0.090787 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.20, Z:-0.27 [[ 9.99886119e-01 4.40068206e-03 -1.44354686e-02 -4.31993737e-02] [-4.39759531e-03 9.99990300e-01 2.45566519e-04 1.95342741e-01] [ 1.44364092e-02 -1.82057205e-04 9.99895773e-01 -2.73857236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.373133364999994 meters Centerline goodness : 0.102143 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.20, Z:-0.27 [[ 9.99886524e-01 4.36439623e-03 -1.44184395e-02 -4.34631553e-02] [-4.36158494e-03 9.99990463e-01 2.26417990e-04 1.95347923e-01] [ 1.44192902e-02 -1.63505048e-04 9.99896023e-01 -2.73514753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403133364999995 meters Centerline goodness : 0.091047 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99884577e-01 4.30872285e-03 -1.45694060e-02 -4.31717912e-02] [-4.30556716e-03 9.99990700e-01 2.47956575e-04 1.94882945e-01] [ 1.45703389e-02 -1.85198399e-04 9.99893830e-01 -2.73380008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.433133364999996 meters Centerline goodness : 0.085039 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99881293e-01 4.28333186e-03 -1.48004474e-02 -4.26678816e-02] [-4.27894340e-03 9.99990791e-01 3.28162797e-04 1.94207379e-01] [ 1.48017167e-02 -2.64793565e-04 9.99890414e-01 -2.73296244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463133365 meters Centerline goodness : 0.097505 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99875383e-01 4.30694171e-03 -1.51877556e-02 -4.13767118e-02] [-4.29858280e-03 9.99990591e-01 5.82973630e-04 1.92714128e-01] [ 1.51901235e-02 -5.17615157e-04 9.99884489e-01 -2.73831185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.493133365 meters Centerline goodness : 0.096212 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.20, Z:-0.28 [[ 0.99989117 -0.003735 -0.01427256 -0.06211264] [ 0.0037568 0.99999182 0.00150113 0.19600041] [ 0.01426683 -0.00155459 0.99989702 -0.27560022] [ 0. 0. 0. 1. ]] SLAMing on 38.52313336499999 meters Centerline goodness : 0.148374 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.19, Z:-0.27 [[ 9.99911073e-01 3.92067707e-03 -1.27465156e-02 -4.38785516e-02] [-3.91945622e-03 9.99992312e-01 1.20758652e-04 1.92309958e-01] [ 1.27468911e-02 -7.07885036e-05 9.99918753e-01 -2.73816786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.553133364999994 meters Centerline goodness : 0.085764 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 9.99914665e-01 3.98346626e-03 -1.24416560e-02 -4.50646917e-02] [-3.97983008e-03 9.99992030e-01 3.17003706e-04 1.91187865e-01] [ 1.24428196e-02 -2.67460978e-04 9.99922549e-01 -2.73141129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583133364999995 meters Centerline goodness : 0.085820 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 9.99914971e-01 4.02082691e-03 -1.24049770e-02 -4.52373304e-02] [-4.01584038e-03 9.99991845e-01 4.26861299e-04 1.90559584e-01] [ 1.24065922e-02 -3.77008596e-04 9.99922964e-01 -2.73007689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.613133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.673133365 meters Centerline goodness : 0.086345 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99991524 0.00423561 -0.01231152 -0.04515599] [-0.00422241 0.99999048 0.00109734 0.18616833] [ 0.01231605 -0.00104527 0.99992361 -0.27346667] [ 0. 0. 0. 1. ]] SLAMing on 38.70313336499999 meters Centerline goodness : 0.155271 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.19, Z:-0.27 [[ 0.99991694 0.00434249 -0.01213507 -0.04549766] [-0.00432685 0.99998977 0.001315 0.18515963] [ 0.01214065 -0.00126239 0.9999255 -0.27364146] [ 0. 0. 0. 1. ]] SLAMing on 38.73313336499999 meters Centerline goodness : 0.085977 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992567 0.00449171 -0.01133498 -0.04791903] [-0.00447424 0.99998876 0.00156615 0.18377308] [ 0.01134189 -0.00151532 0.99993453 -0.27282353] [ 0. 0. 0. 1. ]] SLAMing on 38.763133364999995 meters Centerline goodness : 0.138187 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992676 0.00451334 -0.01123004 -0.0482752 ] [-0.0044958 0.99998864 0.00158644 0.18351865] [ 0.01123707 -0.00153584 0.99993568 -0.2727242 ] [ 0. 0. 0. 1. ]] SLAMing on 38.793133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.853133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.88313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 38.91313336499999 meters Centerline goodness : 0.091834 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992399 0.00496681 -0.01128507 -0.04808152] [-0.00494009 0.99998493 0.00239414 0.17922059] [ 0.01129679 -0.0023382 0.99993346 -0.27295415] [ 0. 0. 0. 1. ]] SLAMing on 38.943133364999994 meters Centerline goodness : 0.091910 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.18, Z:-0.27 [[ 0.99992028 0.00518325 -0.01151399 -0.04728125] [-0.00514828 0.99998205 0.00306504 0.17566198] [ 0.01152967 -0.00300552 0.99992901 -0.27333543] [ 0. 0. 0. 1. ]] SLAMing on 38.973133364999995 meters Centerline goodness : 0.165165 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.17, Z:-0.27 [[ 0.99991812 0.00536695 -0.01161687 -0.04684523] [-0.00532602 0.99997951 0.00355106 0.17336151] [ 0.01163569 -0.0034889 0.99992622 -0.27361059] [ 0. 0. 0. 1. ]] SLAMing on 39.003133365 meters Centerline goodness : 0.088289 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.17, Z:-0.27 [[ 9.99928546e-01 1.83141930e-03 -1.18130365e-02 -4.61456382e-02] [-1.82526312e-03 9.99998193e-01 5.31894207e-04 1.69612804e-01] [ 1.18139892e-02 -5.10294301e-04 9.99930082e-01 -2.73987111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.033133365 meters Centerline goodness : 0.088386 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.17, Z:-0.27 [[ 9.99926167e-01 1.93831205e-03 -1.19959616e-02 -4.55728895e-02] [-1.92665736e-03 9.99997661e-01 9.83031520e-04 1.66858151e-01] [ 1.19978389e-02 -9.59846832e-04 9.99927563e-01 -2.74144629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06313336499999 meters Centerline goodness : 0.162122 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.16, Z:-0.27 [[ 0.99992395 0.00210781 -0.01215114 -0.0450816 ] [-0.00208983 0.9999967 0.00149173 0.16409266] [ 0.01215424 -0.00146622 0.99992506 -0.27434614] [ 0. 0. 0. 1. ]] SLAMing on 39.09313336499999 meters Centerline goodness : 0.174435 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.27 [[ 0.99992162 0.00250718 -0.01226642 -0.04467282] [-0.00247763 0.99999399 0.00242366 0.15969306] [ 0.01227242 -0.00239308 0.99992183 -0.27453022] [ 0. 0. 0. 1. ]] SLAMing on 39.123133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 39.153133364999995 meters Centerline goodness : 0.095749 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991974 0.00280474 -0.012355 -0.04412924] [-0.00276897 0.99999193 0.00291174 0.15746724] [ 0.01236307 -0.00287729 0.99991943 -0.27504447] [ 0. 0. 0. 1. ]] SLAMing on 39.183133364999996 meters Centerline goodness : 0.399920 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.15, Z:-0.28 [[ 0.99985281 0.01159649 -0.01264466 -0.06497732] [-0.01157036 0.99993078 0.00213799 0.15130967] [ 0.01266858 -0.00199138 0.99991777 -0.27673908] [ 0. 0. 0. 1. ]] SLAMing on 39.213133365 meters Centerline goodness : 0.166122 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.28 [[ 0.99991081 0.00610729 -0.01187711 -0.04255425] [-0.00604676 0.99996858 0.00512566 0.15430114] [ 0.01190804 -0.00505339 0.99991633 -0.27750275] [ 0. 0. 0. 1. ]] SLAMing on 39.243133365 meters Centerline goodness : 0.166122 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.15, Z:-0.28 [[ 0.99991081 0.00610729 -0.01187711 -0.04255425] [-0.00604676 0.99996858 0.00512566 0.15430114] [ 0.01190804 -0.00505339 0.99991633 -0.27750275] [ 0. 0. 0. 1. ]] SLAMing on 39.27313336499999 meters Centerline goodness : 0.152590 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991249 0.00627653 -0.01164573 -0.04299796] [-0.00621731 0.99996759 0.00511447 0.15511441] [ 0.01167745 -0.00504161 0.99991911 -0.27776588] [ 0. 0. 0. 1. ]] SLAMing on 39.303133364999994 meters Centerline goodness : 0.129819 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991366 0.00635591 -0.01150106 -0.04328366] [-0.00629893 0.99996774 0.00498354 0.15625792] [ 0.01153237 -0.00491067 0.99992144 -0.27794799] [ 0. 0. 0. 1. ]] SLAMing on 39.333133364999995 meters Centerline goodness : 0.158062 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.28 [[ 0.99993182 -0.00160351 -0.01156657 -0.0617665 ] [ 0.00167073 0.99998176 0.00580421 0.16051866] [ 0.01155705 -0.00582314 0.99991626 -0.28034752] [ 0. 0. 0. 1. ]] SLAMing on 39.363133364999996 meters Centerline goodness : 0.153838 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991454 0.00604918 -0.01158973 -0.04219077] [-0.00600181 0.99997351 0.00411722 0.15840032] [ 0.01161433 -0.00404731 0.99992436 -0.27861397] [ 0. 0. 0. 1. ]] SLAMing on 39.393133365 meters Centerline goodness : 0.143578 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.28 [[ 0.99993117 -0.00255362 -0.01145096 -0.0639169 ] [ 0.00260784 0.99998545 0.00472274 0.16249274] [ 0.01143873 -0.00475228 0.99992328 -0.27969511] [ 0. 0. 0. 1. ]] SLAMing on 39.423133365 meters Centerline goodness : 0.131022 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.28 [[ 0.99993675 -0.00252945 -0.01095892 -0.06550739] [ 0.00258061 0.99998583 0.00465622 0.16359322] [ 0.01094699 -0.00468421 0.99992911 -0.27903744] [ 0. 0. 0. 1. ]] SLAMing on 39.45313336499999 meters Centerline goodness : 0.149077 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.28 [[ 0.99993784 -0.00262165 -0.01083687 -0.06579854] [ 0.00267079 0.99998621 0.00452256 0.16402457] [ 0.01082486 -0.00455122 0.99993105 -0.27903772] [ 0. 0. 0. 1. ]] SLAMing on 39.48313336499999 meters Centerline goodness : 0.146436 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.16, Z:-0.28 [[ 0.99993646 -0.00272538 -0.01093855 -0.06551317] [ 0.00277376 0.99998643 0.00441005 0.1641432 ] [ 0.01092639 -0.00444012 0.99993045 -0.27910962] [ 0. 0. 0. 1. ]] SLAMing on 39.513133364999995 meters Centerline goodness : 0.147873 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99992286 0.00478536 -0.01146195 -0.04482634] [-0.00474961 0.99998378 0.00314408 0.16153782] [ 0.01147681 -0.0030894 0.99992937 -0.27780729] [ 0. 0. 0. 1. ]] SLAMing on 39.543133364999996 meters Centerline goodness : 0.125084 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991367 0.00469024 -0.01227424 -0.04240125] [-0.00465078 0.99998393 0.00324109 0.16089251] [ 0.01228924 -0.00318373 0.99991942 -0.27851706] [ 0. 0. 0. 1. ]] SLAMing on 39.573133365 meters Centerline goodness : 0.140277 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.16, Z:-0.28 [[ 0.99991086 0.00462233 -0.01252648 -0.04164847] [-0.00458009 0.99998374 0.0033988 0.15971361] [ 0.01254198 -0.00334113 0.99991576 -0.27867534] [ 0. 0. 0. 1. ]] SLAMing on 39.603133365 meters Centerline goodness : 0.188901 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.16, Z:-0.28 [[ 0.99990334 -0.00465895 -0.01309942 -0.06466461] [ 0.00470866 0.99998182 0.00376628 0.1603835 ] [ 0.01308164 -0.0038276 0.99990711 -0.27861373] [ 0. 0. 0. 1. ]] SLAMing on 39.63313336499999 meters Centerline goodness : 0.144173 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.28 [[ 0.99993016 0.00129067 -0.011748 -0.04899768] [-0.00127292 0.99999804 0.00151829 0.15345456] [ 0.01174994 -0.00150323 0.99992984 -0.27594289] [ 0. 0. 0. 1. ]] SLAMing on 39.66313336499999 meters Centerline goodness : 0.132517 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.28 [[ 0.99993149 0.00135065 -0.01162727 -0.04924813] [-0.00132951 0.99999745 0.00182636 0.15178506] [ 0.01162971 -0.00181077 0.99993073 -0.27596729] [ 0. 0. 0. 1. ]] SLAMing on 39.693133364999994 meters Centerline goodness : 0.092101 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.15, Z:-0.28 [[ 0.9999319 0.00144403 -0.01158075 -0.04913132] [-0.00142032 0.99999688 0.00205537 0.15078785] [ 0.01158368 -0.00203878 0.99993083 -0.27625012] [ 0. 0. 0. 1. ]] SLAMing on 39.723133364999995 meters Centerline goodness : 0.142105 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989762 0.00180676 -0.01419436 -0.09328123] [-0.00177336 0.99999563 0.00236587 0.14818471] [ 0.01419857 -0.00234045 0.99989646 -0.2766059 ] [ 0. 0. 0. 1. ]] SLAMing on 39.753133365 meters Centerline goodness : 0.131179 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989828 0.00177863 -0.01415142 -0.09330754] [-0.00174634 0.99999584 0.00229389 0.14824522] [ 0.01415544 -0.00226895 0.99989723 -0.27677066] [ 0. 0. 0. 1. ]] SLAMing on 39.783133365 meters Centerline goodness : 0.140362 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989883 0.00174464 -0.01411721 -0.09353064] [-0.00171301 0.999996 0.00225211 0.14807089] [ 0.01412109 -0.0022277 0.99989781 -0.27657386] [ 0. 0. 0. 1. ]] SLAMing on 39.81313336499999 meters Centerline goodness : 0.134191 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989947 0.00188234 -0.01405379 -0.09370323] [-0.00184802 0.99999528 0.00245438 0.14718868] [ 0.01405834 -0.00242817 0.99989823 -0.27661129] [ 0. 0. 0. 1. ]] SLAMing on 39.84313336499999 meters Centerline goodness : 0.129872 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.15, Z:-0.28 [[ 0.99989888 0.00196166 -0.01408474 -0.09335534] [-0.00192481 0.99999469 0.00262944 0.14631748] [ 0.01408983 -0.00260207 0.99989735 -0.27706753] [ 0. 0. 0. 1. ]] SLAMing on 39.873133364999994 meters Centerline goodness : 0.125556 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 0.99989802 0.00199129 -0.01414186 -0.09281222] [-0.00195165 0.99999413 0.0028163 0.14488603] [ 0.01414738 -0.00278841 0.99989603 -0.27770219] [ 0. 0. 0. 1. ]] SLAMing on 39.903133364999995 meters Centerline goodness : 0.177534 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 9.99901006e-01 -1.49368120e-03 -1.39909580e-02 -9.28218197e-02] [ 1.48745501e-03 9.99998790e-01 -4.55410495e-04 1.42563609e-01] [ 1.39916213e-02 4.34554492e-04 9.99902018e-01 -2.78264480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.933133364999996 meters Centerline goodness : 0.317783 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 9.99902244e-01 -1.31766238e-03 -1.39199775e-02 -9.30291660e-02] [ 1.31761765e-03 9.99999132e-01 -1.23841121e-05 1.40453326e-01] [ 1.39199817e-02 -5.95830659e-06 9.99903112e-01 -2.78163513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963133365 meters Centerline goodness : 0.301603 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.14, Z:-0.28 [[ 9.99902090e-01 -1.09066819e-03 -1.39506383e-02 -9.29791545e-02] [ 1.09754133e-03 9.99999280e-01 4.85028773e-04 1.38303068e-01] [ 1.39500992e-02 -5.00292686e-04 9.99902567e-01 -2.78107465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.993133365 meters Centerline goodness : 0.234211 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.13, Z:-0.28 [[ 9.99862079e-01 -1.40818358e-03 -1.65481134e-02 -1.37508611e-01] [ 1.41931683e-03 9.99998774e-01 6.61055929e-04 1.32153338e-01] [ 1.65471623e-02 -6.84451771e-04 9.99862852e-01 -2.77822794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02313336499999 meters Centerline goodness : 0.165474 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.28 [[ 0.99987961 0.00464525 -0.01480469 -0.11636048] [-0.0046771 0.99998682 -0.00211761 0.12653106] [ 0.01479466 0.0021866 0.99988816 -0.27728199] [ 0. 0. 0. 1. ]] SLAMing on 40.053133364999994 meters Centerline goodness : 0.158867 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.13, Z:-0.28 [[ 9.99904880e-01 -2.98307412e-03 -1.34659666e-02 -9.76444340e-02] [ 2.97506178e-03 9.99995385e-01 -6.14999711e-04 1.28618065e-01] [ 1.34677391e-02 5.74879129e-04 9.99909141e-01 -2.76105111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083133364999995 meters Centerline goodness : 0.128251 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.13, Z:-0.28 [[ 9.99911922e-01 -2.58332813e-03 -1.30182386e-02 -9.88013332e-02] [ 2.58467483e-03 9.99996656e-01 8.66236842e-05 1.25619859e-01] [ 1.30179713e-02 -1.20263968e-04 9.99915255e-01 -2.76013894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.113133364999996 meters Centerline goodness : 0.133255 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 9.99912469e-01 -2.44721480e-03 -1.30024961e-02 -9.85517909e-02] [ 2.45185906e-03 9.99996936e-01 3.41253083e-04 1.24465214e-01] [ 1.30016212e-02 -3.73103501e-04 9.99915406e-01 -2.76486886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143133365 meters Centerline goodness : 0.186578 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 9.99913489e-01 -2.30702625e-03 -1.29496345e-02 -9.84543336e-02] [ 2.31519298e-03 9.99997130e-01 6.15697750e-04 1.23200586e-01] [ 1.29481769e-02 -6.45625388e-04 9.99915960e-01 -2.76861302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.173133365 meters Centerline goodness : 0.113682 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 0.99991423 -0.00205753 -0.01293421 -0.09807557] [ 0.00207235 0.99999721 0.00113254 0.12091674] [ 0.01293185 -0.00115925 0.99991571 -0.27750491] [ 0. 0. 0. 1. ]] SLAMing on 40.20313336499999 meters Centerline goodness : 0.150036 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.12, Z:-0.28 [[ 0.99991181 -0.00202516 -0.01312556 -0.0973449 ] [ 0.0020422 0.99999709 0.00128559 0.11987457] [ 0.01312292 -0.00131228 0.99991303 -0.27793783] [ 0. 0. 0. 1. ]] SLAMing on 40.23313336499999 meters Centerline goodness : 0.114641 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.11, Z:-0.28 [[ 9.99857463e-01 3.43853583e-03 -1.65296497e-02 -7.18490426e-02] [-3.45549315e-03 9.99993532e-01 -9.97421019e-04 1.14276113e-01] [ 1.65261131e-02 1.05439694e-03 9.99862879e-01 -2.77928592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.263133364999995 meters Centerline goodness : 0.141048 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.28 [[ 9.99823649e-01 -5.15530776e-03 -1.80580842e-02 -9.27771119e-02] [ 5.16095113e-03 9.99986647e-01 2.65923970e-04 1.13995147e-01] [ 1.80564722e-02 -3.59073964e-04 9.99836904e-01 -2.78878564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.293133364999996 meters Centerline goodness : 0.131489 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.28 [[ 9.99824689e-01 -4.99610928e-03 -1.80452137e-02 -9.27634761e-02] [ 5.01054354e-03 9.99987162e-01 7.54770782e-04 1.11515988e-01] [ 1.80412111e-02 -8.45054791e-04 9.99836887e-01 -2.78887141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323133365 meters Centerline goodness : 0.177371 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.11, Z:-0.28 [[ 0.99983078 -0.00486735 -0.01774011 -0.09357063] [ 0.00488936 0.99998733 0.00119748 0.10904286] [ 0.01773406 -0.00128401 0.99984191 -0.27868303] [ 0. 0. 0. 1. ]] SLAMing on 40.353133365 meters Centerline goodness : 0.136350 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.10, Z:-0.28 [[ 0.99984907 -0.0048604 -0.01667964 -0.09623131] [ 0.00489201 0.99998631 0.001855 0.1041678 ] [ 0.01667039 -0.00193631 0.99985916 -0.27829677] [ 0. 0. 0. 1. ]] SLAMing on 40.38313336499999 meters Centerline goodness : 0.141353 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.10, Z:-0.28 [[ 9.99873490e-01 3.05894080e-03 -1.56091884e-02 -7.78629451e-02] [-3.05122931e-03 9.99995211e-01 5.17826766e-04 9.84580347e-02] [ 1.56106976e-02 -4.70134043e-04 9.99878035e-01 -2.76392690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41313336499999 meters Centerline goodness : 0.115359 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99834587e-01 2.31405661e-03 -1.80400864e-02 -1.23266064e-01] [-2.30135083e-03 9.99997089e-01 7.25036120e-04 9.19944791e-02] [ 1.80417117e-02 -6.83399622e-04 9.99837002e-01 -2.76085120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.443133364999994 meters Centerline goodness : 0.133024 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99816289e-01 4.12335378e-04 -1.91629307e-02 -1.19226966e-01] [-4.23405001e-04 9.99999746e-01 -5.73604551e-04 8.55625508e-02] [ 1.91626893e-02 5.81612854e-04 9.99816210e-01 -2.77625098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.473133364999995 meters Centerline goodness : 0.140198 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99810105e-01 4.28474173e-04 -1.94825489e-02 -1.18268388e-01] [-4.31678383e-04 9.99999894e-01 -1.60260422e-04 8.24065933e-02] [ 1.94824782e-02 1.68640184e-04 9.99810184e-01 -2.77853852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503133365 meters Centerline goodness : 0.129942 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99808122e-01 5.66047659e-04 -1.95805547e-02 -1.18030967e-01] [-5.58267989e-04 9.99999763e-01 4.02779967e-04 7.91049274e-02] [ 1.95807781e-02 -3.91771485e-04 9.99808201e-01 -2.77794227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.533133365 meters Centerline goodness : 0.126917 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 9.99815577e-01 1.00625672e-03 -1.91780828e-02 -1.19327955e-01] [-9.75112093e-04 9.99998191e-01 1.63325183e-03 7.29647083e-02] [ 1.91796915e-02 -1.61424984e-03 9.99814750e-01 -2.77190064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56313336499999 meters Centerline goodness : 0.128804 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981788 0.00120451 -0.019046 -0.11985524] [-0.00116476 0.99999712 0.00209815 0.07080024] [ 0.01904847 -0.00207559 0.99981641 -0.27678771] [ 0. 0. 0. 1. ]] SLAMing on 40.59313336499999 meters Centerline goodness : 0.127401 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981855 0.00131385 -0.01900386 -0.12007127] [-0.00126913 0.9999964 0.002365 0.0693823 ] [ 0.0190069 -0.00234045 0.99981661 -0.27659037] [ 0. 0. 0. 1. ]] SLAMing on 40.623133364999994 meters Centerline goodness : 0.130046 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.9998194 0.00137805 -0.01895453 -0.12036778] [-0.0013305 0.99999594 0.00252093 0.06813304] [ 0.01895793 -0.00249526 0.99981717 -0.27635425] [ 0. 0. 0. 1. ]] SLAMing on 40.653133364999995 meters Centerline goodness : 0.129927 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99982045 0.00144222 -0.0188942 -0.1205278 ] [-0.00139465 0.99999583 0.00253037 0.06839139] [ 0.01889777 -0.00250357 0.99981829 -0.2764003 ] [ 0. 0. 0. 1. ]] SLAMing on 40.683133364999996 meters Centerline goodness : 0.117613 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99982067 0.00154171 -0.01887487 -0.12042178] [-0.00149394 0.99999565 0.00254521 0.06889087] [ 0.01887871 -0.00251655 0.99981861 -0.27667797] [ 0. 0. 0. 1. ]] SLAMing on 40.713133365 meters Centerline goodness : 0.127440 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981596 0.00153928 -0.01912287 -0.11914677] [-0.00149572 0.99999625 0.00229205 0.07044724] [ 0.01912633 -0.00226302 0.99981451 -0.27783582] [ 0. 0. 0. 1. ]] SLAMing on 40.743133365 meters Centerline goodness : 0.126249 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981364 0.00144281 -0.01925132 -0.11852047] [-0.00140264 0.99999681 0.0021004 0.0710303 ] [ 0.01925428 -0.002073 0.99981247 -0.27836686] [ 0. 0. 0. 1. ]] SLAMing on 40.77313336499999 meters Centerline goodness : 0.129579 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981144 0.0013421 -0.01937245 -0.11794035] [-0.00130473 0.99999726 0.00194127 0.07156965] [ 0.019375 -0.00191562 0.99981045 -0.27883997] [ 0. 0. 0. 1. ]] SLAMing on 40.803133364999994 meters Centerline goodness : 0.127764 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981226 0.00134157 -0.01932965 -0.11806122] [-0.00130429 0.99999727 0.0019409 0.07162751] [ 0.0193322 -0.00191533 0.99981128 -0.27885841] [ 0. 0. 0. 1. ]] SLAMing on 40.833133364999995 meters Centerline goodness : 0.127195 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981402 0.00127116 -0.0192436 -0.11840926] [-0.00123444 0.99999739 0.00192017 0.07150581] [ 0.01924599 -0.00189606 0.99981298 -0.27863047] [ 0. 0. 0. 1. ]] SLAMing on 40.863133364999996 meters Centerline goodness : 0.129655 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981234 0.00117283 -0.01933649 -0.11798634] [-0.00113831 0.99999774 0.00179589 0.07174135] [ 0.01933855 -0.00177354 0.99981142 -0.27897662] [ 0. 0. 0. 1. ]] SLAMing on 40.893133365 meters Centerline goodness : 0.129721 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981225 0.00108159 -0.01934672 -0.11768152] [-0.0010492 0.99999803 0.00168425 0.07207534] [ 0.0193485 -0.00166364 0.99981142 -0.27942236] [ 0. 0. 0. 1. ]] SLAMing on 40.923133365 meters Centerline goodness : 0.130427 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 0.99981615 0.00106791 -0.01914507 -0.11815675] [-0.00103883 0.99999829 0.00152895 0.07357798] [ 0.01914667 -0.00150878 0.99981555 -0.27947029] [ 0. 0. 0. 1. ]] SLAMing on 40.95313336499999 meters Centerline goodness : 0.130612 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.07, Z:-0.28 [[ 9.99818899e-01 1.01135231e-03 -1.90038530e-02 -1.18656752e-01] [-9.84858145e-04 9.99998530e-01 1.40345401e-03 7.42750606e-02] [ 1.90052444e-02 -1.38448375e-03 9.99818425e-01 -2.79253111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98313336499999 meters Centerline goodness : 0.131650 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99819829e-01 9.36582474e-04 -1.89587205e-02 -1.18858088e-01] [-9.13321091e-04 9.99998820e-01 1.23557026e-03 7.50839166e-02] [ 1.89598553e-02 -1.21803224e-03 9.99819504e-01 -2.79123122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.013133364999995 meters Centerline goodness : 0.234588 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99817701e-01 8.55582467e-04 -1.90743998e-02 -1.18476135e-01] [-8.35376655e-04 9.99999082e-01 1.06725845e-03 7.58679452e-02] [ 1.90752954e-02 -1.05112958e-03 9.99817497e-01 -2.79285474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043133364999996 meters Centerline goodness : 0.130340 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99809936e-01 6.92479417e-04 -1.94836283e-02 -1.17020628e-01] [-6.79467055e-04 9.99999542e-01 6.74473289e-04 7.77089444e-02] [ 1.94840864e-02 -6.61106613e-04 9.99809949e-01 -2.80113691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.073133365 meters Centerline goodness : 0.131860 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99806544e-01 6.41641162e-04 -1.96586760e-02 -1.16253004e-01] [-6.33062828e-04 9.99999702e-01 4.42583874e-04 7.91861753e-02] [ 1.96589542e-02 -4.30053077e-04 9.99806652e-01 -2.80720571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103133365 meters Centerline goodness : 0.131774 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99806120e-01 8.51493646e-04 -1.96722357e-02 -1.16098690e-01] [-8.51012627e-04 9.99999637e-01 3.28231191e-05 8.31816191e-02] [ 1.96722565e-02 -1.60754343e-05 9.99806482e-01 -2.81084044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13313336499999 meters Centerline goodness : 0.131774 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99806120e-01 8.51493646e-04 -1.96722357e-02 -1.16098690e-01] [-8.51012627e-04 9.99999637e-01 3.28231191e-05 8.31816191e-02] [ 1.96722565e-02 -1.60754343e-05 9.99806482e-01 -2.81084044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16313336499999 meters Centerline goodness : 0.131632 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99812577e-01 8.04937554e-04 -1.93432993e-02 -1.17099549e-01] [-8.11999942e-04 9.99999607e-01 -3.57256397e-04 8.56341330e-02] [ 1.93430041e-02 3.72896197e-04 9.99812837e-01 -2.80841084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.193133364999994 meters Centerline goodness : 0.129864 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99819028e-01 7.47477133e-04 -1.90092775e-02 -1.18189706e-01] [-7.61417195e-04 9.99999447e-01 -7.26102314e-04 8.79952809e-02] [ 1.90087242e-02 7.40444901e-04 9.99819044e-01 -2.80462815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223133364999995 meters Centerline goodness : 0.134103 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99826305e-01 5.72807957e-04 -1.86288073e-02 -1.19406866e-01] [-5.98574224e-04 9.99998872e-01 -1.37759456e-03 9.15361439e-02] [ 1.86279971e-02 1.38850601e-03 9.99825520e-01 -2.80129967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.253133365 meters Centerline goodness : 0.141579 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99825494e-01 4.27171703e-04 -1.86761639e-02 -1.19416081e-01] [-4.58297977e-04 9.99998513e-01 -1.66238279e-03 9.26219738e-02] [ 1.86754260e-02 1.67065194e-03 9.99824203e-01 -2.79974247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283133365 meters Centerline goodness : 0.132267 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99825953e-01 3.36460363e-04 -1.86534450e-02 -1.19597814e-01] [-3.69871707e-04 9.99998334e-01 -1.78774103e-03 9.29847228e-02] [ 1.86528124e-02 1.79432926e-03 9.99824411e-01 -2.79814429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31313336499999 meters Centerline goodness : 0.135995 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99827357e-01 2.80862614e-04 -1.85789606e-02 -1.20113119e-01] [-3.10780551e-04 9.99998660e-01 -1.60744511e-03 9.19137784e-02] [ 1.85784842e-02 1.61294157e-03 9.99826104e-01 -2.79216714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34313336499999 meters Centerline goodness : 0.133288 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99828551e-01 3.41109937e-04 -1.85135860e-02 -1.20399440e-01] [-3.65608037e-04 9.99999062e-01 -1.31988134e-03 9.04161572e-02] [ 1.85131185e-02 1.32642376e-03 9.99827738e-01 -2.78994989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.373133364999994 meters Centerline goodness : 0.134539 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99831057e-01 3.89897327e-04 -1.83767883e-02 -1.20880004e-01] [-4.08173958e-04 9.99999426e-01 -9.90809476e-04 8.84880325e-02] [ 1.83763914e-02 9.98143012e-04 9.99830642e-01 -2.78653403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403133364999995 meters Centerline goodness : 0.121313 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99833703e-01 3.96248685e-04 -1.82320932e-02 -1.21143094e-01] [-4.09323209e-04 9.99999662e-01 -7.13389808e-04 8.64115603e-02] [ 1.82318043e-02 7.20733992e-04 9.99833527e-01 -2.78693901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.433133364999996 meters Centerline goodness : 0.130699 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99837343e-01 5.06327750e-04 -1.80286209e-02 -1.21564459e-01] [-5.08326679e-04 9.99999865e-01 -1.06292883e-04 8.24503214e-02] [ 1.80285647e-02 1.15440023e-04 9.99837466e-01 -2.78680316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463133365 meters Centerline goodness : 0.132514 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99836516e-01 6.26840078e-04 -1.80706667e-02 -1.21244813e-01] [-6.25051256e-04 9.99999799e-01 1.04638195e-04 8.16109154e-02] [ 1.80707287e-02 -9.33259950e-05 9.99836707e-01 -2.79000206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.493133365 meters Centerline goodness : 0.146087 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99819179e-01 9.18335017e-04 -1.89938283e-02 -1.18219848e-01] [-9.11478427e-04 9.99999516e-01 3.69644272e-04 8.08635775e-02] [ 1.89941586e-02 -3.52264968e-04 9.99819533e-01 -2.80361080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52313336499999 meters Centerline goodness : 0.131257 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99813919e-01 9.13161504e-04 -1.92689986e-02 -1.17167228e-01] [-9.06773249e-04 9.99999531e-01 3.40264717e-04 8.07526810e-02] [ 1.92693002e-02 -3.22728788e-04 9.99814278e-01 -2.80993873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.553133364999994 meters Centerline goodness : 0.129919 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99812018e-01 9.08403240e-04 -1.93675961e-02 -1.16725316e-01] [-9.03426259e-04 9.99999557e-01 2.65722476e-04 8.08987089e-02] [ 1.93678289e-02 -2.48175330e-04 9.99812395e-01 -2.81366054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583133364999995 meters Centerline goodness : 0.133234 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99827259e-01 1.11585235e-03 -1.85527943e-02 -1.18718987e-01] [-1.11156890e-03 9.99999353e-01 2.41189672e-04 8.16775262e-02] [ 1.85530515e-02 -2.20525300e-04 9.99827853e-01 -2.81407896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.613133364999996 meters Centerline goodness : 0.129482 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:-0.28 [[ 9.99833730e-01 1.10182773e-03 -1.82016152e-02 -1.19681185e-01] [-1.10099326e-03 9.99999392e-01 5.58665180e-05 8.27544493e-02] [ 1.82016657e-02 -3.58173734e-05 9.99834335e-01 -2.81287646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643133365 meters Centerline goodness : 0.127714 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99824660e-01 1.08721730e-03 -1.86940382e-02 -1.18000310e-01] [-1.09757420e-03 9.99999250e-01 -5.43770539e-04 8.68407602e-02] [ 1.86934330e-02 5.64193288e-04 9.99825103e-01 -2.82295052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.673133365 meters Centerline goodness : 0.144029 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99820979e-01 9.97239368e-04 -1.88948401e-02 -1.17013253e-01] [-1.01498801e-03 9.99999053e-01 -9.29771620e-04 8.92422145e-02] [ 1.88938950e-02 9.48783208e-04 9.99821044e-01 -2.83189232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70313336499999 meters Centerline goodness : 0.132361 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99821162e-01 9.16566970e-04 -1.88892477e-02 -1.16795162e-01] [-9.41076583e-04 9.99998727e-01 -1.28869506e-03 9.16342975e-02] [ 1.88880424e-02 1.30624082e-03 9.99820752e-01 -2.83601829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73313336499999 meters Centerline goodness : 0.135708 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99822254e-01 7.69027502e-04 -1.88379693e-02 -1.17072129e-01] [-8.00666956e-04 9.99998282e-01 -1.67207303e-03 9.36606151e-02] [ 1.88366510e-02 1.68685876e-03 9.99821152e-01 -2.83416881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763133364999995 meters Centerline goodness : 0.134133 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99817564e-01 1.24119407e-04 -1.91003273e-02 -1.16930866e-01] [-1.71186847e-04 9.99996953e-01 -2.46260634e-03 9.59221033e-02] [ 1.90999635e-02 2.46542680e-03 9.99814539e-01 -2.82674347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.793133364999996 meters Centerline goodness : 0.133155 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99813632e-01 -9.62371648e-05 -1.93052529e-02 -1.16599091e-01] [ 4.42166253e-05 9.99996367e-01 -2.69504009e-03 9.64470977e-02] [ 1.93054421e-02 2.69368421e-03 9.99810004e-01 -2.82394623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823133365 meters Centerline goodness : 0.134062 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99817700e-01 -2.66373391e-04 -1.90917473e-02 -1.17397786e-01] [ 2.15071596e-04 9.99996361e-01 -2.68912179e-03 9.66126743e-02] [ 1.90923941e-02 2.68452547e-03 9.99814120e-01 -2.81900978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.853133365 meters Centerline goodness : 0.134908 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99825732e-01 -2.11932224e-04 -1.86670886e-02 -1.18728661e-01] [ 1.65447499e-04 9.99996882e-01 -2.49170599e-03 9.60630797e-02] [ 1.86675585e-02 2.48818334e-03 9.99822650e-01 -2.81339300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88313336499999 meters Centerline goodness : 0.135293 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99833941e-01 -2.55176020e-04 -1.82215623e-02 -1.20132396e-01] [ 2.12318380e-04 9.99997207e-01 -2.35392466e-03 9.52430596e-02] [ 1.82221120e-02 2.34966499e-03 9.99831203e-01 -2.80752749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91313336499999 meters Centerline goodness : 0.143705 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99839904e-01 -4.25736679e-04 -1.78881362e-02 -1.21224787e-01] [ 3.83818198e-04 9.99997173e-01 -2.34673557e-03 9.44257654e-02] [ 1.78890847e-02 2.33949408e-03 9.99837240e-01 -2.80187256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943133364999994 meters Centerline goodness : 0.139097 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.09, Z:-0.28 [[ 9.99835644e-01 -4.31590018e-04 -1.81245125e-02 -1.20357082e-01] [ 3.88291921e-04 9.99997063e-01 -2.39237588e-03 9.47799781e-02] [ 1.81254918e-02 2.38494508e-03 9.99832875e-01 -2.80644285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.973133364999995 meters Centerline goodness : 0.143194 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99831577e-01 -4.47534453e-04 -1.83471460e-02 -1.19463707e-01] [ 4.01793352e-04 9.99996803e-01 -2.49670121e-03 9.54735360e-02] [ 1.83482047e-02 2.48890895e-03 9.99828560e-01 -2.81190654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003133365 meters Centerline goodness : 0.093662 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99830379e-01 -4.57553367e-04 -1.84120841e-02 -1.19084433e-01] [ 4.10390038e-04 9.99996626e-01 -2.56523898e-03 9.58397903e-02] [ 1.84131957e-02 2.55724772e-03 9.99827192e-01 -2.81547750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.033133365 meters Centerline goodness : 0.151101 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99830975e-01 -4.79944962e-04 -1.83790769e-02 -1.19624277e-01] [ 4.31577559e-04 9.99996434e-01 -2.63553164e-03 9.60790619e-02] [ 1.83802763e-02 2.62715417e-03 9.99827617e-01 -2.80901323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06313336499999 meters Centerline goodness : 0.106125 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99830991e-01 -4.64849374e-04 -1.83786185e-02 -1.19783673e-01] [ 4.16448251e-04 9.99996436e-01 -2.63729562e-03 9.62274442e-02] [ 1.83797789e-02 2.62919615e-03 9.99827621e-01 -2.80651553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09313336499999 meters Centerline goodness : 0.147809 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99831571e-01 -4.13934932e-04 -1.83482269e-02 -1.19713779e-01] [ 3.66013065e-04 9.99996514e-01 -2.61507945e-03 9.64207955e-02] [ 1.83492454e-02 2.60792331e-03 9.99828237e-01 -2.80882451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123133364999994 meters Centerline goodness : 0.110767 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99835119e-01 -4.26241198e-04 -1.81535797e-02 -1.19735943e-01] [ 3.75592356e-04 9.99996028e-01 -2.79333761e-03 9.73826562e-02] [ 1.81546982e-02 2.78605870e-03 9.99831308e-01 -2.81613864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.153133364999995 meters Centerline goodness : 0.191222 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.10, Z:-0.28 [[ 9.99836313e-01 -4.72659547e-04 -1.80865520e-02 -1.19713528e-01] [ 4.18467738e-04 9.99995413e-01 -2.99991607e-03 9.83803249e-02] [ 1.80878869e-02 2.99185639e-03 9.99831924e-01 -2.81959289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183133364999996 meters Centerline goodness : 0.145485 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.10, Z:-0.28 [[ 0.99977228 0.00879329 -0.01944413 -0.1400016 ] [-0.00886351 0.99995449 -0.0035281 0.09779563] [ 0.01941222 0.00369964 0.99980472 -0.28324996] [ 0. 0. 0. 1. ]] SLAMing on 42.213133365 meters Centerline goodness : 0.149907 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978412 0.00337336 -0.02050203 -0.11851394] [-0.00339872 0.9999935 -0.00120217 0.1051802 ] [ 0.02049784 0.00127159 0.99978909 -0.28252926] [ 0. 0. 0. 1. ]] SLAMing on 42.24313336499999 meters Centerline goodness : 0.144718 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978607 0.00326229 -0.02042487 -0.11863421] [-0.00329802 0.99999309 -0.00171604 0.10801225] [ 0.02041913 0.00178303 0.99978992 -0.28276206] [ 0. 0. 0. 1. ]] SLAMing on 42.27313336499999 meters Centerline goodness : 0.138012 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978765 0.00309064 -0.02037387 -0.11877391] [-0.0031368 0.99999258 -0.00223418 0.11052955] [ 0.02036681 0.00229762 0.99978993 -0.28285721] [ 0. 0. 0. 1. ]] SLAMing on 42.303133364999994 meters Centerline goodness : 0.134231 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.11, Z:-0.28 [[ 0.99978722 0.00288816 -0.02042471 -0.11865029] [-0.00294799 0.99999145 -0.00290003 0.11414843] [ 0.02041616 0.00295963 0.99978719 -0.28301283] [ 0. 0. 0. 1. ]] SLAMing on 42.333133364999995 meters Centerline goodness : 0.141696 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99978622 0.00280027 -0.02048587 -0.11834058] [-0.00286532 0.99999094 -0.00314686 0.11550628] [ 0.02047688 0.00320489 0.99978519 -0.28329831] [ 0. 0. 0. 1. ]] SLAMing on 42.363133364999996 meters Centerline goodness : 0.135208 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99978686 0.00257577 -0.02048417 -0.1184358 ] [-0.00264658 0.99999061 -0.0034304 0.11642515] [ 0.02047514 0.00348388 0.99978429 -0.28316884] [ 0. 0. 0. 1. ]] SLAMing on 42.393133365 meters Centerline goodness : 0.261609 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99978949 0.00248506 -0.02036647 -0.1190687 ] [-0.00255572 0.9999908 -0.00344449 0.11615014] [ 0.02035772 0.00349582 0.99978665 -0.28257483] [ 0. 0. 0. 1. ]] SLAMing on 42.423133365 meters Centerline goodness : 0.159923 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99979173 0.00241477 -0.02026478 -0.11956122] [-0.00248531 0.99999094 -0.00345669 0.11603075] [ 0.02025625 0.00350633 0.99978867 -0.2821531 ] [ 0. 0. 0. 1. ]] SLAMing on 42.45313336499999 meters Centerline goodness : 0.420020 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99979031 0.00235959 -0.02034125 -0.11941401] [-0.00243123 0.99999093 -0.00349754 0.11612298] [ 0.02033281 0.00354626 0.99978698 -0.28204408] [ 0. 0. 0. 1. ]] SLAMing on 42.48313336499999 meters Centerline goodness : 0.137253 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.9997796 0.00217838 -0.02088064 -0.11746509] [-0.0022576 0.99999034 -0.00377117 0.11733603] [ 0.02087222 0.00381748 0.99977486 -0.28301446] [ 0. 0. 0. 1. ]] SLAMing on 42.513133364999995 meters Centerline goodness : 0.138633 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.12, Z:-0.28 [[ 0.99977389 0.0020903 -0.02116128 -0.11632038] [-0.00217516 0.99998968 -0.00398782 0.11841095] [ 0.02115272 0.00403295 0.99976812 -0.28376875] [ 0. 0. 0. 1. ]] SLAMing on 42.543133364999996 meters Centerline goodness : 0.128564 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.12, Z:-0.28 [[ 0.99974496 -0.00380098 -0.02226148 -0.09397732] [ 0.00376664 0.99999165 -0.00158431 0.12392781] [ 0.02226732 0.00150006 0.99975093 -0.28344075] [ 0. 0. 0. 1. ]] SLAMing on 42.573133365 meters Centerline goodness : 0.146726 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.13, Z:-0.28 [[ 0.99974442 -0.00390483 -0.02226747 -0.09431653] [ 0.00385685 0.99999015 -0.00219722 0.12784322] [ 0.02227584 0.00211078 0.99974963 -0.28301772] [ 0. 0. 0. 1. ]] SLAMing on 42.603133365 meters Centerline goodness : 0.157752 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.13, Z:-0.28 [[ 0.9997497 -0.00395585 -0.02202013 -0.0953689 ] [ 0.00390006 0.99998908 -0.00257602 0.13042747] [ 0.02203007 0.00248949 0.99975421 -0.28246067] [ 0. 0. 0. 1. ]] SLAMing on 42.63313336499999 meters Centerline goodness : 0.158780 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.14, Z:-0.28 [[ 0.99976217 -0.00381529 -0.0214719 -0.09715605] [ 0.00374965 0.99998817 -0.00309678 0.13562983] [ 0.02148346 0.00301554 0.99976466 -0.28191585] [ 0. 0. 0. 1. ]] SLAMing on 42.66313336499999 meters Centerline goodness : 0.147612 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.28 [[ 0.99976465 0.00419312 -0.02128514 -0.11715202] [-0.00428886 0.99998088 -0.00445449 0.13211417] [ 0.02126606 0.00454473 0.99976352 -0.28354103] [ 0. 0. 0. 1. ]] SLAMing on 42.693133364999994 meters Centerline goodness : 0.182295 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.13, Z:-0.28 [[ 0.99976647 0.00406958 -0.02122375 -0.11748431] [-0.00417071 0.99998015 -0.00472306 0.13333247] [ 0.0212041 0.00481048 0.99976359 -0.28330229] [ 0. 0. 0. 1. ]] SLAMing on 42.723133364999995 meters Centerline goodness : 0.095175 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.14, Z:-0.28 [[ 0.99978463 -0.00363033 -0.02043307 -0.09883491] [ 0.00356047 0.9999877 -0.00345398 0.13968478] [ 0.02044536 0.00338049 0.99978526 -0.28162654] [ 0. 0. 0. 1. ]] SLAMing on 42.753133365 meters Centerline goodness : 0.134699 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.14, Z:-0.28 [[ 0.99977075 -0.00388957 -0.02105504 -0.14710976] [ 0.00382314 0.99998759 -0.00319426 0.13675975] [ 0.02106721 0.00311304 0.99977322 -0.28082725] [ 0. 0. 0. 1. ]] SLAMing on 42.783133365 meters Centerline goodness : 0.135412 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.14, Z:-0.28 [[ 0.99977651 -0.00386071 -0.02078516 -0.14805833] [ 0.00379759 0.99998806 -0.00307544 0.13613386] [ 0.02079679 0.00299582 0.99977923 -0.28028874] [ 0. 0. 0. 1. ]] SLAMing on 42.81313336499999 meters Centerline goodness : 0.148926 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99979462 0.00337935 -0.01998263 -0.12925232] [-0.0034808 0.99998122 -0.00504444 0.13251573] [ 0.01996521 0.00511296 0.9997876 -0.27822046] [ 0. 0. 0. 1. ]] SLAMing on 42.84313336499999 meters Centerline goodness : 0.113765 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99978984 0.00337055 -0.02022165 -0.12838964] [-0.00347432 0.99998097 -0.00509888 0.13281401] [ 0.02020408 0.00516807 0.99978252 -0.27866291] [ 0. 0. 0. 1. ]] SLAMing on 42.873133364999994 meters Centerline goodness : 0.146832 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.9997864 0.0033904 -0.02038785 -0.12774087] [-0.00349592 0.99998067 -0.00514216 0.13329712] [ 0.02037002 0.00521233 0.99977892 -0.27907338] [ 0. 0. 0. 1. ]] SLAMing on 42.903133364999995 meters Centerline goodness : 0.410070 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99978817 0.00340441 -0.0202982 -0.12786884] [-0.00351118 0.99998018 -0.00522662 0.13393305] [ 0.02028 0.00529678 0.99978031 -0.27924447] [ 0. 0. 0. 1. ]] SLAMing on 42.933133364999996 meters Centerline goodness : 0.128012 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.9997899 0.00335513 -0.02022112 -0.128098 ] [-0.00346384 0.99997973 -0.0053431 0.13434555] [ 0.02020278 0.00541202 0.99978125 -0.27919138] [ 0. 0. 0. 1. ]] SLAMing on 42.963133365 meters Centerline goodness : 0.140420 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.13, Z:-0.28 [[ 0.99979107 0.00335426 -0.02016341 -0.12830908] [-0.00346379 0.99997942 -0.00539955 0.13474748] [ 0.02014489 0.00546827 0.99978212 -0.27911262] [ 0. 0. 0. 1. ]] SLAMing on 42.99313336499999 meters Centerline goodness : 0.145539 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.14, Z:-0.28 [[ 0.99979137 0.00343375 -0.02013509 -0.1283484 ] [-0.00354313 0.99997915 -0.00539909 0.13513281] [ 0.02011613 0.00546931 0.99978269 -0.27924688] [ 0. 0. 0. 1. ]] SLAMing on 43.02313336499999 meters Centerline goodness : 0.142898 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.14, Z:-0.28 [[ 0.99978997 0.00339755 -0.02021094 -0.12806855] [-0.00350865 0.99997892 -0.005464 0.13521482] [ 0.02019195 0.00553377 0.99978081 -0.27942184] [ 0. 0. 0. 1. ]] SLAMing on 43.053133364999994 meters Centerline goodness : 0.142898 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.14, Z:-0.28 [[ 0.99978997 0.00339755 -0.02021094 -0.12806855] [-0.00350865 0.99997892 -0.005464 0.13521482] [ 0.02019195 0.00553377 0.99978081 -0.27942184] [ 0. 0. 0. 1. ]] SLAMing on 43.083133364999995 meters Centerline goodness : 0.139566 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977712 -0.00434855 -0.02065891 -0.10919525] [ 0.00425592 0.9999807 -0.00452565 0.14049818] [ 0.02067819 0.00443671 0.99977634 -0.27784407] [ 0. 0. 0. 1. ]] SLAMing on 43.113133364999996 meters Centerline goodness : 0.149252 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.9997752 -0.00435511 -0.02075037 -0.10878262] [ 0.00426213 0.99998069 -0.00452302 0.14028762] [ 0.02076966 0.00443356 0.99977446 -0.27813952] [ 0. 0. 0. 1. ]] SLAMing on 43.143133365 meters Centerline goodness : 0.148674 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977603 -0.00424078 -0.02073412 -0.10875489] [ 0.00415055 0.99998174 -0.00439281 0.1401991 ] [ 0.02075237 0.00430576 0.99977537 -0.27824749] [ 0. 0. 0. 1. ]] SLAMing on 43.173133365 meters Centerline goodness : 0.156857 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977922 -0.00416314 -0.02059566 -0.10910289] [ 0.00407604 0.99998258 -0.00426908 0.13981623] [ 0.02061307 0.00418419 0.99977877 -0.27822618] [ 0. 0. 0. 1. ]] SLAMing on 43.20313336499999 meters Centerline goodness : 0.150592 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99978021 -0.00417963 -0.02054432 -0.10918848] [ 0.00409732 0.99998342 -0.00404702 0.13785526] [ 0.02056089 0.00396196 0.99978075 -0.27820968] [ 0. 0. 0. 1. ]] SLAMing on 43.23313336499999 meters Centerline goodness : 0.139873 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.14, Z:-0.28 [[ 0.99977747 -0.00412991 -0.02068704 -0.10877109] [ 0.00405247 0.99998463 -0.0037841 0.1361199 ] [ 0.02070236 0.00369943 0.99977884 -0.27828605] [ 0. 0. 0. 1. ]] SLAMing on 43.263133364999995 meters Centerline goodness : 0.148137 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.13, Z:-0.28 [[ 0.99977123 -0.00404718 -0.02100255 -0.10769762] [ 0.00397637 0.99998627 -0.00341216 0.13397498] [ 0.02101607 0.00332787 0.9997736 -0.27868874] [ 0. 0. 0. 1. ]] SLAMing on 43.293133364999996 meters Centerline goodness : 0.156396 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.12, Z:-0.28 [[ 0.99968252 -0.00536729 -0.0246183 -0.14835862] [ 0.00527902 0.99997941 -0.0036491 0.12472057] [ 0.02463738 0.00351798 0.99969026 -0.28045633] [ 0. 0. 0. 1. ]] SLAMing on 43.323133365 meters Centerline goodness : 0.153334 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.12, Z:-0.28 [[ 0.9996786 -0.00525575 -0.02480085 -0.14785589] [ 0.00518003 0.99998173 -0.0031163 0.12156329] [ 0.02481678 0.00298683 0.99968755 -0.28043211] [ 0. 0. 0. 1. ]] SLAMing on 43.353133365 meters Centerline goodness : 0.156848 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.11, Z:-0.28 [[ 0.99967486 0.00174915 -0.02543838 -0.12987689] [-0.00186098 0.99998871 -0.00437311 0.11444996] [ 0.02543045 0.00441903 0.99966683 -0.27761981] [ 0. 0. 0. 1. ]] SLAMing on 43.38313336499999 meters Centerline goodness : 0.158963 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.99963679 0.00131121 -0.026918 -0.1778002 ] [-0.0014009 0.99999353 -0.00331336 0.10439216] [ 0.02691348 0.00334987 0.99963215 -0.27613776] [ 0. 0. 0. 1. ]] SLAMing on 43.41313336499999 meters Centerline goodness : 0.152169 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.99963515 0.00149491 -0.02696898 -0.17752847] [-0.00157234 0.9999947 -0.00285 0.10206805] [ 0.02696458 0.00289136 0.99963221 -0.27630267] [ 0. 0. 0. 1. ]] SLAMing on 43.443133364999994 meters Centerline goodness : 0.152630 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.9996328 0.00161347 -0.02704912 -0.17704562] [-0.00168118 0.99999551 -0.00248065 0.0997896 ] [ 0.027045 0.00252522 0.99963103 -0.27670144] [ 0. 0. 0. 1. ]] SLAMing on 43.473133364999995 meters Centerline goodness : 0.149360 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.10, Z:-0.28 [[ 0.99962254 0.00177624 -0.02741591 -0.17548426] [-0.00183037 0.99999642 -0.00194969 0.09631496] [ 0.02741235 0.00199914 0.99962221 -0.27770271] [ 0. 0. 0. 1. ]] SLAMing on 43.503133365 meters Centerline goodness : 0.156785 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.10, Z:-0.28 [[ 0.99961846 0.00193686 -0.02755319 -0.17482198] [-0.00198304 0.99999667 -0.00164876 0.09504512] [ 0.02754991 0.00170277 0.99961898 -0.27818958] [ 0. 0. 0. 1. ]] SLAMing on 43.533133365 meters Centerline goodness : 0.115680 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.09, Z:-0.28 [[ 0.99961976 0.00211325 -0.02749319 -0.17493754] [-0.00214873 0.9999969 -0.00126079 0.09330006] [ 0.02749044 0.00131938 0.9996212 -0.27822193] [ 0. 0. 0. 1. ]] SLAMing on 43.56313336499999 meters Centerline goodness : 0.151016 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.09, Z:-0.28 [[ 9.99622808e-01 2.26383202e-03 -2.73700073e-02 -1.75416321e-01] [-2.28806664e-03 9.99997018e-01 -8.54158666e-04 9.11797348e-02] [ 2.73679920e-02 9.16460884e-04 9.99625006e-01 -2.77907655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59313336499999 meters Centerline goodness : 0.148015 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.09, Z:-0.28 [[ 9.99655326e-01 -1.31633256e-04 -2.62528582e-02 -1.80039211e-01] [ 6.39391284e-05 9.99996671e-01 -2.57936593e-03 8.54477591e-02] [ 2.62531104e-02 2.57679830e-03 9.99652007e-01 -2.75685125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.623133364999994 meters Centerline goodness : 0.150379 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99653918e-01 1.88564063e-05 -2.63067355e-02 -1.79894984e-01] [-7.35220893e-05 9.99997840e-01 -2.07704521e-03 8.25924227e-02] [ 2.63066395e-02 2.07826051e-03 9.99651760e-01 -2.75616758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.653133364999995 meters Centerline goodness : 0.149093 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99646847e-01 2.77605864e-04 -2.65726365e-02 -1.79074655e-01] [-3.06749382e-04 9.99999356e-01 -1.09267920e-03 7.69162073e-02] [ 2.65723161e-02 1.10044446e-03 9.99646288e-01 -2.75733524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683133364999996 meters Centerline goodness : 0.135831 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99646235e-01 4.76174430e-04 -2.65928258e-02 -1.78920190e-01] [-4.91389236e-04 9.99999719e-01 -5.65607554e-04 7.42979880e-02] [ 2.65925490e-02 5.78474890e-04 9.99646188e-01 -2.75846046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.713133365 meters Centerline goodness : 0.150140 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99645069e-01 6.43643539e-04 -2.66331046e-02 -1.78672900e-01] [-6.46885827e-04 9.99999784e-01 -1.13123394e-04 7.18711731e-02] [ 2.66330260e-02 1.30311821e-04 9.99645270e-01 -2.76015340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74313336499999 meters Centerline goodness : 0.172381 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99644716e-01 8.77667761e-04 -2.66396482e-02 -1.78363545e-01] [-8.64827632e-04 9.99999504e-01 4.93510775e-04 6.84057818e-02] [ 2.66400681e-02 -4.70296735e-04 9.99644980e-01 -2.76347270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77313336499999 meters Centerline goodness : 0.120018 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99646971e-01 9.59145133e-04 -2.65520713e-02 -1.78537046e-01] [-9.43744993e-04 9.99999379e-01 5.92523015e-04 6.79510443e-02] [ 2.65526231e-02 -5.67255453e-04 9.99647256e-01 -2.76441199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.803133364999994 meters Centerline goodness : 0.123365 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99648352e-01 1.04807468e-03 -2.64966707e-02 -1.78505051e-01] [-1.03380303e-03 9.99999313e-01 5.52313420e-04 6.84773381e-02] [ 2.64972314e-02 -5.24726862e-04 9.99648749e-01 -2.76750837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.833133364999995 meters Centerline goodness : 0.150721 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99642573e-01 1.16492010e-03 -2.67089886e-02 -1.77651845e-01] [-1.15484571e-03 9.99999256e-01 3.92613067e-04 6.98986507e-02] [ 2.67094261e-02 -3.61627976e-04 9.99643174e-01 -2.77448107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863133364999996 meters Centerline goodness : 0.149267 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99632422e-01 1.81513940e-03 -2.70504279e-02 -1.76232766e-01] [-1.80830622e-03 9.99998327e-01 2.77068865e-04 7.33829925e-02] [ 2.70508855e-02 -2.28051564e-04 9.99634032e-01 -2.78698943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.893133365 meters Centerline goodness : 0.147325 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99639080e-01 1.72893975e-03 -2.68089530e-02 -1.76901586e-01] [-1.73098962e-03 9.99998500e-01 -5.32551134e-05 7.51357103e-02] [ 2.68088207e-02 9.96419120e-05 9.99640574e-01 -2.78684691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923133365 meters Centerline goodness : 0.148733 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99646948e-01 1.55221034e-03 -2.65248905e-02 -1.77702193e-01] [-1.56565148e-03 9.99998656e-01 -4.85976574e-04 7.73153740e-02] [ 2.65241005e-02 5.27333733e-04 9.99648035e-01 -2.78633021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95313336499999 meters Centerline goodness : 0.334505 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99647266e-01 1.49547611e-03 -2.65161798e-02 -1.77894679e-01] [-1.51126026e-03 9.99998693e-01 -5.75234681e-04 7.77417296e-02] [ 2.65152849e-02 6.15104625e-04 9.99648219e-01 -2.78432863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98313336499999 meters Centerline goodness : 0.146134 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99643968e-01 1.43265119e-03 -2.66436645e-02 -1.77605579e-01] [-1.44890274e-03 9.99998776e-01 -5.90663797e-04 7.75928860e-02] [ 2.66427856e-02 6.29057581e-04 9.99644820e-01 -2.78375272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.013133364999995 meters Centerline goodness : 0.141603 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99636370e-01 1.05765020e-03 -2.69445455e-02 -1.76939466e-01] [-1.07779912e-03 9.99999150e-01 -7.33280194e-04 7.72506462e-02] [ 2.69437471e-02 7.62054359e-04 9.99636661e-01 -2.78220802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043133364999996 meters Centerline goodness : 0.151070 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99634399e-01 1.03274793e-03 -2.70185361e-02 -1.76779370e-01] [-1.05091602e-03 9.99999231e-01 -6.58239875e-04 7.67888351e-02] [ 2.70178355e-02 6.86393434e-04 9.99634716e-01 -2.78138086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.073133365 meters Centerline goodness : 0.148608 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.08, Z:-0.28 [[ 9.99623202e-01 -7.13972077e-03 -2.65043005e-02 -1.56435421e-01] [ 7.14769043e-03 9.99974434e-01 2.05965183e-04 8.17461969e-02] [ 2.65021524e-02 -3.95332111e-04 9.99648678e-01 -2.76576885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103133365 meters Centerline goodness : 0.147919 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.08, Z:-0.28 [[ 9.99621125e-01 -7.14767765e-03 -2.65803777e-02 -1.56224696e-01] [ 7.15678090e-03 9.99974359e-01 2.47362840e-04 8.14342626e-02] [ 2.65779281e-02 -4.37499060e-04 9.99646649e-01 -2.76589378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13313336499999 meters Centerline goodness : 0.138107 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99655898e-01 5.39158291e-04 -2.62258599e-02 -1.75420705e-01] [-5.60456978e-04 9.99999519e-01 -8.04781682e-04 7.56541165e-02] [ 2.62254134e-02 8.19203221e-04 9.99655719e-01 -2.78447657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16313336499999 meters Centerline goodness : 0.151736 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:-0.28 [[ 9.99654981e-01 5.67974190e-04 -2.62601616e-02 -1.75343817e-01] [-5.88748628e-04 9.99999520e-01 -7.83376042e-04 7.58686157e-02] [ 2.62597041e-02 7.98566397e-04 9.99654836e-01 -2.78479624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.193133364999994 meters Centerline goodness : 0.150507 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.08, Z:-0.28 [[ 9.99650327e-01 5.25489087e-04 -2.64376101e-02 -1.74622658e-01] [-5.46841483e-04 9.99999530e-01 -8.00428907e-04 7.58562251e-02] [ 2.64371771e-02 8.14606201e-04 9.99650145e-01 -2.78934503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223133364999995 meters Centerline goodness : 0.149454 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.08, Z:-0.28 [[ 9.99650383e-01 4.59033467e-04 -2.64367241e-02 -1.74627549e-01] [-4.79211941e-04 9.99999599e-01 -7.56943927e-04 7.50187995e-02] [ 2.64363661e-02 7.69348081e-04 9.99650202e-01 -2.78885607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.253133365 meters Centerline goodness : 0.142601 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99656543e-01 4.05052766e-04 -2.62036557e-02 -1.75504629e-01] [-4.18615251e-04 9.99999781e-01 -5.12096399e-04 7.32259660e-02] [ 2.62034425e-02 5.22889766e-04 9.99656494e-01 -2.78330772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283133365 meters Centerline goodness : 0.143540 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99658833e-01 5.24594373e-04 -2.61140395e-02 -1.75755242e-01] [-5.31999893e-04 9.99999820e-01 -2.76637148e-04 7.24498821e-02] [ 2.61138896e-02 2.90435435e-04 9.99658932e-01 -2.78275169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31313336499999 meters Centerline goodness : 0.140391 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99657911e-01 6.10790795e-04 -2.61474293e-02 -1.75643032e-01] [-6.13796115e-04 9.99999806e-01 -1.06911686e-04 7.18680901e-02] [ 2.61473590e-02 1.22924304e-04 9.99658092e-01 -2.78327516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34313336499999 meters Centerline goodness : 0.149227 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99655822e-01 6.09339988e-04 -2.62271893e-02 -1.75305764e-01] [-6.11412600e-04 9.99999811e-01 -7.10062160e-05 7.14842527e-02] [ 2.62271411e-02 8.70174113e-05 9.99656006e-01 -2.78519780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.373133364999994 meters Centerline goodness : 0.120498 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.07, Z:-0.28 [[ 9.99654611e-01 5.71788106e-04 -2.62741564e-02 -1.74967386e-01] [-5.74874560e-04 9.99999829e-01 -1.09917745e-04 7.12422146e-02] [ 2.62740891e-02 1.24984124e-04 9.99654769e-01 -2.78905532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403133364999995 meters Centerline goodness : 0.142739 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99655219e-01 6.15242418e-04 -2.62500234e-02 -1.75079271e-01] [-6.16966457e-04 9.99999808e-01 -5.75785640e-05 7.11767574e-02] [ 2.62499829e-02 7.37540960e-05 9.99655407e-01 -2.78864032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.433133364999996 meters Centerline goodness : 0.138262 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99658391e-01 6.89042714e-04 -2.61271197e-02 -1.75449842e-01] [-6.86976010e-04 9.99999760e-01 8.80776699e-05 7.06880934e-02] [ 2.61271741e-02 -7.00988773e-05 9.99658625e-01 -2.78789267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463133365 meters Centerline goodness : 0.120225 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99667989e-01 5.52870764e-04 -2.57605535e-02 -1.76683937e-01] [-5.42044006e-04 9.99999762e-01 4.27265293e-04 6.78267160e-02] [ 2.57607836e-02 -4.13160082e-04 9.99668051e-01 -2.78116115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49313336499999 meters Centerline goodness : 0.124343 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.07, Z:-0.28 [[ 9.99666853e-01 4.45536075e-04 -2.58066937e-02 -1.76704095e-01] [-4.28090248e-04 9.99999676e-01 6.81540243e-04 6.55072309e-02] [ 2.58069889e-02 -6.70265596e-04 9.99666719e-01 -2.77863676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52313336499999 meters Centerline goodness : 0.136836 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.06, Z:-0.28 [[ 9.99668863e-01 2.78344373e-04 -2.57310378e-02 -1.76982152e-01] [-2.53237808e-04 9.99999489e-01 9.78984161e-04 6.29326104e-02] [ 2.57312971e-02 -9.72143912e-04 9.99668423e-01 -2.77657374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.553133364999994 meters Centerline goodness : 0.143085 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.06, Z:-0.28 [[ 9.99682489e-01 -1.42079437e-03 -2.51575439e-02 -1.78780296e-01] [ 1.43010596e-03 9.99998915e-01 3.52143319e-04 5.55801630e-02] [ 2.51570162e-02 -3.88009463e-04 9.99683437e-01 -2.76901413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583133364999995 meters Centerline goodness : 0.142832 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.05, Z:-0.28 [[ 9.99688900e-01 -1.51265061e-03 -2.48960670e-02 -1.79528285e-01] [ 1.53228450e-03 9.99998530e-01 7.69576316e-04 5.26594418e-02] [ 2.48948663e-02 -8.07484759e-04 9.99689749e-01 -2.76585751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.613133364999996 meters Centerline goodness : 0.144827 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.05, Z:-0.28 [[ 0.99968096 -0.00534616 -0.0246859 -0.18043792] [ 0.00529107 0.99998337 -0.00229639 0.04801406] [ 0.02469776 0.00216504 0.99969262 -0.27586523] [ 0. 0. 0. 1. ]] SLAMing on 44.643133365 meters Centerline goodness : 0.148508 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 0.99967585 -0.00529219 -0.02490375 -0.17989557] [ 0.00524885 0.9999846 -0.00180535 0.04486058] [ 0.02491292 0.00167405 0.99968822 -0.27587272] [ 0. 0. 0. 1. ]] SLAMing on 44.673133365 meters Centerline goodness : 0.119084 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 0.99966395 -0.00518152 -0.02539969 -0.17843978] [ 0.00514999 0.99998589 -0.00130657 0.04202545] [ 0.0254061 0.00117533 0.99967652 -0.27623423] [ 0. 0. 0. 1. ]] SLAMing on 44.70313336499999 meters Centerline goodness : 0.143323 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 9.99654255e-01 -4.89371318e-03 -2.58345249e-02 -1.76827153e-01] [ 4.88302723e-03 9.99987964e-01 -4.76700780e-04 3.77853471e-02] [ 2.58365468e-02 3.50385274e-04 9.99666119e-01 -2.77050828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73313336499999 meters Centerline goodness : 0.147470 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 9.99653224e-01 -4.78937808e-03 -2.58938887e-02 -1.76703894e-01] [ 4.78547910e-03 9.99988527e-01 -2.12541285e-04 3.63137676e-02] [ 2.58946095e-02 8.85529180e-05 9.99664674e-01 -2.76993511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.763133364999995 meters Centerline goodness : 0.133596 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.04, Z:-0.28 [[ 9.99654484e-01 -4.71807353e-03 -2.58583271e-02 -1.76808292e-01] [ 4.71907784e-03 9.99988865e-01 -2.21851571e-05 3.51092043e-02] [ 2.58581439e-02 -9.98499668e-05 9.99665617e-01 -2.76965913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.793133364999996 meters Centerline goodness : 0.140083 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99657594e-01 -4.65403869e-03 -2.57494777e-02 -1.77218003e-01] [ 4.65796585e-03 9.99989147e-01 9.25359445e-05 3.44193937e-02] [ 2.57487676e-02 -2.12444447e-04 9.99668423e-01 -2.76749322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823133365 meters Centerline goodness : 0.163704 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99658772e-01 -4.57915617e-03 -2.57171332e-02 -1.77352299e-01] [ 4.58482319e-03 9.99989477e-01 1.61399894e-04 3.42546460e-02] [ 2.57161235e-02 -2.79253329e-04 9.99669247e-01 -2.76721736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.853133365 meters Centerline goodness : 0.122658 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.03, Z:-0.28 [[ 0.99967267 0.00361897 -0.02532691 -0.15810667] [-0.00364652 0.99999281 -0.00104172 0.03063343] [ 0.02532296 0.00113374 0.99967868 -0.27514446] [ 0. 0. 0. 1. ]] SLAMing on 44.88313336499999 meters Centerline goodness : 0.144552 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99645663e-01 -5.10713612e-03 -2.61240360e-02 -1.79359584e-01] [ 5.11401368e-03 9.99986904e-01 1.96460953e-04 3.21432824e-02] [ 2.61226905e-02 -3.29990017e-04 9.99658690e-01 -2.76107235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91313336499999 meters Centerline goodness : 0.116514 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99644467e-01 -5.03395463e-03 -2.61839285e-02 -1.79188779e-01] [ 5.04798231e-03 9.99987149e-01 4.69663933e-04 3.06962366e-02] [ 2.61812278e-02 -6.01672960e-04 9.99657032e-01 -2.76156621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.943133364999994 meters Centerline goodness : 0.116514 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99644467e-01 -5.03395463e-03 -2.61839285e-02 -1.79188779e-01] [ 5.04798231e-03 9.99987149e-01 4.69663933e-04 3.06962366e-02] [ 2.61812278e-02 -6.01672960e-04 9.99657032e-01 -2.76156621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.973133364999995 meters Centerline goodness : 0.141959 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 9.99637505e-01 -5.02401164e-03 -2.64502854e-02 -1.78441143e-01] [ 5.04528031e-03 9.99987001e-01 7.37424397e-04 2.89746259e-02] [ 2.64462367e-02 -8.70606188e-04 9.99649858e-01 -2.76358306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003133365 meters Centerline goodness : 0.131587 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.02, Z:-0.28 [[ 0.99960534 -0.00791085 -0.02695537 -0.17624976] [ 0.00787687 0.99996804 -0.00136658 0.02405178] [ 0.02696531 0.00115372 0.9996357 -0.27775851] [ 0. 0. 0. 1. ]] SLAMing on 45.033133365 meters Centerline goodness : 0.111909 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.02, Z:-0.28 [[ 0.99962302 -0.00203398 -0.02738029 -0.15433214] [ 0.00192758 0.99999049 -0.00391189 0.01915001] [ 0.02738799 0.00385763 0.99961744 -0.27737977] [ 0. 0. 0. 1. ]] SLAMing on 45.06313336499999 meters Centerline goodness : 0.124046 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.02, Z:-0.28 [[ 0.99961502 -0.00223412 -0.02765531 -0.15373299] [ 0.00213473 0.99999116 -0.00362293 0.0166992 ] [ 0.02766316 0.0035625 0.99961095 -0.27746199] [ 0. 0. 0. 1. ]] SLAMing on 45.09313336499999 meters Centerline goodness : 0.126489 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.01, Z:-0.28 [[ 0.99961826 -0.00303592 -0.02746135 -0.15451754] [ 0.00293936 0.99998936 -0.00355593 0.01220181] [ 0.02747185 0.00347385 0.99961654 -0.27696364] [ 0. 0. 0. 1. ]] SLAMing on 45.123133364999994 meters Centerline goodness : 0.126180 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.01, Z:-0.28 [[ 0.99962555 -0.00306461 -0.02719144 -0.15548644] [ 0.0029772 0.99999027 -0.00325447 0.01010505] [ 0.02720115 0.0031723 0.99962495 -0.27645809] [ 0. 0. 0. 1. ]] SLAMing on 45.153133364999995 meters Centerline goodness : 0.421380 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.01, Z:-0.28 [[ 0.99963394 -0.00298597 -0.02688993 -0.15665679] [ 0.00290846 0.9999915 -0.00292121 0.00833368] [ 0.02689842 0.00284194 0.99963413 -0.27579347] [ 0. 0. 0. 1. ]] SLAMing on 45.183133364999996 meters Centerline goodness : 0.222671 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.00, Z:-0.28 [[ 0.99965701 0.00398434 -0.02588426 -0.13511594] [-0.0041167 0.99997871 -0.00506216 0.0039085 ] [ 0.02586354 0.00516698 0.99965213 -0.27583702] [ 0. 0. 0. 1. ]] SLAMing on 45.213133365 meters Centerline goodness : 0.124297 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.00, Z:-0.28 [[ 0.99965277 0.00403005 -0.0260402 -0.13446326] [-0.00416214 0.99997874 -0.00502008 0.00388271] [ 0.02601942 0.00512672 0.99964829 -0.27624147] [ 0. 0. 0. 1. ]] SLAMing on 45.24313336499999 meters Centerline goodness : 0.124815 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.01, Z:-0.28 [[ 0.99964861 0.00402984 -0.02619971 -0.13390519] [-0.00416789 0.99997771 -0.00521674 0.0051507 ] [ 0.0261781 0.0053241 0.99964312 -0.27655608] [ 0. 0. 0. 1. ]] SLAMing on 45.27313336499999 meters Centerline goodness : 0.127320 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 0.99964241 -0.00354055 -0.02650506 -0.11508892] [ 0.00342842 0.99998499 -0.00427499 0.00992581] [ 0.02651979 0.00418259 0.99963954 -0.27423356] [ 0. 0. 0. 1. ]] SLAMing on 45.303133364999994 meters Centerline goodness : 0.161838 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 0.99964592 -0.00358542 -0.02636609 -0.11558113] [ 0.00347198 0.99998452 -0.00434704 0.01021936] [ 0.02638127 0.00425396 0.9996429 -0.27403166] [ 0. 0. 0. 1. ]] SLAMing on 45.333133364999995 meters Centerline goodness : 0.168170 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 0.99964063 -0.00362666 -0.02656046 -0.11525874] [ 0.00351657 0.99998504 -0.0041905 0.00926126] [ 0.02657526 0.00409559 0.99963843 -0.27392264] [ 0. 0. 0. 1. ]] SLAMing on 45.363133364999996 meters Centerline goodness : 0.126440 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.01, Z:-0.27 [[ 0.99963669 -0.00355999 -0.02671739 -0.11486658] [ 0.00345688 0.9999864 -0.00390416 0.0079773 ] [ 0.02673092 0.00381039 0.9996354 -0.27400966] [ 0. 0. 0. 1. ]] SLAMing on 45.393133365 meters Centerline goodness : 0.144028 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.01, Z:-0.27 [[ 0.99962719 -0.00364998 -0.02705858 -0.11407127] [ 0.00355202 0.99998697 -0.00366744 0.00640653] [ 0.02707161 0.00356996 0.99962712 -0.27403138] [ 0. 0. 0. 1. ]] SLAMing on 45.423133365 meters Centerline goodness : 0.085326 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.00, Z:-0.27 [[ 0.99962532 -0.00368152 -0.02712323 -0.11397779] [ 0.00359183 0.99998792 -0.0033547 0.004484 ] [ 0.02713525 0.00325602 0.99962647 -0.27402529] [ 0. 0. 0. 1. ]] SLAMing on 45.45313336499999 meters Centerline goodness : 0.086467 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 0.9996347 -0.00406632 -0.02671944 -0.11518318] [ 0.00398576 0.99998735 -0.0030677 0.00129136] [ 0.02673158 0.00296008 0.99963826 -0.2736535 ] [ 0. 0. 0. 1. ]] SLAMing on 45.48313336499999 meters Centerline goodness : 0.173142 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 9.99636682e-01 -3.98503977e-03 -2.66575054e-02 -1.15620746e-01] [ 3.91435519e-03 9.99988685e-01 -2.70324029e-03 -7.41842181e-04] [ 2.66679763e-02 2.59791121e-03 9.99640970e-01 -2.73290895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.513133364999995 meters Centerline goodness : 0.183416 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99963898 -0.00393748 -0.02657815 -0.11619953] [ 0.0038781 0.99998987 -0.00228533 -0.0033412 ] [ 0.02658688 0.00218143 0.99964413 -0.27279861] [ 0. 0. 0. 1. ]] SLAMing on 45.543133364999996 meters Centerline goodness : 0.159087 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99964001 -0.00384448 -0.02655316 -0.11629922] [ 0.00379111 0.99999069 -0.00206027 -0.0043522 ] [ 0.02656083 0.00195887 0.99964528 -0.27276672] [ 0. 0. 0. 1. ]] SLAMing on 45.573133365 meters Centerline goodness : 0.091449 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99964358 -0.00371895 -0.02643626 -0.11672462] [ 0.00367047 0.99999149 -0.00188216 -0.00483788] [ 0.02644303 0.00178445 0.99964873 -0.27256081] [ 0. 0. 0. 1. ]] SLAMing on 45.603133365 meters Centerline goodness : 0.092591 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99965792 -0.00354938 -0.02591234 -0.11861086] [ 0.00350169 0.99999209 -0.00188556 -0.00421172] [ 0.02591883 0.00179418 0.99966244 -0.27155264] [ 0. 0. 0. 1. ]] SLAMing on 45.63313336499999 meters Centerline goodness : 0.090967 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99966004 -0.00355528 -0.02582967 -0.11900167] [ 0.00350327 0.99999175 -0.00205828 -0.0030814 ] [ 0.02583678 0.0019671 0.99966424 -0.27127764] [ 0. 0. 0. 1. ]] SLAMing on 45.66313336499999 meters Centerline goodness : 0.097273 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99965647 -0.00355579 -0.02596737 -0.11870853] [ 0.00350017 0.99999148 -0.0021872 -0.00203802] [ 0.02597492 0.00209556 0.9996604 -0.27124578] [ 0. 0. 0. 1. ]] SLAMing on 45.693133364999994 meters Centerline goodness : 0.094974 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:-0.27 [[ 0.99965377 -0.00347653 -0.02608152 -0.11827883] [ 0.00342005 0.99999171 -0.00220976 -0.00106279] [ 0.02608899 0.0021198 0.99965738 -0.27156812] [ 0. 0. 0. 1. ]] SLAMing on 45.723133364999995 meters Centerline goodness : 0.186882 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99646616e-01 -8.33284090e-04 -2.65696965e-02 -1.16075319e-01] [ 8.42965111e-04 9.99999582e-01 3.53164690e-04 8.07407990e-04] [ 2.65693911e-02 -3.75437214e-04 9.99646901e-01 -2.72721869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.753133365 meters Centerline goodness : 0.094114 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99646911e-01 -8.92092981e-04 -2.65566892e-02 -1.16101376e-01] [ 8.98489505e-04 9.99999570e-01 2.28931442e-04 1.46012797e-03] [ 2.65564735e-02 -2.52711515e-04 9.99647283e-01 -2.72810249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783133365 meters Centerline goodness : 0.174855 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99652977e-01 -1.03873478e-03 -2.63219742e-02 -1.16960330e-01] [ 1.03877206e-03 9.99999460e-01 -1.22575958e-05 2.38145228e-03] [ 2.63219727e-02 -1.50891891e-05 9.99653517e-01 -2.72404246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81313336499999 meters Centerline goodness : 0.175499 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:-0.27 [[ 9.99656171e-01 -1.04318085e-03 -2.62002212e-02 -1.17340928e-01] [ 1.04061833e-03 9.99999452e-01 -1.11439496e-04 3.26424916e-03] [ 2.62003231e-02 8.41367498e-05 9.99656709e-01 -2.72293914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84313336499999 meters Centerline goodness : 0.173196 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:-0.27 [[ 9.99643798e-01 -1.23043153e-03 -2.66601292e-02 -1.15652238e-01] [ 1.21357737e-03 9.99999053e-01 -6.48356940e-04 6.29187974e-03] [ 2.66609018e-02 6.15771865e-04 9.99644345e-01 -2.73166287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.873133364999994 meters Centerline goodness : 0.090609 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.01, Z:-0.27 [[ 0.99963163 -0.00140866 -0.02710403 -0.11411315] [ 0.00137971 0.99999846 -0.00108679 0.00836391] [ 0.02710552 0.00104899 0.99963203 -0.2738512 ] [ 0. 0. 0. 1. ]] SLAMing on 45.903133364999995 meters Centerline goodness : 0.086302 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.01, Z:-0.27 [[ 9.99538295e-01 -1.22884427e-03 -3.03592827e-02 -1.58080422e-01] [ 1.21072956e-03 9.99999078e-01 -6.15053073e-04 1.20341992e-02] [ 3.03600105e-02 5.78012219e-04 9.99538862e-01 -2.74087636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.933133364999996 meters Centerline goodness : 0.165990 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.02, Z:-0.27 [[ 0.99953134 0.002334 -0.03052315 -0.15734242] [-0.00226233 0.9999946 0.00238244 0.01592151] [ 0.03052854 -0.00231227 0.99953122 -0.27458558] [ 0. 0. 0. 1. ]] SLAMing on 45.963133365 meters Centerline goodness : 0.187116 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.02, Z:-0.28 [[ 0.99951998 -0.00564904 -0.03046144 -0.17593143] [ 0.00575862 0.99997726 0.00351087 0.02393499] [ 0.03044092 -0.0036846 0.99952978 -0.27694079] [ 0. 0. 0. 1. ]] SLAMing on 45.99313336499999 meters Centerline goodness : 0.098442 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 0.99951684 -0.00585234 -0.03052595 -0.17562709] [ 0.00594753 0.99997773 0.00302841 0.02627436] [ 0.03050754 -0.0032085 0.99952939 -0.27722226] [ 0. 0. 0. 1. ]] SLAMing on 46.02313336499999 meters Centerline goodness : 0.100481 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.03, Z:-0.28 [[ 0.999513 -0.00601935 -0.03061923 -0.17515855] [ 0.00610306 0.99997789 0.00264111 0.02819062] [ 0.03060266 -0.00282669 0.99952763 -0.277669 ] [ 0. 0. 0. 1. ]] SLAMing on 46.053133364999994 meters Centerline goodness : 0.178542 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:-0.28 [[ 0.9995014 -0.00623038 -0.03095367 -0.17418326] [ 0.00629952 0.99997788 0.00213668 0.03118739] [ 0.03093967 -0.00233061 0.99951854 -0.27796579] [ 0. 0. 0. 1. ]] SLAMing on 46.083133364999995 meters Centerline goodness : 0.096487 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:-0.28 [[ 0.99949917 -0.00632502 -0.03100665 -0.1739542 ] [ 0.00638753 0.99997776 0.00191735 0.03252752] [ 0.03099384 -0.00211444 0.99951734 -0.27814823] [ 0. 0. 0. 1. ]] SLAMing on 46.113133364999996 meters Centerline goodness : 0.095537 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.03, Z:-0.28 [[ 0.99950188 -0.00655574 -0.03087107 -0.1744634 ] [ 0.00660537 0.99997705 0.00150601 0.03448691] [ 0.03086049 -0.00170918 0.99952224 -0.27788078] [ 0. 0. 0. 1. ]] SLAMing on 46.143133365 meters Centerline goodness : 0.165212 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.04, Z:-0.28 [[ 0.9994319 -0.0070966 -0.03294726 -0.22107583] [ 0.00714525 0.99997355 0.00135908 0.03648351] [ 0.03293675 -0.00159372 0.99945617 -0.27754423] [ 0. 0. 0. 1. ]] SLAMing on 46.173133365 meters Centerline goodness : 0.135260 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.04, Z:-0.28 [[ 0.999432 -0.00720762 -0.03292005 -0.22124962] [ 0.00724813 0.99997311 0.00111161 0.03776607] [ 0.03291115 -0.00134959 0.99945737 -0.27737966] [ 0. 0. 0. 1. ]] SLAMing on 46.20313336499999 meters Centerline goodness : 0.219374 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.04, Z:-0.28 [[ 9.99476478e-01 1.08847721e-03 -3.23355160e-02 -2.01443575e-01] [-1.08718505e-03 9.99999407e-01 5.75428926e-05 3.69350046e-02] [ 3.23355594e-02 -2.23580782e-05 9.99477069e-01 -2.76504932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23313336499999 meters Centerline goodness : 0.156869 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99400946e-01 8.66366136e-04 -3.45976596e-02 -2.47520581e-01] [-8.65444639e-04 9.99999625e-01 4.16103257e-05 4.02654311e-02] [ 3.45976827e-02 -1.16430398e-05 9.99401321e-01 -2.76447407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.263133364999995 meters Centerline goodness : 0.161539 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99406571e-01 7.57124079e-04 -3.44373764e-02 -2.48106801e-01] [-7.64538035e-04 9.99999687e-01 -2.02120339e-04 4.14934677e-02] [ 3.44372126e-02 2.28329079e-04 9.99406837e-01 -2.76178419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.293133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 46.323133365 meters Centerline goodness : 0.220925 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99422778e-01 6.87840665e-04 -3.39652408e-02 -2.49910267e-01] [-7.06613274e-04 9.99999604e-01 -5.40700086e-04 4.41075580e-02] [ 3.39648554e-02 5.64388272e-04 9.99422868e-01 -2.75186976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.353133365 meters Centerline goodness : 0.336632 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.27 [[ 9.99423319e-01 6.56281928e-04 -3.39499381e-02 -2.50078714e-01] [-6.76520520e-04 9.99999600e-01 -5.84646674e-04 4.43362186e-02] [ 3.39495408e-02 6.07277350e-04 9.99423364e-01 -2.74998081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 46.41313336499999 meters Centerline goodness : 0.096010 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99417721e-01 1.69901494e-04 -3.41202361e-02 -2.49557242e-01] [-2.02112993e-04 9.99999537e-01 -9.40611661e-04 4.46185905e-02] [ 3.41200605e-02 9.46960106e-04 9.99417293e-01 -2.75231791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.443133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 46.473133364999995 meters Centerline goodness : 0.142121 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99419018e-01 1.02958652e-04 -3.40824785e-02 -2.49830360e-01] [-1.31932896e-04 9.99999632e-01 -8.47873527e-04 4.38684245e-02] [ 3.40823787e-02 8.51877528e-04 9.99418664e-01 -2.75014547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503133365 meters Centerline goodness : 0.040486 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99417372e-01 1.21725789e-04 -3.41306527e-02 -2.49644442e-01] [-1.50441222e-04 9.99999637e-01 -8.38771692e-04 4.39971252e-02] [ 3.41305382e-02 8.43417657e-04 9.99417028e-01 -2.75152162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.533133365 meters Centerline goodness : 0.099826 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.04, Z:-0.28 [[ 9.99416011e-01 1.33272065e-04 -3.41704353e-02 -2.49447891e-01] [-1.63555786e-04 9.99999596e-01 -8.83461398e-04 4.44118872e-02] [ 3.41703038e-02 8.88534239e-04 9.99415630e-01 -2.75314690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56313336499999 meters Centerline goodness : 0.101311 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.04, Z:-0.27 [[ 9.99484460e-01 1.28158849e-03 -3.20807120e-02 -2.06709385e-01] [-1.29797371e-03 9.99999038e-01 -4.89929605e-04 4.41470282e-02] [ 3.20800533e-02 5.31316947e-04 9.99485161e-01 -2.74044455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 46.623133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 46.653133364999995 meters Centerline goodness : 0.171771 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946479 0.00495298 -0.03233565 -0.20686664] [-0.00488021 0.99998538 0.00232891 0.04907207] [ 0.03234671 -0.00216986 0.99947435 -0.27306906] [ 0. 0. 0. 1. ]] SLAMing on 46.683133364999996 meters Centerline goodness : 0.161682 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946449 0.00492482 -0.03234919 -0.20673873] [-0.00485669 0.99998582 0.00218434 0.05011529] [ 0.03235948 -0.00202606 0.99947424 -0.27323196] [ 0. 0. 0. 1. ]] SLAMing on 46.713133365 meters Centerline goodness : 0.125649 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946508 0.00484973 -0.0323424 -0.20664707] [-0.00478617 0.99998646 0.00204218 0.05078396] [ 0.03235186 -0.0018863 0.99947476 -0.27344258] [ 0. 0. 0. 1. ]] SLAMing on 46.74313336499999 meters Centerline goodness : 0.142175 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.9994663 0.00472639 -0.03232296 -0.20681185] [-0.004668 0.99998733 0.00188167 0.05111722] [ 0.03233144 -0.00172979 0.99947571 -0.27329557] [ 0. 0. 0. 1. ]] SLAMing on 46.77313336499999 meters Centerline goodness : 0.091395 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.05, Z:-0.27 [[ 0.99946602 0.00461718 -0.03234736 -0.2068245 ] [-0.00456507 0.99998816 0.00168453 0.05196183] [ 0.03235476 -0.00153596 0.99947527 -0.27324719] [ 0. 0. 0. 1. ]] SLAMing on 46.803133364999994 meters Centerline goodness : 0.042163 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 0.99946253 0.00456696 -0.03246219 -0.20666073] [-0.0045281 0.99998894 0.00127061 0.05522228] [ 0.03246764 -0.00112293 0.99947216 -0.27303616] [ 0. 0. 0. 1. ]] SLAMing on 46.833133364999995 meters Centerline goodness : 0.098421 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 9.99463018e-01 4.43892156e-03 -3.24649169e-02 -2.06493002e-01] [-4.41344832e-03 9.99989894e-01 8.56257072e-04 5.75639419e-02] [ 3.24683897e-02 -7.12515045e-04 9.99472509e-01 -2.73226512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863133364999996 meters Centerline goodness : 0.098421 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 9.99463018e-01 4.43892156e-03 -3.24649169e-02 -2.06493002e-01] [-4.41344832e-03 9.99989894e-01 8.56257072e-04 5.75639419e-02] [ 3.24683897e-02 -7.12515045e-04 9.99472509e-01 -2.73226512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.893133365 meters Centerline goodness : 0.088619 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.06, Z:-0.27 [[ 9.99465205e-01 4.23007677e-03 -3.24254616e-02 -2.06539135e-01] [-4.22111405e-03 9.99991032e-01 3.44858824e-04 5.99946976e-02] [ 3.24266296e-02 -2.07802824e-04 9.99474097e-01 -2.73295638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 46.95313336499999 meters Centerline goodness : 0.111563 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 9.99477174e-01 3.76618411e-03 -3.21122210e-02 -2.07981134e-01] [-3.79307770e-03 9.99992505e-01 -7.76611117e-04 6.71237342e-02] [ 3.21090554e-02 8.98009233e-04 9.99483968e-01 -2.72363956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98313336499999 meters Centerline goodness : 0.151717 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 0.9994939 0.00336145 -0.03163307 -0.2096352 ] [-0.00340842 0.99999317 -0.00143101 0.07006342] [ 0.03162804 0.00153811 0.99949852 -0.27158246] [ 0. 0. 0. 1. ]] SLAMing on 47.013133364999995 meters Centerline goodness : 0.108740 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 0.99949906 0.00317049 -0.03148947 -0.21016894] [-0.00322781 0.99999322 -0.00176969 0.07150978] [ 0.03148365 0.00187045 0.99950252 -0.27129503] [ 0. 0. 0. 1. ]] SLAMing on 47.043133364999996 meters Centerline goodness : 0.130124 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.07, Z:-0.27 [[ 0.99949797 0.00299826 -0.0315406 -0.21007463] [-0.00306684 0.99999304 -0.00212606 0.07320727] [ 0.03153401 0.00222172 0.99950021 -0.27127053] [ 0. 0. 0. 1. ]] SLAMing on 47.073133365 meters Centerline goodness : 0.151889 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.08, Z:-0.27 [[ 0.99948885 0.00272431 -0.0318532 -0.20868904] [-0.00281813 0.99999182 -0.00290077 0.07760542] [ 0.03184504 0.00298905 0.99948835 -0.2721408 ] [ 0. 0. 0. 1. ]] SLAMing on 47.103133365 meters Centerline goodness : 0.122847 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.09, Z:-0.27 [[ 0.9993927 -0.00360036 -0.03465931 -0.19058738] [ 0.00352505 0.99999129 -0.00223369 0.08501393] [ 0.03466705 0.00211016 0.99939669 -0.26937724] [ 0. 0. 0. 1. ]] SLAMing on 47.13313336499999 meters Centerline goodness : 0.128293 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.09, Z:-0.27 [[ 0.99938749 -0.0038307 -0.03478451 -0.19015632] [ 0.00373359 0.99998895 -0.00285635 0.08827358] [ 0.03479507 0.00272473 0.99939075 -0.2695316 ] [ 0. 0. 0. 1. ]] SLAMing on 47.16313336499999 meters Centerline goodness : 0.124260 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.09, Z:-0.27 [[ 9.99397167e-01 -2.87992084e-04 -3.47162598e-02 -1.90346736e-01] [ 2.83025620e-04 9.99999949e-01 -1.47972936e-04 9.38149112e-02] [ 3.47163007e-02 1.38058142e-04 9.99397198e-01 -2.69489322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.193133364999994 meters Centerline goodness : 0.127433 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.09, Z:-0.27 [[ 0.9994131 0.00818733 -0.03326291 -0.16972068] [-0.00822948 0.9999655 -0.00113036 0.09424369] [ 0.03325251 0.00140343 0.999446 -0.26867581] [ 0. 0. 0. 1. ]] SLAMing on 47.223133364999995 meters Centerline goodness : 0.144747 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.10, Z:-0.27 [[ 9.99493050e-01 2.29950222e-03 -3.17546233e-02 -1.92233274e-01] [-2.27309001e-03 9.99997040e-01 8.67834190e-04 1.03787909e-01] [ 3.17565249e-02 -7.95213123e-04 9.99495318e-01 -2.69941651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.253133365 meters Centerline goodness : 0.124716 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.11, Z:-0.27 [[ 0.99948652 0.00566877 -0.03153665 -0.19225741] [-0.00556838 0.99997915 0.00327024 0.11058889] [ 0.03155453 -0.00309295 0.99949725 -0.27053126] [ 0. 0. 0. 1. ]] SLAMing on 47.283133365 meters Centerline goodness : 0.124453 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.12, Z:-0.27 [[ 0.99948362 -0.00202253 -0.03206865 -0.20992535] [ 0.00215775 0.99998892 0.00418268 0.12030369] [ 0.03205983 -0.00424972 0.99947692 -0.27326424] [ 0. 0. 0. 1. ]] SLAMing on 47.31313336499999 meters Centerline goodness : 0.154696 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99946313 -0.00245288 -0.03267172 -0.20781497] [ 0.00255659 0.99999182 0.00313292 0.12587477] [ 0.03266377 -0.00321477 0.99946123 -0.27432177] [ 0. 0. 0. 1. ]] SLAMing on 47.34313336499999 meters Centerline goodness : 0.153604 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99945926 -0.00258321 -0.0327798 -0.20748523] [ 0.00267935 0.99999224 0.00288917 0.1271497 ] [ 0.03277209 -0.00297543 0.99945842 -0.27443523] [ 0. 0. 0. 1. ]] SLAMing on 47.373133364999994 meters Centerline goodness : 0.146593 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99946535 -0.00272614 -0.03258199 -0.20810202] [ 0.00281621 0.99999234 0.00271901 0.12783706] [ 0.03257433 -0.00280931 0.99946537 -0.27425399] [ 0. 0. 0. 1. ]] SLAMing on 47.403133364999995 meters Centerline goodness : 0.148865 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99949225 -0.00351826 -0.03166805 -0.21061595] [ 0.00358138 0.99999171 0.00193678 0.12942408] [ 0.03166097 -0.00204921 0.99949657 -0.27374058] [ 0. 0. 0. 1. ]] SLAMing on 47.433133364999996 meters Centerline goodness : 0.116330 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99949064 -0.00364345 -0.03170468 -0.21035743] [ 0.00370348 0.99999146 0.00183513 0.12953999] [ 0.03169772 -0.00195162 0.9994956 -0.27403514] [ 0. 0. 0. 1. ]] SLAMing on 47.463133365 meters Centerline goodness : 0.142265 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99948129 -0.00372116 -0.03198916 -0.20923802] [ 0.00377982 0.99999128 0.00177341 0.1296985 ] [ 0.03198228 -0.0018934 0.99948664 -0.27470698] [ 0. 0. 0. 1. ]] SLAMing on 47.49313336499999 meters Centerline goodness : 0.144872 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.28 [[ 0.99948139 -0.00383325 -0.0319728 -0.20903322] [ 0.00388592 0.99999119 0.0015853 0.13059279] [ 0.03196644 -0.00170872 0.99948748 -0.27511904] [ 0. 0. 0. 1. ]] SLAMing on 47.52313336499999 meters Centerline goodness : 0.167688 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99948663 -0.00387395 -0.03180361 -0.20980489] [ 0.00392242 0.99999124 0.00146181 0.13134694] [ 0.03179766 -0.00158581 0.99949307 -0.27455566] [ 0. 0. 0. 1. ]] SLAMing on 47.553133364999994 meters Centerline goodness : 0.148135 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 0.99948986 -0.00391003 -0.03169763 -0.21044122] [ 0.00395289 0.99999136 0.00128976 0.13242426] [ 0.03169231 -0.00141439 0.99949667 -0.27391528] [ 0. 0. 0. 1. ]] SLAMing on 47.583133364999995 meters Centerline goodness : 0.147941 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.13, Z:-0.27 [[ 9.99492848e-01 -4.06879449e-03 -3.15830920e-02 -2.11209106e-01] [ 4.09623470e-03 9.99991287e-01 8.04172278e-04 1.34890545e-01] [ 3.15795448e-02 -9.33136198e-04 9.99500806e-01 -2.73139410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.613133364999996 meters Centerline goodness : 0.149984 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99488608e-01 -4.10752431e-03 -3.17119877e-02 -2.10694395e-01] [ 4.12962159e-03 9.99991274e-01 6.31346899e-04 1.35901999e-01] [ 3.17091177e-02 -7.61982543e-04 9.99496849e-01 -2.73474911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643133365 meters Centerline goodness : 0.145167 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99483450e-01 -4.10529511e-03 -3.18744484e-02 -2.10167382e-01] [ 4.12392137e-03 9.99991362e-01 5.18644625e-04 1.36898067e-01] [ 3.18720439e-02 -6.49824438e-04 9.99491746e-01 -2.73668456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.673133365 meters Centerline goodness : 0.147443 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99497870e-01 -3.98857589e-04 -3.16835608e-02 -2.10526092e-01] [ 5.24993812e-04 9.99991970e-01 3.97290606e-03 1.38508500e-01] [ 3.16817218e-02 -3.98754482e-03 9.99490054e-01 -2.73838431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70313336499999 meters Centerline goodness : 0.118426 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99503564e-01 -5.27420355e-04 -3.15015545e-02 -2.11281550e-01] [ 6.40382415e-04 9.99993401e-01 3.57593882e-03 1.40591419e-01] [ 3.14994606e-02 -3.59433663e-03 9.99497306e-01 -2.73334409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73313336499999 meters Centerline goodness : 0.149442 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.14, Z:-0.27 [[ 9.99508794e-01 -7.08485087e-04 -3.13315979e-02 -2.11966143e-01] [ 8.06416978e-04 9.99994829e-01 3.11313319e-03 1.42884214e-01] [ 3.13292303e-02 -3.13687034e-03 9.99504197e-01 -2.72889960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.763133364999995 meters Centerline goodness : 0.150559 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 9.99524654e-01 -8.78458998e-04 -3.08171211e-02 -2.14042685e-01] [ 9.50096302e-04 9.99996881e-01 2.31002824e-03 1.48745354e-01] [ 3.08149957e-02 -2.33820941e-03 9.99522370e-01 -2.71680126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.793133364999996 meters Centerline goodness : 0.134422 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 0.99952722 -0.00103566 -0.03072882 -0.21438021] [ 0.00109221 0.99999774 0.00182375 0.15152425] [ 0.03072686 -0.00185645 0.99952609 -0.27148141] [ 0. 0. 0. 1. ]] SLAMing on 47.823133365 meters Centerline goodness : 0.146320 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 0.99952511 -0.00124779 -0.03078951 -0.21415134] [ 0.00128562 0.99999844 0.00120892 0.15480448] [ 0.03078795 -0.00124793 0.99952516 -0.27155614] [ 0. 0. 0. 1. ]] SLAMing on 47.853133365 meters Centerline goodness : 0.139884 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 9.99523512e-01 -1.80010483e-03 -3.08141132e-02 -2.13998235e-01] [ 1.79715661e-03 9.99998378e-01 -1.23372817e-04 1.61798565e-01] [ 3.08142853e-02 6.79362438e-05 9.99525125e-01 -2.71651993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88313336499999 meters Centerline goodness : 0.146258 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.16, Z:-0.27 [[ 0.99952008 0.00551385 -0.03048289 -0.19530046] [-0.00557369 0.9999827 -0.00187841 0.16102037] [ 0.030472 0.00204742 0.99953352 -0.26963631] [ 0. 0. 0. 1. ]] SLAMing on 47.91313336499999 meters Centerline goodness : 0.144841 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.16, Z:-0.27 [[ 0.99952097 0.0052557 -0.03049946 -0.19516033] [-0.00533309 0.99998276 -0.0024566 0.16394034] [ 0.03048602 0.00261808 0.99953176 -0.269759 ] [ 0. 0. 0. 1. ]] SLAMing on 47.943133364999994 meters Centerline goodness : 0.148455 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.999512 0.00487191 -0.03085481 -0.19361698] [-0.00497347 0.99998246 -0.00321544 0.16809936] [ 0.0308386 0.00336732 0.99951871 -0.27069673] [ 0. 0. 0. 1. ]] SLAMing on 47.973133364999995 meters Centerline goodness : 0.146673 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99950881 0.00468765 -0.03098637 -0.19298096] [-0.00479851 0.99998235 -0.00350444 0.16929869] [ 0.03096939 0.00365141 0.99951366 -0.27119722] [ 0. 0. 0. 1. ]] SLAMing on 48.003133365 meters Centerline goodness : 0.137371 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99949511 -0.00505438 -0.03136844 -0.17071489] [ 0.00494326 0.99998123 -0.00361883 0.17407917] [ 0.03138614 0.00346194 0.99950134 -0.27026636] [ 0. 0. 0. 1. ]] SLAMing on 48.033133365 meters Centerline goodness : 0.137398 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99949721 -0.00511891 -0.0312911 -0.17062833] [ 0.0050052 0.99998059 -0.00371113 0.17451678] [ 0.03130949 0.00355264 0.99950342 -0.27067403] [ 0. 0. 0. 1. ]] SLAMing on 48.06313336499999 meters Centerline goodness : 0.125424 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99949547 0.00363884 -0.03155258 -0.19086281] [-0.0037934 0.99998109 -0.00484003 0.17242643] [ 0.03153437 0.00495728 0.99949037 -0.27271494] [ 0. 0. 0. 1. ]] SLAMing on 48.09313336499999 meters Centerline goodness : 0.133358 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99949043 0.00352691 -0.03172443 -0.19011066] [-0.00368222 0.99998151 -0.00483852 0.17200121] [ 0.03170678 0.00495287 0.99948494 -0.27331428] [ 0. 0. 0. 1. ]] SLAMing on 48.123133364999994 meters Centerline goodness : 0.134903 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.99948792 0.00355692 -0.03180007 -0.18970737] [-0.00370809 0.9999821 -0.00469619 0.17124061] [ 0.0317828 0.0048117 0.99948322 -0.27371119] [ 0. 0. 0. 1. ]] SLAMing on 48.153133364999995 meters Centerline goodness : 0.136709 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99947072 -0.00473438 -0.03218472 -0.16797223] [ 0.00463413 0.99998418 -0.0031886 0.1723049 ] [ 0.03219931 0.00303777 0.99947685 -0.27250284] [ 0. 0. 0. 1. ]] SLAMing on 48.183133364999996 meters Centerline goodness : 0.135700 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.9994535 0.00395139 -0.03281916 -0.18806186] [-0.00409388 0.99998248 -0.00427564 0.16829714] [ 0.03280169 0.00440766 0.99945216 -0.27457865] [ 0. 0. 0. 1. ]] SLAMing on 48.213133365 meters Centerline goodness : 0.136174 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.17, Z:-0.27 [[ 0.9994561 0.00398866 -0.03273536 -0.18812393] [-0.00412419 0.9999832 -0.00407372 0.16681059] [ 0.03271856 0.00420651 0.99945575 -0.27483825] [ 0. 0. 0. 1. ]] SLAMing on 48.24313336499999 meters Centerline goodness : 0.133611 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99946206 0.00417407 -0.03252947 -0.18913136] [-0.00429644 0.99998395 -0.00369288 0.16483006] [ 0.03251354 0.00383066 0.99946395 -0.27414772] [ 0. 0. 0. 1. ]] SLAMing on 48.27313336499999 meters Centerline goodness : 0.136964 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99946035 0.00430667 -0.0325648 -0.18924111] [-0.00442431 0.99998394 -0.00354142 0.16444944] [ 0.03254903 0.00368359 0.99946335 -0.27383386] [ 0. 0. 0. 1. ]] SLAMing on 48.303133364999994 meters Centerline goodness : 0.139170 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99945473 0.00444123 -0.03271885 -0.18896854] [-0.00455396 0.99998395 -0.00337153 0.16388694] [ 0.03270335 0.0035187 0.99945891 -0.27371805] [ 0. 0. 0. 1. ]] SLAMing on 48.333133364999995 meters Centerline goodness : 0.139134 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.16, Z:-0.27 [[ 0.99943644 0.00473889 -0.03323163 -0.18779617] [-0.00484003 0.9999839 -0.00296368 0.16236989] [ 0.03321705 0.00312285 0.99944328 -0.27366119] [ 0. 0. 0. 1. ]] SLAMing on 48.363133364999996 meters Centerline goodness : 0.141141 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99947657 -0.00347404 -0.03216402 -0.16827117] [ 0.00342467 0.99999287 -0.00159008 0.16401376] [ 0.03216931 0.0014791 0.99948134 -0.27224499] [ 0. 0. 0. 1. ]] SLAMing on 48.393133365 meters Centerline goodness : 0.141417 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99949768 -0.00338226 -0.03151093 -0.17068068] [ 0.00333634 0.99999329 -0.00150978 0.16350313] [ 0.03151582 0.00140389 0.99950227 -0.2709972 ] [ 0. 0. 0. 1. ]] SLAMing on 48.423133365 meters Centerline goodness : 0.118534 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99950968 -0.00334663 -0.03113187 -0.17197841] [ 0.00329886 0.9999933 -0.00158587 0.16428186] [ 0.03113697 0.0014824 0.99951403 -0.27039875] [ 0. 0. 0. 1. ]] SLAMing on 48.45313336499999 meters Centerline goodness : 0.119400 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99951766 -0.00331511 -0.03087794 -0.17279088] [ 0.0032663 0.99999334 -0.00163107 0.1649432 ] [ 0.03088315 0.00152943 0.99952183 -0.27014252] [ 0. 0. 0. 1. ]] SLAMing on 48.48313336499999 meters Centerline goodness : 0.136504 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99952369 -0.00341529 -0.03067116 -0.17336837] [ 0.00336451 0.99999288 -0.00170702 0.16474367] [ 0.03067678 0.00160301 0.99952807 -0.27007786] [ 0. 0. 0. 1. ]] SLAMing on 48.513133364999995 meters Centerline goodness : 0.125797 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99951912 -0.00346345 -0.0308145 -0.17287443] [ 0.00341239 0.99999272 -0.00170943 0.16444644] [ 0.03082019 0.00160345 0.99952366 -0.27033978] [ 0. 0. 0. 1. ]] SLAMing on 48.543133364999996 meters Centerline goodness : 0.131966 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99951227 -0.00348717 -0.03103316 -0.17217249] [ 0.00343566 0.99999263 -0.00171325 0.16440105] [ 0.03103891 0.0016058 0.99951689 -0.27063736] [ 0. 0. 0. 1. ]] SLAMing on 48.573133365 meters Centerline goodness : 0.134219 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99951045 -0.00361564 -0.03107706 -0.17214362] [ 0.00355348 0.99999157 -0.00205513 0.16630532] [ 0.03108423 0.00194369 0.99951488 -0.27049912] [ 0. 0. 0. 1. ]] SLAMing on 48.603133365 meters Centerline goodness : 0.117263 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.17, Z:-0.27 [[ 0.99951151 -0.00371471 -0.03103144 -0.17250606] [ 0.0036431 0.99999057 -0.00236363 0.16792667] [ 0.03103993 0.00224943 0.99951561 -0.2700611 ] [ 0. 0. 0. 1. ]] SLAMing on 48.63313336499999 meters Centerline goodness : 0.130428 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.17, Z:-0.27 [[ 9.99554293e-01 -1.47855899e-03 -2.98165951e-02 -1.77701759e-01] [ 1.45567708e-03 9.99998629e-01 -7.89114000e-04 1.73248400e-01] [ 2.98177209e-02 7.45358953e-04 9.99555075e-01 -2.67433342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66313336499999 meters Centerline goodness : 0.115814 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.17, Z:-0.27 [[ 0.99957906 0.00665547 -0.02823853 -0.15771571] [-0.00670659 0.99997604 -0.00171602 0.17211529] [ 0.02822643 0.00190468 0.99959974 -0.26658696] [ 0. 0. 0. 1. ]] SLAMing on 48.693133364999994 meters Centerline goodness : 0.134556 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99958469 0.00648751 -0.02807769 -0.15804408] [-0.00655358 0.99997597 -0.00226194 0.17521127] [ 0.02806234 0.00244501 0.99960318 -0.26661226] [ 0. 0. 0. 1. ]] SLAMing on 48.723133364999995 meters Centerline goodness : 0.150971 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99958495 0.00626847 -0.02811838 -0.15767119] [-0.00634992 0.99997589 -0.00280865 0.17794511] [ 0.0281001 0.00298603 0.99960065 -0.26695651] [ 0. 0. 0. 1. ]] SLAMing on 48.753133365 meters Centerline goodness : 0.150971 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99958495 0.00626847 -0.02811838 -0.15767119] [-0.00634992 0.99997589 -0.00280865 0.17794511] [ 0.0281001 0.00298603 0.99960065 -0.26695651] [ 0. 0. 0. 1. ]] SLAMing on 48.783133365 meters Centerline goodness : 0.134374 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.18, Z:-0.27 [[ 0.99957519 0.00600476 -0.02851991 -0.15572703] [-0.00610399 0.99997561 -0.0033936 0.18092493] [ 0.02849884 0.00356624 0.99958746 -0.26844186] [ 0. 0. 0. 1. ]] SLAMing on 48.81313336499999 meters Centerline goodness : 0.152322 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99956645 0.00595734 -0.02883436 -0.1547283 ] [-0.00605979 0.99997563 -0.00346704 0.18150481] [ 0.02881301 0.00364026 0.99957819 -0.2688373 ] [ 0. 0. 0. 1. ]] SLAMing on 48.84313336499999 meters Centerline goodness : 0.145465 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99954911 -0.00172969 -0.02997648 -0.17334277] [ 0.00166324 0.9999961 -0.00224155 0.1877802 ] [ 0.02998024 0.00219068 0.99954809 -0.27074933] [ 0. 0. 0. 1. ]] SLAMing on 48.873133364999994 meters Centerline goodness : 0.153578 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99952245 -0.00198705 -0.0308371 -0.17060664] [ 0.00191242 0.99999517 -0.0024492 0.18832939] [ 0.03084182 0.00238905 0.99952142 -0.27183503] [ 0. 0. 0. 1. ]] SLAMing on 48.903133364999995 meters Centerline goodness : 0.122588 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99951391 -0.0020586 -0.03110801 -0.16961394] [ 0.0019809 0.99999484 -0.00252817 0.1884783 ] [ 0.03111305 0.00246532 0.99951283 -0.27235731] [ 0. 0. 0. 1. ]] SLAMing on 48.933133364999996 meters Centerline goodness : 0.093382 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 9.99550288e-01 -5.10894839e-04 -2.99826751e-02 -1.74258620e-01] [ 4.74028847e-04 9.99999123e-01 -1.23667152e-03 1.89299188e-01] [ 2.99832806e-02 1.22190273e-03 9.99549654e-01 -2.70089072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 48.99313336499999 meters Centerline goodness : 0.132455 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.19, Z:-0.27 [[ 0.9995923 0.00843057 -0.02727933 -0.15527578] [-0.00848035 0.99996258 -0.00170954 0.1904622 ] [ 0.02726389 0.00194018 0.99962639 -0.26861843] [ 0. 0. 0. 1. ]] SLAMing on 49.02313336499999 meters Centerline goodness : 0.179708 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.20, Z:-0.27 [[ 0.99957749 0.00882323 -0.0276947 -0.15417943] [-0.00888774 0.99995807 -0.00220718 0.19595042] [ 0.02767406 0.0024524 0.99961399 -0.26852883] [ 0. 0. 0. 1. ]] SLAMing on 49.053133364999994 meters Centerline goodness : 0.133394 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 9.99579156e-01 2.02229844e-03 -2.89382294e-02 -1.33971140e-01] [-2.03383494e-03 9.99997864e-01 -3.69231271e-04 2.02343677e-01] [ 2.89374209e-02 4.27931465e-04 9.99581134e-01 -2.66405957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083133364999995 meters Centerline goodness : 0.136554 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.21, Z:-0.27 [[ 9.99567847e-01 2.03657536e-03 -2.93252559e-02 -1.33030884e-01] [-2.06130354e-03 9.99997545e-01 -8.13032432e-04 2.05345853e-01] [ 2.93235281e-02 8.73129332e-04 9.99569592e-01 -2.66395143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.113133364999996 meters Centerline goodness : 0.155327 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.21, Z:-0.27 [[ 0.99955583 0.0021718 -0.02972237 -0.13229317] [-0.00221535 0.99999652 -0.00143228 0.21095859] [ 0.02971916 0.00149749 0.99955717 -0.2659988 ] [ 0. 0. 0. 1. ]] SLAMing on 49.143133365 meters Centerline goodness : 0.139279 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.22, Z:-0.27 [[ 9.99605166e-01 -4.49472445e-03 -2.77364380e-02 -1.51146468e-01] [ 4.47355172e-03 9.99989653e-01 -8.25359698e-04 2.19281333e-01] [ 2.77398608e-02 7.00953428e-04 9.99614930e-01 -2.68258881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.173133365 meters Centerline goodness : 0.138806 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99966744 0.00309029 -0.02560192 -0.13231745] [-0.00315017 0.9999924 -0.00229875 0.215992 ] [ 0.02559462 0.00237864 0.99966957 -0.26732494] [ 0. 0. 0. 1. ]] SLAMing on 49.20313336499999 meters Centerline goodness : 0.145187 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99967409 0.00301781 -0.02534987 -0.13328119] [-0.00308271 0.99999207 -0.00252132 0.21705945] [ 0.02534206 0.00259864 0.99967546 -0.2667653 ] [ 0. 0. 0. 1. ]] SLAMing on 49.23313336499999 meters Centerline goodness : 0.131792 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.22, Z:-0.26 [[ 0.99968655 -0.00595957 -0.02431626 -0.11394215] [ 0.00591776 0.99998089 -0.00179097 0.22301741] [ 0.02432647 0.00164651 0.99970271 -0.26489713] [ 0. 0. 0. 1. ]] SLAMing on 49.263133364999995 meters Centerline goodness : 0.134153 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.9997119 0.00247775 -0.02387403 -0.13288199] [-0.00253904 0.99999356 -0.00253709 0.21856969] [ 0.02386759 0.00259698 0.99971176 -0.26653613] [ 0. 0. 0. 1. ]] SLAMing on 49.293133364999996 meters Centerline goodness : 0.135775 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99972328 0.00221219 -0.02341948 -0.13430117] [-0.00228228 0.999993 -0.00296619 0.22048796] [ 0.02341275 0.00301882 0.99972133 -0.26596274] [ 0. 0. 0. 1. ]] SLAMing on 49.323133365 meters Centerline goodness : 0.177236 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.22, Z:-0.27 [[ 0.99972819 0.00207847 -0.02322139 -0.13512866] [-0.00215365 0.99999252 -0.00321296 0.22172255] [ 0.02321454 0.0032621 0.99972518 -0.26540947] [ 0. 0. 0. 1. ]] SLAMing on 49.353133365 meters Centerline goodness : 0.133696 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.22, Z:-0.27 [[ 0.99973133 0.00194351 -0.02309746 -0.13554711] [-0.00202438 0.9999919 -0.00347841 0.22297526] [ 0.02309052 0.00352424 0.99972717 -0.26521923] [ 0. 0. 0. 1. ]] SLAMing on 49.38313336499999 meters Centerline goodness : 0.091657 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.22, Z:-0.27 [[ 0.99972289 0.00172727 -0.02347663 -0.13419786] [-0.00181787 0.99999098 -0.00383856 0.22467233] [ 0.02346979 0.00388017 0.99971702 -0.26590317] [ 0. 0. 0. 1. ]] SLAMing on 49.41313336499999 meters Centerline goodness : 0.161233 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.23, Z:-0.27 [[ 0.99971787 0.00166373 -0.02369431 -0.13339093] [-0.00175842 0.99999055 -0.00397606 0.22562702] [ 0.02368747 0.00401661 0.99971134 -0.26631372] [ 0. 0. 0. 1. ]] SLAMing on 49.443133364999994 meters Centerline goodness : 0.090848 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.23, Z:-0.27 [[ 0.99971459 0.00160033 -0.02383663 -0.13290502] [-0.00170005 0.99998989 -0.00416369 0.22680509] [ 0.02382972 0.00420303 0.9997072 -0.26649572] [ 0. 0. 0. 1. ]] SLAMing on 49.473133364999995 meters Centerline goodness : 0.154436 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.24, Z:-0.27 [[ 0.99964337 0.00301748 -0.02653342 -0.17612947] [-0.00314633 0.99998345 -0.00481605 0.23517457] [ 0.02651845 0.00489781 0.99963633 -0.26690272] [ 0. 0. 0. 1. ]] SLAMing on 49.503133365 meters Centerline goodness : 0.133216 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.24, Z:-0.27 [[ 0.99967577 0.00240323 -0.02534922 -0.13210553] [-0.00251511 0.99998723 -0.0043827 0.23519586] [ 0.02533836 0.00444503 0.99966905 -0.26627113] [ 0. 0. 0. 1. ]] SLAMing on 49.533133365 meters Centerline goodness : 0.089997 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.24, Z:-0.27 [[ 0.99966074 0.00619384 -0.02529895 -0.13221698] [-0.00622883 0.99997975 -0.00130428 0.23983423] [ 0.02529035 0.00146142 0.99967908 -0.26614386] [ 0. 0. 0. 1. ]] SLAMing on 49.56313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 49.59313336499999 meters Centerline goodness : 0.137852 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.25, Z:-0.27 [[ 9.99664777e-01 8.42332537e-03 -2.44822612e-02 -1.35107562e-01] [-8.43409240e-03 9.99964376e-01 -3.36562025e-04 2.47839237e-01] [ 2.44785541e-02 5.42934855e-04 9.99700208e-01 -2.65358306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.623133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 49.653133364999995 meters Centerline goodness : 0.134064 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.26, Z:-0.27 [[ 9.99653688e-01 1.05602270e-02 -2.41036256e-02 -1.36665135e-01] [-1.05655648e-02 9.99944178e-01 -9.41092770e-05 2.58608388e-01] [ 2.41012863e-02 3.48745105e-04 9.99709461e-01 -2.65305748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683133364999996 meters Centerline goodness : 0.197057 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.27, Z:-0.26 [[ 0.99961969 0.01359895 -0.0239907 -0.13767467] [-0.01356829 0.99990691 0.00144069 0.26719919] [ 0.02400806 -0.00111463 0.99971114 -0.26496886] [ 0. 0. 0. 1. ]] SLAMing on 49.713133365 meters Centerline goodness : 0.104075 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.27, Z:-0.27 [[ 9.99612839e-01 1.36489494e-02 -2.42461868e-02 -1.37187734e-01] [-1.36329077e-02 9.99906726e-01 8.26801972e-04 2.70687511e-01] [ 2.42552102e-02 -4.95935841e-04 9.99705676e-01 -2.65151218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74313336499999 meters Centerline goodness : 0.162731 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.27, Z:-0.27 [[ 9.99607621e-01 1.37268108e-02 -2.44167572e-02 -1.36877848e-01] [-1.37256482e-02 9.99905776e-01 2.15215167e-04 2.74059420e-01] [ 2.44174108e-02 1.20005098e-04 9.99701843e-01 -2.65432034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77313336499999 meters Centerline goodness : 0.139089 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.28, Z:-0.27 [[ 9.99574282e-01 1.62447999e-02 -2.42355530e-02 -1.38122864e-01] [-1.62235159e-02 9.99867813e-01 1.07459077e-03 2.83111824e-01] [ 2.42498059e-02 -6.80947421e-04 9.99705698e-01 -2.65247390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.803133364999994 meters Centerline goodness : 0.178469 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.29, Z:-0.27 [[ 9.99702198e-01 6.97984396e-03 -2.33836758e-02 -1.56060029e-01] [-6.96121122e-03 9.99975385e-01 8.78133405e-04 2.93372422e-01] [ 2.33892294e-02 -7.15093189e-04 9.99726179e-01 -2.66682210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.833133364999995 meters Centerline goodness : 0.091235 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.30, Z:-0.27 [[ 9.99694048e-01 6.70250587e-03 -2.38093651e-02 -1.55130080e-01] [-6.70777912e-03 9.99977493e-01 -1.41618359e-04 2.99032207e-01] [ 2.38078800e-02 3.01282992e-04 9.99716507e-01 -2.66540670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863133364999996 meters Centerline goodness : 0.146486 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.30, Z:-0.27 [[ 9.99743526e-01 6.00492763e-03 -2.18362673e-02 -1.12427596e-01] [-5.99195296e-03 9.99981831e-01 6.59560795e-04 2.99835726e-01] [ 2.18398311e-02 -5.28549749e-04 9.99761343e-01 -2.65723544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.893133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 49.923133365 meters Centerline goodness : 0.092815 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.30, Z:-0.27 [[ 9.99735791e-01 5.78438571e-03 -2.22460893e-02 -1.11023838e-01] [-5.79055901e-03 9.99983212e-01 -2.13093418e-04 3.04730208e-01] [ 2.22444832e-02 3.41854410e-04 9.99752502e-01 -2.66319809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95313336499999 meters Centerline goodness : 0.154637 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.31, Z:-0.27 [[ 9.99733084e-01 5.67495723e-03 -2.23954254e-02 -1.10463116e-01] [-5.68888255e-03 9.99983662e-01 -5.58131193e-04 3.06490885e-01] [ 2.23918922e-02 6.85387164e-04 9.99749035e-01 -2.66666415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98313336499999 meters Centerline goodness : 0.183053 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.31, Z:-0.27 [[ 9.99732190e-01 5.66912864e-03 -2.24367949e-02 -1.10480651e-01] [-5.68841865e-03 9.99983504e-01 -7.96018952e-04 3.08161185e-01] [ 2.24319121e-02 9.23435653e-04 9.99747947e-01 -2.66490072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.013133364999995 meters Centerline goodness : 0.145203 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99795253e-01 -1.05439048e-04 -2.02346666e-02 -8.96173069e-02] [ 1.57986295e-04 9.99996620e-01 2.59531115e-03 3.10783791e-01] [ 2.02343246e-02 -2.59797657e-03 9.99791890e-01 -2.66623873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043133364999996 meters Centerline goodness : 0.144495 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99795368e-01 -1.98028260e-04 -2.02282714e-02 -8.97549386e-02] [ 2.46158272e-04 9.99997145e-01 2.37688157e-03 3.11458799e-01] [ 2.02277430e-02 -2.38137454e-03 9.99792562e-01 -2.66530631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.073133365 meters Centerline goodness : 0.140088 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99793525e-01 -1.03177884e-04 -2.03198609e-02 -8.94476417e-02] [ 1.48316527e-04 9.99997525e-01 2.21991062e-03 3.12367379e-01] [ 2.03195816e-02 -2.22246603e-03 9.99791066e-01 -2.66735688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103133365 meters Centerline goodness : 0.108874 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.31, Z:-0.27 [[ 9.99791778e-01 5.11623096e-05 -2.04058560e-02 -8.90843024e-02] [-4.61028911e-06 9.99997398e-01 2.28134744e-03 3.12751397e-01] [ 2.04059196e-02 -2.28077833e-03 9.99789176e-01 -2.67021121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13313336499999 meters Centerline goodness : 0.155422 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 0.99974811 0.00749546 -0.02115499 -0.06939625] [-0.00746155 0.99997075 0.0016815 0.30823237] [ 0.02116697 -0.00152323 0.99977479 -0.2652287 ] [ 0. 0. 0. 1. ]] SLAMing on 50.16313336499999 meters Centerline goodness : 0.190870 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 9.99765344e-01 4.95880673e-03 -2.10871487e-02 -6.95464803e-02] [-4.98047996e-03 9.99987122e-01 -9.75399237e-04 3.06637679e-01] [ 2.10820403e-02 1.08019447e-03 9.99777166e-01 -2.65308149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.193133364999994 meters Centerline goodness : 0.146044 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 9.99765409e-01 4.99888348e-03 -2.10745936e-02 -6.96100922e-02] [-5.01856406e-03 9.99987019e-01 -8.81068642e-04 3.05757331e-01] [ 2.10699156e-02 9.86626149e-04 9.99777518e-01 -2.65336607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223133364999995 meters Centerline goodness : 0.150288 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.31, Z:-0.27 [[ 9.99760947e-01 5.12358835e-03 -2.12555494e-02 -6.91745072e-02] [-5.14007925e-03 9.99986530e-01 -7.21278502e-04 3.05077730e-01] [ 2.12515676e-02 8.30361287e-04 9.99773815e-01 -2.65425672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.253133365 meters Centerline goodness : 0.147866 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99752965e-01 5.30917381e-03 -2.15828883e-02 -6.82144512e-02] [-5.32224308e-03 9.99985687e-01 -5.48141819e-04 3.04630208e-01] [ 2.15796692e-02 6.62875787e-04 9.99766912e-01 -2.65766283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283133365 meters Centerline goodness : 0.114617 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99731048e-01 5.92245606e-03 -2.24222208e-02 -6.55961557e-02] [-5.92850646e-03 9.99982406e-01 -2.03375060e-04 3.04188265e-01] [ 2.24206218e-02 3.36250643e-04 9.99748570e-01 -2.66848127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31313336499999 meters Centerline goodness : 0.145786 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99727006e-01 6.00120195e-03 -2.25809350e-02 -6.51704125e-02] [-6.00730645e-03 9.99981935e-01 -2.02513725e-04 3.04158376e-01] [ 2.25793117e-02 3.38109036e-04 9.99744998e-01 -2.67051267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34313336499999 meters Centerline goodness : 0.137723 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99725028e-01 6.53039726e-03 -2.25215850e-02 -6.55967991e-02] [-6.52633668e-03 9.99978671e-01 2.53794160e-04 3.03133172e-01] [ 2.25227620e-02 -1.06740927e-04 9.99746325e-01 -2.66705261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.373133364999994 meters Centerline goodness : 0.114184 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99725416e-01 6.68411422e-03 -2.24591716e-02 -6.58480843e-02] [-6.67465481e-03 9.99977601e-01 4.96119584e-04 3.02011511e-01] [ 2.24619847e-02 -3.46076139e-04 9.99747638e-01 -2.66612899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403133364999995 meters Centerline goodness : 0.152608 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 9.99725513e-01 6.74983547e-03 -2.24352017e-02 -6.57430616e-02] [-6.73484953e-03 9.99977044e-01 7.43457630e-04 3.00345598e-01] [ 2.24397049e-02 -5.92155853e-04 9.99748023e-01 -2.66923101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.433133364999996 meters Centerline goodness : 0.136331 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.30, Z:-0.27 [[ 0.9997403 0.00322803 -0.02255896 -0.06561758] [-0.00328051 0.999992 -0.00228954 0.29698678] [ 0.02255139 0.00236295 0.99974289 -0.26687351] [ 0. 0. 0. 1. ]] SLAMing on 50.463133365 meters Centerline goodness : 0.121733 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.29, Z:-0.27 [[ 0.99974557 0.00340103 -0.02229846 -0.06637784] [-0.00343811 0.99999277 -0.00162451 0.29344229] [ 0.02229278 0.00170077 0.99975004 -0.26657512] [ 0. 0. 0. 1. ]] SLAMing on 50.49313336499999 meters Centerline goodness : 0.126404 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.29, Z:-0.27 [[ 9.99777109e-01 -5.27011848e-03 -2.04440425e-02 -4.63615940e-02] [ 5.26654255e-03 9.99986106e-01 -2.28750151e-04 2.93121642e-01] [ 2.04449640e-02 1.21029745e-04 9.99790973e-01 -2.66219277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52313336499999 meters Centerline goodness : 0.147102 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.28, Z:-0.27 [[ 9.99847144e-01 -2.33040808e-04 -1.74824236e-02 -6.76885714e-02] [ 1.80898353e-04 9.99995531e-01 -2.98408656e-03 2.81301539e-01] [ 1.74830409e-02 2.98046788e-03 9.99842718e-01 -2.67510129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.553133364999994 meters Centerline goodness : 0.145564 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.28, Z:-0.27 [[ 9.99847730e-01 -9.28949007e-05 -1.74501577e-02 -6.80720563e-02] [ 4.94499971e-05 9.99996899e-01 -2.49007179e-03 2.78118459e-01] [ 1.74503349e-02 2.48882972e-03 9.99844634e-01 -2.67060219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583133364999995 meters Centerline goodness : 0.123192 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.28, Z:-0.27 [[ 9.99848804e-01 1.49625848e-04 -1.73880949e-02 -6.83753276e-02] [-1.84084995e-04 9.99998022e-01 -1.98018300e-03 2.75698147e-01] [ 1.73877642e-02 1.98308449e-03 9.99846855e-01 -2.66853313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.613133364999996 meters Centerline goodness : 0.146460 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99850884e-01 8.33667605e-04 -1.72486346e-02 -6.85402899e-02] [-8.50065844e-04 9.99999194e-01 -9.43387912e-04 2.71846972e-01] [ 1.72478342e-02 9.57909713e-04 9.99850786e-01 -2.67103053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643133365 meters Centerline goodness : 0.182299 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99852601e-01 9.61667813e-04 -1.71421067e-02 -6.88002316e-02] [-9.73938845e-04 9.99999275e-01 -7.07507654e-04 2.70514827e-01] [ 1.71414138e-02 7.24098731e-04 9.99852813e-01 -2.67159586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67313336499999 meters Centerline goodness : 0.182299 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99852519e-01 9.59805257e-04 -1.71469711e-02 -6.87980706e-02] [-9.72127417e-04 9.99999275e-01 -7.10299533e-04 2.70517597e-01] [ 1.71462769e-02 7.26863818e-04 9.99852728e-01 -2.67152510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70313336499999 meters Centerline goodness : 0.212976 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99846721e-01 1.34190580e-03 -1.74566390e-02 -6.80428264e-02] [-1.34786385e-03 9.99999037e-01 -3.29544560e-04 2.68522143e-01] [ 1.74561800e-02 3.53023220e-04 9.99847567e-01 -2.67367740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73313336499999 meters Centerline goodness : 0.113435 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99838704e-01 1.57303604e-03 -1.78910849e-02 -6.66558125e-02] [-1.57504870e-03 9.99998755e-01 -9.84048228e-05 2.67704247e-01] [ 1.78909078e-02 1.26568281e-04 9.99839937e-01 -2.68039126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.763133364999995 meters Centerline goodness : 0.223037 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 9.99831573e-01 1.82088128e-03 -1.82622327e-02 -6.53261128e-02] [-1.81829308e-03 9.99998334e-01 1.58327395e-04 2.66847900e-01] [ 1.82624906e-02 -1.25094637e-04 9.99833219e-01 -2.68817459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.793133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 50.823133365 meters Centerline goodness : 0.181636 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.26, Z:-0.27 [[ 9.99830167e-01 2.28733645e-03 -1.82867682e-02 -6.49304559e-02] [-2.26904853e-03 9.99996905e-01 1.02074906e-03 2.62534389e-01] [ 1.82890464e-02 -9.79082140e-04 9.99832262e-01 -2.69412390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.853133365 meters Centerline goodness : 0.094219 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983233 0.00241484 -0.01815156 -0.06530922] [-0.00239062 0.99999622 0.00135597 0.26070684] [ 0.01815477 -0.00131235 0.99983433 -0.26932915] [ 0. 0. 0. 1. ]] SLAMing on 50.88313336499999 meters Centerline goodness : 0.209209 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983829 0.00264142 -0.01778823 -0.0662823 ] [-0.00260664 0.99999465 0.00197797 0.25735891] [ 0.01779336 -0.00193128 0.99983982 -0.26915149] [ 0. 0. 0. 1. ]] SLAMing on 50.91313336499999 meters Centerline goodness : 0.105935 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983787 0.00275283 -0.01779483 -0.06605186] [-0.00271278 0.99999373 0.00227405 0.25576147] [ 0.01780098 -0.0022254 0.99983907 -0.26945973] [ 0. 0. 0. 1. ]] SLAMing on 50.943133364999994 meters Centerline goodness : 0.134317 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99983088 0.00303069 -0.01813885 -0.06473321] [-0.00297975 0.99999154 0.00283444 0.25301361] [ 0.01814729 -0.00277992 0.99983146 -0.27027299] [ 0. 0. 0. 1. ]] SLAMing on 50.973133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.003133365 meters Centerline goodness : 0.102028 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982206 0.00326446 -0.01857928 -0.06332379] [-0.00320678 0.99998995 0.00313365 0.25181764] [ 0.01858932 -0.00307351 0.99982248 -0.27087896] [ 0. 0. 0. 1. ]] SLAMing on 51.033133365 meters Centerline goodness : 0.094000 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982313 0.00336811 -0.01850327 -0.063719 ] [-0.0033104 0.99998956 0.00314911 0.2518247 ] [ 0.01851368 -0.0030873 0.99982384 -0.27067644] [ 0. 0. 0. 1. ]] SLAMing on 51.06313336499999 meters Centerline goodness : 0.209825 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982262 0.0033997 -0.01852495 -0.06378181] [-0.00334357 0.99998973 0.00306005 0.25248831] [ 0.01853516 -0.00299757 0.99982372 -0.27061264] [ 0. 0. 0. 1. ]] SLAMing on 51.09313336499999 meters Centerline goodness : 0.093871 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99981974 0.00350622 -0.01865975 -0.0633675 ] [-0.00345353 0.99998996 0.00285538 0.25406001] [ 0.01866957 -0.00279042 0.99982181 -0.27098139] [ 0. 0. 0. 1. ]] SLAMing on 51.123133364999994 meters Centerline goodness : 0.079961 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982147 0.00349629 -0.01856896 -0.06360217] [-0.00344526 0.9999902 0.0027795 0.25442631] [ 0.01857849 -0.00271502 0.99982372 -0.27102678] [ 0. 0. 0. 1. ]] SLAMing on 51.153133364999995 meters Centerline goodness : 0.141660 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.25, Z:-0.27 [[ 0.99982549 0.00344982 -0.01835969 -0.06437484] [-0.00340039 0.99999051 0.00272292 0.25455354] [ 0.01836891 -0.00266001 0.99982774 -0.27064717] [ 0. 0. 0. 1. ]] SLAMing on 51.183133364999996 meters Centerline goodness : 0.101485 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983433 0.00345223 -0.01787181 -0.06617938] [-0.00340446 0.99999055 0.00270267 0.25502204] [ 0.01788097 -0.00264138 0.99983663 -0.2697163 ] [ 0. 0. 0. 1. ]] SLAMing on 51.213133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.24313336499999 meters Centerline goodness : 0.135281 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99983214 0.00335269 -0.01801273 -0.06547294] [-0.00330935 0.99999156 0.00243542 0.25661702] [ 0.01802074 -0.0023754 0.99983479 -0.27030021] [ 0. 0. 0. 1. ]] SLAMing on 51.27313336499999 meters Centerline goodness : 0.238464 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.26, Z:-0.27 [[ 0.99982933 0.0032961 -0.01817827 -0.06503861] [-0.00325597 0.9999922 0.00223677 0.25784676] [ 0.0181855 -0.0021772 0.99983226 -0.27039737] [ 0. 0. 0. 1. ]] SLAMing on 51.303133364999994 meters Centerline goodness : 0.169027 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.26, Z:-0.27 [[ 0.9998289 0.00323607 -0.01821249 -0.06488852] [-0.00319974 0.99999283 0.00202402 0.25903687] [ 0.01821891 -0.0019654 0.99983209 -0.27054129] [ 0. 0. 0. 1. ]] SLAMing on 51.333133364999995 meters Centerline goodness : 0.095913 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.26, Z:-0.27 [[ 0.99984572 -0.00440949 -0.0170026 -0.08532836] [ 0.00445449 0.99998667 0.00260964 0.26430399] [ 0.01699086 -0.00268497 0.99985204 -0.27264267] [ 0. 0. 0. 1. ]] SLAMing on 51.363133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.393133365 meters Centerline goodness : 0.090024 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.27, Z:-0.27 [[ 0.99988484 0.00316812 -0.01484169 -0.06611284] [-0.00315081 0.99999433 0.00119008 0.26522316] [ 0.01484537 -0.00114318 0.99988915 -0.27166311] [ 0. 0. 0. 1. ]] SLAMing on 51.42313336499999 meters Centerline goodness : 0.231150 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99835817e-01 2.99415147e-03 -1.78710673e-02 -1.08823105e-01] [-2.99508280e-03 9.99995514e-01 -2.53496248e-05 2.64559886e-01] [ 1.78709112e-02 7.88707890e-05 9.99840299e-01 -2.72068812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45313336499999 meters Centerline goodness : 0.088334 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99834568e-01 2.98799440e-03 -1.79418067e-02 -1.08570511e-01] [-2.98863889e-03 9.99995534e-01 -9.10806973e-06 2.64481715e-01] [ 1.79416994e-02 6.27281444e-05 9.99839033e-01 -2.72179420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48313336499999 meters Centerline goodness : 0.080395 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99837650e-01 3.03403213e-03 -1.77614221e-02 -1.09215779e-01] [-3.03295879e-03 9.99995397e-01 8.73676051e-05 2.64229554e-01] [ 1.77616054e-02 -3.34837597e-05 9.99842250e-01 -2.71856638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.513133364999995 meters Centerline goodness : 0.095273 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99842965e-01 3.13262312e-03 -1.74422246e-02 -1.10369568e-01] [-3.12670467e-03 9.99995045e-01 3.66577758e-04 2.63062230e-01] [ 1.74432866e-02 -3.11983507e-04 9.99847806e-01 -2.71167370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.573133365 meters Centerline goodness : 0.097640 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99839771e-01 3.06006239e-03 -1.76371037e-02 -1.09866846e-01] [-3.05188215e-03 9.99995223e-01 4.90705011e-04 2.61190557e-01] [ 1.76385211e-02 -4.36800024e-04 9.99844334e-01 -2.71246382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603133365 meters Centerline goodness : 0.154040 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 9.99836494e-01 3.16735194e-03 -1.78031619e-02 -1.09429765e-01] [-3.15250039e-03 9.99994659e-01 8.62211024e-04 2.58988165e-01] [ 1.78057977e-02 -8.05945573e-04 9.99841139e-01 -2.71341478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63313336499999 meters Centerline goodness : 0.105202 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.26, Z:-0.27 [[ 0.99983825 0.00326285 -0.01768701 -0.10971844] [-0.00324425 0.99999415 0.00108045 0.25800069] [ 0.01769043 -0.0010229 0.99984299 -0.27131586] [ 0. 0. 0. 1. ]] SLAMing on 51.66313336499999 meters Centerline goodness : 0.224111 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.26, Z:-0.27 [[ 0.99983906 -0.00468187 -0.01731859 -0.09021376] [ 0.00472819 0.99998535 0.0026348 0.26186508] [ 0.017306 -0.00271627 0.99984655 -0.27041998] [ 0. 0. 0. 1. ]] SLAMing on 51.693133364999994 meters Centerline goodness : 0.100233 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.26, Z:-0.27 [[ 0.99983554 -0.00452135 -0.01756278 -0.08900039] [ 0.00457655 0.99998471 0.00310418 0.25930582] [ 0.01754847 -0.00318405 0.99984094 -0.27131867] [ 0. 0. 0. 1. ]] SLAMing on 51.723133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.753133365 meters Centerline goodness : 0.038907 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.25, Z:-0.27 [[ 9.99814733e-01 -8.22212510e-03 -1.74038942e-02 -8.93522306e-02] [ 8.22668123e-03 9.99966142e-01 1.90209043e-04 2.53803601e-01] [ 1.74017410e-02 -3.33350093e-04 9.99848523e-01 -2.71147445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783133365 meters Centerline goodness : 0.178184 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.24, Z:-0.27 [[ 9.99873718e-01 -9.78505340e-04 -1.58616194e-02 -1.11017099e-01] [ 9.61988262e-04 9.99998987e-01 -1.04891989e-03 2.44268368e-01] [ 1.58626297e-02 1.03352874e-03 9.99873646e-01 -2.72032256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81313336499999 meters Centerline goodness : 0.180072 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.24, Z:-0.27 [[ 9.99873172e-01 -8.38255135e-04 -1.59039709e-02 -1.10895527e-01] [ 8.32147121e-04 9.99999577e-01 -3.90669652e-04 2.40670173e-01] [ 1.59042916e-02 3.77385661e-04 9.99873448e-01 -2.71931874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84313336499999 meters Centerline goodness : 0.097550 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.23, Z:-0.27 [[ 9.99875774e-01 -7.71774562e-04 -1.57429512e-02 -1.11096647e-01] [ 7.80611984e-04 9.99999541e-01 5.55220168e-04 2.34254113e-01] [ 1.57425154e-02 -5.67440332e-04 9.99875918e-01 -2.71946931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.873133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.903133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.933133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.963133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 51.99313336499999 meters Centerline goodness : 0.099024 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.22, Z:-0.27 [[ 9.99874056e-01 -9.14736467e-04 -1.58441004e-02 -1.11066713e-01] [ 9.36340515e-04 9.99998642e-01 1.35617443e-03 2.21711286e-01] [ 1.58428383e-02 -1.37083910e-03 9.99873555e-01 -2.71608208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 52.053133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 52.083133364999995 meters Centerline goodness : 0.178541 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.21, Z:-0.27 [[ 9.99881398e-01 -3.41075394e-03 -1.50185753e-02 -1.15124603e-01] [ 3.41492519e-03 9.99994137e-01 2.52102933e-04 2.09863225e-01] [ 1.50176274e-02 -3.03360345e-04 9.99887183e-01 -2.68797305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.113133364999996 meters Centerline goodness : 0.177145 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.21, Z:-0.27 [[ 9.99885659e-01 -3.22743066e-03 -1.47733807e-02 -1.15748847e-01] [ 3.24125538e-03 9.99994331e-01 9.11937763e-04 2.06453304e-01] [ 1.47703537e-02 -9.59717791e-04 9.99890452e-01 -2.68597551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143133365 meters Centerline goodness : 0.148295 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.99988649 -0.00309579 -0.01474541 -0.11525498] [ 0.00312191 0.9999936 0.00174863 0.20067432] [ 0.01473991 -0.00179446 0.99988975 -0.26919107] [ 0. 0. 0. 1. ]] SLAMing on 52.17313336499999 meters Centerline goodness : 0.098882 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.20, Z:-0.27 [[ 0.9998841 -0.00293457 -0.01493918 -0.11442977] [ 0.00296766 0.99999319 0.0021934 0.19823861] [ 0.01493264 -0.00223748 0.999886 -0.26972268] [ 0. 0. 0. 1. ]] SLAMing on 52.20313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 52.23313336499999 meters Centerline goodness : 0.130962 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987729 -0.00249493 -0.01546515 -0.11210095] [ 0.00254557 0.99999146 0.00325572 0.19139534] [ 0.0154569 -0.00329469 0.99987511 -0.27110861] [ 0. 0. 0. 1. ]] SLAMing on 52.263133364999995 meters Centerline goodness : 0.156173 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987738 -0.00235178 -0.0154818 -0.11186719] [ 0.00240724 0.99999075 0.00356491 0.18985337] [ 0.01547327 -0.00360174 0.99987379 -0.27140729] [ 0. 0. 0. 1. ]] SLAMing on 52.293133364999996 meters Centerline goodness : 0.169908 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.9998798 -0.00187652 -0.01539068 -0.11169723] [ 0.00193996 0.99998968 0.00410758 0.18820185] [ 0.01538282 -0.00413694 0.99987312 -0.2720757 ] [ 0. 0. 0. 1. ]] SLAMing on 52.323133365 meters Centerline goodness : 0.147017 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987934 -0.00180326 -0.01542876 -0.11131342] [ 0.00186613 0.99999001 0.00406166 0.18871549] [ 0.01542128 -0.00408996 0.99987272 -0.27261145] [ 0. 0. 0. 1. ]] SLAMing on 52.353133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 52.38313336499999 meters Centerline goodness : 0.155242 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99987882 -0.00100505 -0.01553499 -0.11076276] [ 0.00107138 0.99999034 0.00426203 0.19019427] [ 0.01553056 -0.00427816 0.99987024 -0.27344398] [ 0. 0. 0. 1. ]] SLAMing on 52.41313336499999 meters Centerline goodness : 0.153770 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 9.99882608e-01 -9.16695671e-04 -1.52947429e-02 -1.11391482e-01] [ 9.80739194e-04 9.99990782e-01 4.18031503e-03 1.91304941e-01] [ 1.52907698e-02 -4.19482445e-03 9.99874290e-01 -2.73480314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.443133364999994 meters Centerline goodness : 0.152902 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.19, Z:-0.27 [[ 0.99988469 -0.00104003 -0.01515021 -0.11173759] [ 0.00109723 0.9999923 0.00376815 0.19341584] [ 0.01514617 -0.00378434 0.99987813 -0.27365879] [ 0. 0. 0. 1. ]] SLAMing on 52.473133364999995 meters Centerline goodness : 0.087024 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99858630e-01 5.33835886e-03 -1.59443434e-02 -1.32859827e-01] [-5.32798219e-03 9.99985566e-01 6.93213704e-04 1.89573454e-01] [ 1.59478139e-02 -6.08164527e-04 9.99872641e-01 -2.73627540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503133365 meters Centerline goodness : 0.162914 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99858993e-01 5.20093506e-03 -1.59669820e-02 -1.32988398e-01] [-5.19445658e-03 9.99986409e-01 4.47188364e-04 1.90500610e-01] [ 1.59690908e-02 -3.64185512e-04 9.99872420e-01 -2.73396123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.533133365 meters Centerline goodness : 0.150755 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99862835e-01 5.09168015e-03 -1.57602508e-02 -1.33912930e-01] [-5.09148298e-03 9.99987037e-01 5.26349451e-05 1.93144046e-01] [ 1.57603145e-02 2.76153234e-05 9.99875798e-01 -2.72804104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56313336499999 meters Centerline goodness : 0.150755 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.19, Z:-0.27 [[ 9.99862835e-01 5.09168015e-03 -1.57602508e-02 -1.33912930e-01] [-5.09148298e-03 9.99987037e-01 5.26349451e-05 1.93144046e-01] [ 1.57603145e-02 2.76153234e-05 9.99875798e-01 -2.72804104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59313336499999 meters Centerline goodness : 0.147367 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.99989343 -0.00281222 -0.01432572 -0.1157412 ] [ 0.00283221 0.99999504 0.00137537 0.19987223] [ 0.01432178 -0.00141579 0.99989644 -0.27135566] [ 0. 0. 0. 1. ]] SLAMing on 52.623133364999994 meters Centerline goodness : 0.142870 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.9999009 -0.00310759 -0.01373082 -0.11796526] [ 0.00312206 0.99999459 0.0010321 0.20112511] [ 0.01372753 -0.00107487 0.9999052 -0.27007686] [ 0. 0. 0. 1. ]] SLAMing on 52.653133364999995 meters Centerline goodness : 0.146511 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 9.99899087e-01 -3.18596298e-03 -1.38443493e-02 -1.17906546e-01] [ 3.19996260e-03 9.99994391e-01 9.89181362e-04 2.01079803e-01] [ 1.38411201e-02 -1.03338294e-03 9.99903673e-01 -2.69682226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 52.713133365 meters Centerline goodness : 0.143033 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.20, Z:-0.27 [[ 0.99989014 -0.00347231 -0.01441017 -0.11676525] [ 0.00349015 0.99999317 0.00121269 0.19882742] [ 0.01440586 -0.00126285 0.99989543 -0.26914374] [ 0. 0. 0. 1. ]] SLAMing on 52.74313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 52.77313336499999 meters Centerline goodness : 0.097056 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 9.99920232e-01 2.66633675e-03 -1.23458643e-02 -1.37877149e-01] [-2.67882311e-03 9.99995917e-01 -9.94953909e-04 1.91078938e-01] [ 1.23431610e-02 1.02794693e-03 9.99923292e-01 -2.70470039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.803133364999994 meters Centerline goodness : 0.143126 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 9.99921372e-01 2.66280559e-03 -1.22539654e-02 -1.38193321e-01] [-2.67462186e-03 9.99995974e-01 -9.47994239e-04 1.90519060e-01] [ 1.22513918e-02 9.80694424e-04 9.99924468e-01 -2.70321385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.833133364999995 meters Centerline goodness : 0.142956 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.99991838 0.00271415 -0.01248433 -0.13714042] [-0.00272747 0.99999573 -0.00105063 0.1910872 ] [ 0.01248143 0.0010846 0.99992152 -0.2712523 ] [ 0. 0. 0. 1. ]] SLAMing on 52.863133364999996 meters Centerline goodness : 0.142901 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.9999178 0.00275881 -0.01252115 -0.13665412] [-0.00277385 0.99999545 -0.001184 0.192132 ] [ 0.01251782 0.00121864 0.99992091 -0.27196304] [ 0. 0. 0. 1. ]] SLAMing on 52.893133365 meters Centerline goodness : 0.145047 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.99991735 0.00295107 -0.0125137 -0.13635947] [-0.00296849 0.99999465 -0.00137368 0.19387827] [ 0.01250958 0.00141072 0.99992076 -0.27269352] [ 0. 0. 0. 1. ]] SLAMing on 52.92313336499999 meters Centerline goodness : 0.140252 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.19, Z:-0.27 [[ 0.99991794 0.00292856 -0.0124711 -0.13633856] [-0.00294772 0.9999945 -0.00151783 0.19458048] [ 0.01246659 0.00155447 0.99992108 -0.27300611] [ 0. 0. 0. 1. ]] SLAMing on 52.95313336499999 meters Centerline goodness : 0.145660 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.99991655 0.00290745 -0.01258754 -0.13586804] [-0.00292806 0.9999944 -0.00161936 0.19504875] [ 0.01258276 0.00165608 0.99991946 -0.27336588] [ 0. 0. 0. 1. ]] SLAMing on 52.98313336499999 meters Centerline goodness : 0.144394 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99991075 0.00289828 -0.0130421 -0.13413727] [-0.00292141 0.99999419 -0.0017546 0.19578246] [ 0.01303694 0.00179254 0.99991341 -0.27452985] [ 0. 0. 0. 1. ]] SLAMing on 53.013133364999995 meters Centerline goodness : 0.147364 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.28 [[ 0.99990789 0.002862 -0.01326754 -0.13325032] [-0.00288641 0.99999418 -0.00182126 0.19606423] [ 0.01326225 0.00185938 0.99991032 -0.27511584] [ 0. 0. 0. 1. ]] SLAMing on 53.043133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.103133365 meters Centerline goodness : 0.144345 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99991045 0.0027655 -0.01309343 -0.13383186] [-0.00279063 0.9999943 -0.00190092 0.19677229] [ 0.0130881 0.00193729 0.99991247 -0.27481648] [ 0. 0. 0. 1. ]] SLAMing on 53.13313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.16313336499999 meters Centerline goodness : 0.143765 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.99992426 0.00193841 -0.01215416 -0.13699687] [-0.00196646 0.99999543 -0.00229655 0.1958013 ] [ 0.01214965 0.00232028 0.9999235 -0.27322983] [ 0. 0. 0. 1. ]] SLAMing on 53.193133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.223133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.283133365 meters Centerline goodness : 0.138192 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.9999313 0.00199581 -0.01155076 -0.13871932] [-0.00202465 0.99999486 -0.00248513 0.19761274] [ 0.01154574 0.00250834 0.9999302 -0.27282271] [ 0. 0. 0. 1. ]] SLAMing on 53.31313336499999 meters Centerline goodness : 0.142153 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.27 [[ 0.99993534 0.00181147 -0.01122692 -0.13928505] [-0.00184643 0.99999348 -0.00310446 0.20037786] [ 0.01122123 0.00312499 0.99993216 -0.27336428] [ 0. 0. 0. 1. ]] SLAMing on 53.34313336499999 meters Centerline goodness : 0.138159 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.20, Z:-0.27 [[ 0.99991226 0.00242072 -0.01302315 -0.1850218 ] [-0.0024622 0.99999194 -0.00317018 0.19888278] [ 0.01301537 0.00320197 0.99991017 -0.27293388] [ 0. 0. 0. 1. ]] SLAMing on 53.373133364999994 meters Centerline goodness : 0.143180 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.21, Z:-0.27 [[ 0.99993297 0.00373803 -0.01095854 -0.14324941] [-0.00376344 0.99999027 -0.00229966 0.20630193] [ 0.01094984 0.00234074 0.99993731 -0.27157426] [ 0. 0. 0. 1. ]] SLAMing on 53.403133364999995 meters Centerline goodness : 0.163493 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.21, Z:-0.27 [[ 0.99993273 0.00357162 -0.01103501 -0.14307446] [-0.00360196 0.99998979 -0.00273024 0.20827264] [ 0.01102515 0.0027698 0.99993539 -0.27166615] [ 0. 0. 0. 1. ]] SLAMing on 53.433133364999996 meters Centerline goodness : 0.140009 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.21, Z:-0.27 [[ 0.99989974 0.00330794 -0.01376864 -0.18612202] [-0.0033592 0.99998751 -0.00370152 0.20738802] [ 0.01375623 0.0037474 0.99989836 -0.27237523] [ 0. 0. 0. 1. ]] SLAMing on 53.463133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.49313336499999 meters Centerline goodness : 0.138353 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.28 [[ 0.99987008 0.00522773 -0.01524791 -0.17971147] [-0.00526731 0.99998286 -0.00255632 0.21372735] [ 0.01523429 0.0026363 0.99988048 -0.27609407] [ 0. 0. 0. 1. ]] SLAMing on 53.52313336499999 meters Centerline goodness : 0.141231 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.22, Z:-0.28 [[ 0.99987223 0.00502646 -0.01517436 -0.18002235] [-0.00507198 0.99998275 -0.00296278 0.21550641] [ 0.01515921 0.00303937 0.99988047 -0.27592883] [ 0. 0. 0. 1. ]] SLAMing on 53.553133364999994 meters Centerline goodness : 0.136923 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.99989181 -0.00344699 -0.01430013 -0.16105673] [ 0.00341511 0.99999163 -0.00225355 0.22147534] [ 0.01430778 0.00220447 0.99989521 -0.27479392] [ 0. 0. 0. 1. ]] SLAMing on 53.583133364999995 meters Centerline goodness : 0.181514 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.9998935 -0.00349423 -0.01416976 -0.16172357] [ 0.00346148 0.99999128 -0.00233499 0.22207395] [ 0.0141778 0.00228569 0.99989688 -0.27424236] [ 0. 0. 0. 1. ]] SLAMing on 53.613133364999996 meters Centerline goodness : 0.165042 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.99989365 -0.00348576 -0.01416085 -0.16167462] [ 0.00345249 0.99999122 -0.00237292 0.22252926] [ 0.014169 0.00232378 0.99989691 -0.27437037] [ 0. 0. 0. 1. ]] SLAMing on 53.643133365 meters Centerline goodness : 0.141273 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.22, Z:-0.28 [[ 0.99988454 0.00475243 -0.01443347 -0.1804746 ] [-0.00480641 0.99998158 -0.0037073 0.21758975] [ 0.01441559 0.00377624 0.99988896 -0.27610272] [ 0. 0. 0. 1. ]] SLAMing on 53.67313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.70313336499999 meters Centerline goodness : 0.080890 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.27 [[ 0.99992499 -0.00189696 -0.01210037 -0.16392471] [ 0.00188366 0.99999761 -0.00111092 0.22432985] [ 0.01210245 0.00108805 0.99992617 -0.27466252] [ 0. 0. 0. 1. ]] SLAMing on 53.73313336499999 meters Centerline goodness : 0.137850 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.23, Z:-0.27 [[ 0.99993005 -0.00188512 -0.01167694 -0.16510436] [ 0.00186807 0.99999717 -0.00147125 0.22666617] [ 0.01167968 0.00144934 0.99993074 -0.27456527] [ 0. 0. 0. 1. ]] SLAMing on 53.763133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.793133364999996 meters Centerline goodness : 0.137685 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992559 -0.00204228 -0.01202687 -0.16400589] [ 0.00201751 0.99999582 -0.00207141 0.2293959 ] [ 0.01203105 0.002047 0.99992553 -0.27523611] [ 0. 0. 0. 1. ]] SLAMing on 53.823133365 meters Centerline goodness : 0.128806 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99908192e-01 -1.46199248e-04 -1.35493626e-02 -1.57475534e-01] [ 1.38724887e-04 9.99999838e-01 -5.52577485e-04 2.31293568e-01] [ 1.35494412e-02 5.50647120e-04 9.99908050e-01 -2.78728566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.853133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 53.88313336499999 meters Centerline goodness : 0.151604 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99905963e-01 -3.50273711e-04 -1.37092254e-02 -1.57019714e-01] [ 3.36727991e-04 9.99999453e-01 -9.90369072e-04 2.32602976e-01] [ 1.37095648e-02 9.85659661e-04 9.99905534e-01 -2.79058400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91313336499999 meters Centerline goodness : 0.086519 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99907697e-01 -3.54977959e-04 -1.35820196e-02 -1.57482121e-01] [ 3.41503755e-04 9.99999447e-01 -9.94368317e-04 2.32598982e-01] [ 1.35823651e-02 9.89638223e-04 9.99907266e-01 -2.78856566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.943133364999994 meters Centerline goodness : 0.302032 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99909203e-01 -3.30120811e-04 -1.34713377e-02 -1.58034891e-01] [ 3.16658852e-04 9.99999448e-01 -1.00142460e-03 2.32968119e-01] [ 1.34716609e-02 9.97067858e-04 9.99908756e-01 -2.78403885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.973133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.003133365 meters Centerline goodness : 0.122898 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99919777e-01 -2.72813604e-04 -1.26635599e-02 -1.60497200e-01] [ 2.54128753e-04 9.99998877e-01 -1.47706738e-03 2.37077191e-01] [ 1.26639487e-02 1.47373071e-03 9.99918723e-01 -2.77776622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.033133365 meters Centerline goodness : 0.122334 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99920990e-01 -4.25566289e-04 -1.25631603e-02 -1.61111407e-01] [ 4.00965763e-04 9.99997998e-01 -1.96060178e-03 2.39748564e-01] [ 1.25639695e-02 1.95540947e-03 9.99919158e-01 -2.77363564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06313336499999 meters Centerline goodness : 0.133715 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99919409e-01 -4.47689670e-04 -1.26875607e-02 -1.60759604e-01] [ 4.21132590e-04 9.99997715e-01 -2.09575319e-03 2.40733431e-01] [ 1.26884699e-02 2.09024115e-03 9.99917313e-01 -2.77460010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.123133364999994 meters Centerline goodness : 0.128047 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99923099e-01 -6.47674325e-04 -1.23845611e-02 -1.61976846e-01] [ 6.19872759e-04 9.99997280e-01 -2.24856360e-03 2.40987053e-01] [ 1.23859837e-02 2.24071383e-03 9.99920780e-01 -2.76636423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.153133364999995 meters Centerline goodness : 0.137900 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.28 [[ 9.99929286e-01 -7.84799106e-04 -1.18662517e-02 -1.63636356e-01] [ 7.59605557e-04 9.99997448e-01 -2.12748405e-03 2.39744429e-01] [ 1.18678911e-02 2.11831993e-03 9.99927330e-01 -2.75810596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183133364999996 meters Centerline goodness : 0.137403 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.24, Z:-0.27 [[ 0.999932 -0.00158692 -0.01155329 -0.16478739] [ 0.00156161 0.99999636 -0.00219963 0.23691693] [ 0.01155674 0.00218144 0.99993084 -0.27498881] [ 0. 0. 0. 1. ]] SLAMing on 54.213133365 meters Centerline goodness : 0.143723 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992941 -0.00202049 -0.01170884 -0.16382192] [ 0.00199782 0.99999611 -0.00194689 0.23384818] [ 0.01171273 0.00192336 0.99992955 -0.27564244] [ 0. 0. 0. 1. ]] SLAMing on 54.24313336499999 meters Centerline goodness : 0.100684 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992936 -0.00193399 -0.01172759 -0.16345123] [ 0.00191593 0.99999696 -0.00155096 0.23170529] [ 0.01173055 0.00152838 0.99993003 -0.27605905] [ 0. 0. 0. 1. ]] SLAMing on 54.27313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.303133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.333133364999995 meters Centerline goodness : 0.101037 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99933689e-01 -1.88894226e-03 -1.13599543e-02 -1.63646658e-01] [ 1.88329472e-03 9.99998098e-01 -5.07821420e-04 2.23757580e-01] [ 1.13608920e-02 4.86393604e-04 9.99935345e-01 -2.76721583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363133364999996 meters Centerline goodness : 0.090700 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99933098e-01 -1.74774891e-03 -1.14344153e-02 -1.63287443e-01] [ 1.74537090e-03 9.99998453e-01 -2.17945017e-04 2.22444159e-01] [ 1.14347785e-02 1.97973140e-04 9.99934601e-01 -2.77015461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.393133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.42313336499999 meters Centerline goodness : 0.097065 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99923244e-01 -1.67151556e-03 -1.22765078e-02 -1.59950216e-01] [ 1.67031355e-03 9.99998599e-01 -1.08163462e-04 2.20710390e-01] [ 1.22766714e-02 8.76495429e-05 9.99924635e-01 -2.79183240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45313336499999 meters Centerline goodness : 0.124435 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99917805e-01 -1.46427960e-03 -1.27373478e-02 -1.58142162e-01] [ 1.46594457e-03 9.99998918e-01 1.21380283e-04 2.20059315e-01] [ 1.27371563e-02 -1.40042552e-04 9.99918869e-01 -2.80478768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48313336499999 meters Centerline goodness : 0.124435 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99917805e-01 -1.46427960e-03 -1.27373478e-02 -1.58142162e-01] [ 1.46594457e-03 9.99998918e-01 1.21380283e-04 2.20059315e-01] [ 1.27371563e-02 -1.40042552e-04 9.99918869e-01 -2.80478768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.513133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.543133364999996 meters Centerline goodness : 0.121100 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99916763e-01 -1.36175077e-03 -1.28301190e-02 -1.57651689e-01] [ 1.36476360e-03 9.99999043e-01 2.26072380e-04 2.19906248e-01] [ 1.28297989e-02 -2.43563642e-04 9.99917665e-01 -2.80910742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.573133365 meters Centerline goodness : 0.143291 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99914107e-01 -1.48518763e-03 -1.30220372e-02 -1.56971358e-01] [ 1.48708772e-03 9.99998885e-01 1.36231134e-04 2.19378902e-01] [ 1.30218204e-02 -1.55584344e-04 9.99915200e-01 -2.81310736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603133365 meters Centerline goodness : 0.132281 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99915467e-01 -1.47319419e-03 -1.29185417e-02 -1.57618272e-01] [ 1.47575055e-03 9.99998893e-01 1.88352914e-04 2.19087233e-01] [ 1.29182499e-02 -2.07401538e-04 9.99916534e-01 -2.80718706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63313336499999 meters Centerline goodness : 0.114591 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99917490e-01 -1.43415952e-03 -1.27654511e-02 -1.58404692e-01] [ 1.43716164e-03 9.99998942e-01 2.26004690e-04 2.19182085e-01] [ 1.27651135e-02 -2.44332059e-04 9.99918493e-01 -2.80060555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66313336499999 meters Centerline goodness : 0.092841 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99919871e-01 -1.39681497e-03 -1.25817865e-02 -1.59189745e-01] [ 1.39752608e-03 9.99999022e-01 4.77277512e-05 2.20796315e-01] [ 1.25817076e-02 -6.53073017e-05 9.99920845e-01 -2.79624104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.693133364999994 meters Centerline goodness : 0.140854 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99920103e-01 -1.49313100e-03 -1.25522076e-02 -1.59036168e-01] [ 1.49100882e-03 9.99998873e-01 -1.78424494e-04 2.21687044e-01] [ 1.25524599e-02 1.59694786e-04 9.99921202e-01 -2.80042962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723133364999995 meters Centerline goodness : 0.152093 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99923848e-01 -1.61636778e-03 -1.22346125e-02 -1.60012411e-01] [ 1.61060275e-03 9.99998587e-01 -4.81044915e-04 2.22964033e-01] [ 1.22353728e-02 4.61303181e-04 9.99925039e-01 -2.79823809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.753133365 meters Centerline goodness : 0.087115 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99927212e-01 -1.65989214e-03 -1.19505371e-02 -1.61130935e-01] [ 1.65288467e-03 9.99998456e-01 -5.96225098e-04 2.23602295e-01] [ 1.19515083e-02 5.76428841e-04 9.99928412e-01 -2.79142885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783133365 meters Centerline goodness : 0.190971 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99929531e-01 -1.71126347e-03 -1.17475555e-02 -1.62069514e-01] [ 1.70258247e-03 9.99998270e-01 -7.48923239e-04 2.24445428e-01] [ 1.17488168e-02 7.28869281e-04 9.99930715e-01 -2.78466875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.84313336499999 meters Centerline goodness : 0.087078 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 9.99927719e-01 -1.70296600e-03 -1.19019243e-02 -1.61384325e-01] [ 1.69135102e-03 9.99998084e-01 -9.85888328e-04 2.26208523e-01] [ 1.19035804e-02 9.65686736e-04 9.99928684e-01 -2.79066661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.873133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.903133364999995 meters Centerline goodness : 0.189850 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992488 -0.00172382 -0.01213553 -0.16093675] [ 0.00170847 0.99999773 -0.00127483 0.22784486] [ 0.0121377 0.001254 0.99992555 -0.27901238] [ 0. 0. 0. 1. ]] SLAMing on 54.933133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 54.963133365 meters Centerline goodness : 0.134493 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992811 -0.00172371 -0.0118657 -0.1620764 ] [ 0.00170815 0.99999767 -0.00132064 0.22836641] [ 0.01186795 0.00130027 0.99992873 -0.27828045] [ 0. 0. 0. 1. ]] SLAMing on 54.99313336499999 meters Centerline goodness : 0.142547 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992941 -0.00168944 -0.01176084 -0.16244354] [ 0.00167481 0.99999781 -0.00125358 0.22812873] [ 0.01176293 0.00123379 0.99993005 -0.27808976] [ 0. 0. 0. 1. ]] SLAMing on 55.02313336499999 meters Centerline goodness : 0.124585 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992981 -0.00167667 -0.01172865 -0.1623849 ] [ 0.00166252 0.99999788 -0.00121645 0.22794222] [ 0.01173066 0.00119687 0.99993048 -0.27830312] [ 0. 0. 0. 1. ]] SLAMing on 55.053133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 55.083133364999995 meters Centerline goodness : 0.120016 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992391 -0.00178783 -0.01220546 -0.16115826] [ 0.00177261 0.99999764 -0.00125799 0.22748093] [ 0.01220768 0.00123626 0.99992472 -0.278404 ] [ 0. 0. 0. 1. ]] SLAMing on 55.113133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 55.143133365 meters Centerline goodness : 0.135881 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992422 -0.00176504 -0.01218365 -0.16164538] [ 0.00174931 0.99999762 -0.00130182 0.22803589] [ 0.01218592 0.00128041 0.99992493 -0.27774212] [ 0. 0. 0. 1. ]] SLAMing on 55.17313336499999 meters Centerline goodness : 0.087491 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.23, Z:-0.28 [[ 0.99992342 -0.00174364 -0.01225196 -0.16127244] [ 0.00172924 0.9999978 -0.0011853 0.22729658] [ 0.012254 0.00116402 0.99992424 -0.27805576] [ 0. 0. 0. 1. ]] SLAMing on 55.20313336499999 meters Centerline goodness : 0.091429 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99922270e-01 -1.67615942e-03 -1.23549112e-02 -1.60787045e-01] [ 1.66834556e-03 9.99998402e-01 -6.42729094e-04 2.24164204e-01] [ 1.23559688e-02 6.22066873e-04 9.99923469e-01 -2.78300308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23313336499999 meters Centerline goodness : 0.161158 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99921669e-01 -1.59548441e-03 -1.24140881e-02 -1.60601211e-01] [ 1.59286540e-03 9.99998707e-01 -2.20855824e-04 2.21793589e-01] [ 1.24144244e-02 2.01064553e-04 9.99922918e-01 -2.78220028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.263133364999995 meters Centerline goodness : 0.091960 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.22, Z:-0.28 [[ 9.99918460e-01 -2.18696420e-03 -1.25813658e-02 -1.60215992e-01] [ 2.18695377e-03 9.99997609e-01 -1.45862983e-05 2.16345294e-01] [ 1.25813676e-02 -1.29297564e-05 9.99920851e-01 -2.78049799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.293133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 55.323133365 meters Centerline goodness : 0.096680 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 9.99911177e-01 -2.16844760e-03 -1.31504947e-02 -1.58361308e-01] [ 2.17911288e-03 9.99997308e-01 7.96742631e-04 2.10680454e-01] [ 1.31487316e-02 -8.25328275e-04 9.99913211e-01 -2.78604416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.353133365 meters Centerline goodness : 0.154944 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.99990962 -0.00190022 -0.01330944 -0.1574167 ] [ 0.00192008 0.99999706 0.00147981 0.20703639] [ 0.01330659 -0.00150523 0.99991033 -0.27935499] [ 0. 0. 0. 1. ]] SLAMing on 55.38313336499999 meters Centerline goodness : 0.134377 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.9999091 -0.00185795 -0.01335417 -0.15720772] [ 0.00187907 0.999997 0.00156902 0.20629836] [ 0.01335122 -0.00159398 0.9999096 -0.27957933] [ 0. 0. 0. 1. ]] SLAMing on 55.41313336499999 meters Centerline goodness : 0.090336 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.99990856 -0.0018366 -0.01339781 -0.15702974] [ 0.0018574 0.99999709 0.00154009 0.20627494] [ 0.01339494 -0.00156483 0.99990906 -0.27978931] [ 0. 0. 0. 1. ]] SLAMing on 55.443133364999994 meters Centerline goodness : 0.135061 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.21, Z:-0.28 [[ 0.99990594 -0.00155728 -0.01362651 -0.15656128] [ 0.0015798 0.9999974 0.00164216 0.20658581] [ 0.01362392 -0.00166353 0.99990581 -0.27984354] [ 0. 0. 0. 1. ]] SLAMing on 55.473133364999995 meters Centerline goodness : 0.158134 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.20, Z:-0.28 [[ 9.99890722e-01 6.38554138e-03 -1.33329654e-02 -1.37023183e-01] [-6.37965704e-03 9.99979533e-01 4.83823323e-04 2.03872714e-01] [ 1.33357820e-02 -3.98710706e-04 9.99910995e-01 -2.78100501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503133365 meters Centerline goodness : 0.097852 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.21, Z:-0.28 [[ 0.99992088 -0.00184964 -0.01244235 -0.11772614] [ 0.00186699 0.9999973 0.00138277 0.20872044] [ 0.01243976 -0.00140589 0.99992163 -0.27749513] [ 0. 0. 0. 1. ]] SLAMing on 55.533133365 meters Centerline goodness : 0.100311 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.20, Z:-0.28 [[ 9.99887136e-01 -2.45981469e-03 -1.48211190e-02 -1.63968526e-01] [ 2.47227851e-03 9.99996606e-01 8.22686742e-04 2.02278908e-01] [ 1.48190450e-02 -8.59235824e-04 9.99889823e-01 -2.76058807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56313336499999 meters Centerline goodness : 0.099621 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.20, Z:-0.28 [[ 0.99988737 -0.00237776 -0.01481899 -0.1642697 ] [ 0.00239418 0.99999654 0.00109073 0.20095649] [ 0.01481635 -0.00112609 0.9998896 -0.27552254] [ 0. 0. 0. 1. ]] SLAMing on 55.59313336499999 meters Centerline goodness : 0.098475 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99988985 -0.00228267 -0.01466519 -0.16534338] [ 0.00230482 0.99999623 0.0014939 0.19901215] [ 0.01466173 -0.00152754 0.99989134 -0.27424904] [ 0. 0. 0. 1. ]] SLAMing on 55.623133364999994 meters Centerline goodness : 0.183438 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99988908 -0.00224371 -0.01472411 -0.16546822] [ 0.00226799 0.9999961 0.00163208 0.19828062] [ 0.01472039 -0.0016653 0.99989026 -0.27377935] [ 0. 0. 0. 1. ]] SLAMing on 55.653133364999995 meters Centerline goodness : 0.087681 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99988872 -0.0022021 -0.01475453 -0.16544912] [ 0.0022285 0.99999594 0.00177339 0.1976085 ] [ 0.01475057 -0.00180607 0.99988957 -0.27366709] [ 0. 0. 0. 1. ]] SLAMing on 55.683133364999996 meters Centerline goodness : 0.150552 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99989038 -0.0020574 -0.01466295 -0.16565611] [ 0.00208848 0.9999956 0.00210466 0.19626854] [ 0.01465855 -0.00213506 0.99989028 -0.27365185] [ 0. 0. 0. 1. ]] SLAMing on 55.713133365 meters Centerline goodness : 0.129114 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.20, Z:-0.27 [[ 0.99989203 -0.00195853 -0.01456349 -0.16596622] [ 0.00199291 0.99999526 0.00234659 0.19514418] [ 0.01455883 -0.00237536 0.99989119 -0.27348045] [ 0. 0. 0. 1. ]] SLAMing on 55.74313336499999 meters Centerline goodness : 0.099635 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.9998961 -0.00192048 -0.01428607 -0.16687377] [ 0.00196105 0.99999408 0.00282675 0.19204373] [ 0.01428055 -0.00285447 0.99989395 -0.27295092] [ 0. 0. 0. 1. ]] SLAMing on 55.77313336499999 meters Centerline goodness : 0.099911 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99989582 -0.00182564 -0.01431858 -0.16671231] [ 0.00187133 0.9999932 0.00317814 0.19001998] [ 0.01431269 -0.0032046 0.99989243 -0.27301275] [ 0. 0. 0. 1. ]] SLAMing on 55.803133364999994 meters Centerline goodness : 0.145987 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.19, Z:-0.27 [[ 0.99989492 -0.00173316 -0.01439234 -0.16641934] [ 0.00178393 0.99999223 0.00351513 0.1880571 ] [ 0.01438614 -0.00354044 0.99989025 -0.27315466] [ 0. 0. 0. 1. ]] SLAMing on 55.833133364999995 meters Centerline goodness : 0.099157 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987524 0.00576002 -0.01470829 -0.14621493] [-0.00572464 0.99998062 0.00244633 0.18317566] [ 0.01472209 -0.00236182 0.99988883 -0.27173018] [ 0. 0. 0. 1. ]] SLAMing on 55.863133364999996 meters Centerline goodness : 0.143604 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.9998714 0.00589956 -0.0149125 -0.14561075] [-0.00585886 0.999979 0.00277155 0.18115506] [ 0.01492854 -0.00268383 0.99988496 -0.27189994] [ 0. 0. 0. 1. ]] SLAMing on 55.893133365 meters Centerline goodness : 0.166580 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.9998713 0.00594576 -0.01490085 -0.1456886 ] [-0.00590434 0.99997859 0.00282254 0.18085067] [ 0.01491731 -0.0027342 0.99988499 -0.27187091] [ 0. 0. 0. 1. ]] SLAMing on 55.92313336499999 meters Centerline goodness : 0.166112 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987419 0.00621971 -0.01459195 -0.14638355] [-0.00617524 0.99997616 0.00309025 0.18002613] [ 0.01461083 -0.00299975 0.99988876 -0.27202308] [ 0. 0. 0. 1. ]] SLAMing on 55.95313336499999 meters Centerline goodness : 0.142346 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987464 0.0062598 -0.01454397 -0.14634381] [-0.0062141 0.99997562 0.00318504 0.17935362] [ 0.01456355 -0.00309426 0.99988916 -0.27228874] [ 0. 0. 0. 1. ]] SLAMing on 55.98313336499999 meters Centerline goodness : 0.101773 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99987129 0.00628444 -0.01476201 -0.14548593] [-0.00623707 0.99997526 0.00325329 0.1786988 ] [ 0.01478209 -0.0031608 0.99988574 -0.27286693] [ 0. 0. 0. 1. ]] SLAMing on 56.013133364999995 meters Centerline goodness : 0.172470 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.18, Z:-0.27 [[ 0.9998586 0.00633652 -0.01557675 -0.14264364] [-0.00628369 0.99997435 0.00343771 0.17726368] [ 0.01559813 -0.00333935 0.99987277 -0.27435394] [ 0. 0. 0. 1. ]] SLAMing on 56.043133364999996 meters Centerline goodness : 0.173227 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.18, Z:-0.27 [[ 0.99985485 0.00638829 -0.01579482 -0.14192629] [-0.00633194 0.99997342 0.00361445 0.1762713 ] [ 0.01581749 -0.00351392 0.99986872 -0.27464782] [ 0. 0. 0. 1. ]] SLAMing on 56.073133365 meters Centerline goodness : 0.171572 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.18, Z:-0.27 [[ 0.9998846 -0.00268025 -0.01495341 -0.1218955 ] [ 0.00274353 0.99998736 0.00421304 0.17837514] [ 0.01494193 -0.00425358 0.99987932 -0.27388729] [ 0. 0. 0. 1. ]] SLAMing on 56.103133365 meters Centerline goodness : 0.175897 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.18, Z:-0.27 [[ 0.99988463 -0.00272467 -0.01494329 -0.12195735] [ 0.00279147 0.9999862 0.00445122 0.17655148] [ 0.01493096 -0.00449242 0.99987843 -0.27369479] [ 0. 0. 0. 1. ]] SLAMing on 56.13313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.16313336499999 meters Centerline goodness : 0.176132 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.17, Z:-0.27 [[ 0.99987237 -0.0031667 -0.01565906 -0.11958545] [ 0.00324335 0.99998287 0.00487175 0.17200213] [ 0.01564337 -0.00492192 0.99986552 -0.27440197] [ 0. 0. 0. 1. ]] SLAMing on 56.193133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.223133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.283133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.31313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.34313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.373133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.403133364999995 meters Centerline goodness : 0.098150 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.16, Z:-0.27 [[ 0.99987576 -0.00572844 -0.01468534 -0.12352968] [ 0.0057855 0.99997587 0.00384598 0.16060151] [ 0.01466295 -0.00393047 0.99988477 -0.27183596] [ 0. 0. 0. 1. ]] SLAMing on 56.433133364999996 meters Centerline goodness : 0.090713 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.16, Z:-0.27 [[ 0.99988117 -0.00563716 -0.01434784 -0.12439025] [ 0.0056951 0.99997578 0.00400063 0.16000392] [ 0.01432494 -0.00408186 0.99988906 -0.2717708 ] [ 0. 0. 0. 1. ]] SLAMing on 56.463133365 meters Centerline goodness : 0.092047 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.16, Z:-0.27 [[ 0.9998818 -0.00554819 -0.01433913 -0.12433754] [ 0.00560705 0.99997601 0.00406802 0.16000371] [ 0.01431622 -0.00414794 0.99988891 -0.27189062] [ 0. 0. 0. 1. ]] SLAMing on 56.49313336499999 meters Centerline goodness : 0.095118 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99983543 -0.00513877 -0.01739855 -0.167069 ] [ 0.00521014 0.99997819 0.00405941 0.15750444] [ 0.01737731 -0.00414939 0.99984039 -0.27233337] [ 0. 0. 0. 1. ]] SLAMing on 56.52313336499999 meters Centerline goodness : 0.165019 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.9998409 0.00294798 -0.01759242 -0.14685803] [-0.00289942 0.99999192 0.00278487 0.1552604 ] [ 0.01760049 -0.00273342 0.99984136 -0.27060092] [ 0. 0. 0. 1. ]] SLAMing on 56.553133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.583133364999995 meters Centerline goodness : 0.170767 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.9998437 0.00318763 -0.01738981 -0.14766409] [-0.00314445 0.99999191 0.00250958 0.15756427] [ 0.01739767 -0.00245451 0.99984564 -0.27029057] [ 0. 0. 0. 1. ]] SLAMing on 56.613133364999996 meters Centerline goodness : 0.174228 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.99984432 0.0031087 -0.01736857 -0.1478601 ] [-0.00306938 0.99999267 0.00228964 0.15851121] [ 0.01737556 -0.00223598 0.99984653 -0.27014826] [ 0. 0. 0. 1. ]] SLAMing on 56.643133365 meters Centerline goodness : 0.168504 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.16, Z:-0.27 [[ 0.99984546 0.00304847 -0.01731387 -0.14810011] [-0.00301275 0.99999328 0.00208879 0.15947322] [ 0.01732013 -0.0020363 0.99984792 -0.27005993] [ 0. 0. 0. 1. ]] SLAMing on 56.67313336499999 meters Centerline goodness : 0.096842 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.16, Z:-0.27 [[ 0.99986928 -0.00469528 -0.01547179 -0.17145673] [ 0.00474164 0.99998437 0.00296129 0.16422475] [ 0.01545764 -0.00303427 0.99987592 -0.27078821] [ 0. 0. 0. 1. ]] SLAMing on 56.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.73313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.763133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 56.793133364999996 meters Centerline goodness : 0.172534 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.17, Z:-0.27 [[ 0.99987682 0.00429604 -0.01509584 -0.14934232] [-0.00426465 0.99998868 0.00211088 0.16854841] [ 0.01510474 -0.00204624 0.99988382 -0.27040005] [ 0. 0. 0. 1. ]] SLAMing on 56.823133365 meters Centerline goodness : 0.168611 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.17, Z:-0.27 [[ 0.99987687 0.0042223 -0.01511323 -0.14919437] [-0.00419573 0.9999896 0.0017894 0.1704474 ] [ 0.01512063 -0.00172576 0.99988419 -0.27068163] [ 0. 0. 0. 1. ]] SLAMing on 56.853133365 meters Centerline goodness : 0.181877 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 0.99988212 0.0041704 -0.01477707 -0.15041852] [-0.0041548 0.99999078 0.00108665 0.17519067] [ 0.01478147 -0.00102512 0.99989022 -0.27023516] [ 0. 0. 0. 1. ]] SLAMing on 56.88313336499999 meters Centerline goodness : 0.133541 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 9.99883958e-01 3.96525990e-03 -1.47087647e-02 -1.50711727e-01] [-3.95782048e-03 9.99992025e-01 5.34855415e-04 1.77884482e-01] [ 1.47107682e-02 -4.76578699e-04 9.99891677e-01 -2.70135193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91313336499999 meters Centerline goodness : 0.109052 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.18, Z:-0.27 [[ 9.99882046e-01 3.74736551e-03 -1.48946603e-02 -1.50440367e-01] [-3.75225724e-03 9.99992915e-01 -3.00489339e-04 1.82945904e-01] [ 1.48934288e-02 3.56342492e-04 9.99889023e-01 -2.70117639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.943133364999994 meters Centerline goodness : 0.171510 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 9.99880904e-01 3.62429440e-03 -1.50014034e-02 -1.50211488e-01] [-3.63558703e-03 9.99993128e-01 -7.25568797e-04 1.85507499e-01] [ 1.49986707e-02 7.80021292e-04 9.99887209e-01 -2.70134801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.973133364999995 meters Centerline goodness : 0.170789 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99987892 0.00321117 -0.01522595 -0.149704 ] [-0.00323744 0.99999331 -0.00170106 0.19014195] [ 0.01522039 0.00175015 0.99988263 -0.27017165] [ 0. 0. 0. 1. ]] SLAMing on 57.003133365 meters Centerline goodness : 0.172441 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99987848 0.00299949 -0.01529788 -0.1496347 ] [-0.00303285 0.99999307 -0.00215755 0.19211734] [ 0.0152913 0.00220368 0.99988065 -0.27005971] [ 0. 0. 0. 1. ]] SLAMing on 57.033133365 meters Centerline goodness : 0.177016 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99987851 -0.00501728 -0.0147578 -0.13068292] [ 0.00500163 0.99998689 -0.00109731 0.19980228] [ 0.01476311 0.00102336 0.9998905 -0.26859235] [ 0. 0. 0. 1. ]] SLAMing on 57.06313336499999 meters Centerline goodness : 0.100309 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99988426 -0.00543964 -0.01420865 -0.13252111] [ 0.00542077 0.99998437 -0.00136644 0.20057491] [ 0.01421586 0.00128926 0.99989812 -0.26768374] [ 0. 0. 0. 1. ]] SLAMing on 57.09313336499999 meters Centerline goodness : 0.152311 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99987943 -0.00574567 -0.01442638 -0.13199639] [ 0.00572458 0.99998249 -0.00150243 0.20013583] [ 0.01443476 0.00141966 0.99989481 -0.26761423] [ 0. 0. 0. 1. ]] SLAMing on 57.123133364999994 meters Centerline goodness : 0.190156 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.20, Z:-0.27 [[ 0.99987253 -0.00603288 -0.01478281 -0.13105125] [ 0.00601085 0.99998076 -0.00153425 0.19910429] [ 0.01479178 0.0014452 0.99988955 -0.26763118] [ 0. 0. 0. 1. ]] SLAMing on 57.153133364999995 meters Centerline goodness : 0.104539 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.9999029 0.00107258 -0.0138942 -0.14864879] [-0.0011135 0.99999507 -0.00293764 0.19199681] [ 0.01389098 0.00295283 0.99989916 -0.26984195] [ 0. 0. 0. 1. ]] SLAMing on 57.183133364999996 meters Centerline goodness : 0.166500 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99990733 0.00109972 -0.0135692 -0.14982185] [-0.00113446 0.9999961 -0.00255297 0.19045106] [ 0.01356634 0.00256812 0.99990467 -0.26897452] [ 0. 0. 0. 1. ]] SLAMing on 57.213133365 meters Centerline goodness : 0.123923 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99990855 0.00109778 -0.01347947 -0.15027651] [-0.0011332 0.99999593 -0.00262016 0.1909122 ] [ 0.01347654 0.00263519 0.99990571 -0.26857345] [ 0. 0. 0. 1. ]] SLAMing on 57.24313336499999 meters Centerline goodness : 0.177923 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.19, Z:-0.27 [[ 0.99991658 0.00119249 -0.01286089 -0.15223763] [-0.00123241 0.99999444 -0.00309713 0.1939363 ] [ 0.01285713 0.00311272 0.9999125 -0.26794341] [ 0. 0. 0. 1. ]] SLAMing on 57.27313336499999 meters Centerline goodness : 0.167209 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.19, Z:-0.27 [[ 0.99989029 0.00267108 -0.01456966 -0.19926455] [-0.00271231 0.99999237 -0.00281077 0.19378785] [ 0.01456204 0.00284998 0.99988991 -0.26651623] [ 0. 0. 0. 1. ]] SLAMing on 57.303133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 57.333133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 57.363133364999996 meters Centerline goodness : 0.200248 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99986255 0.00576275 -0.01554571 -0.19516576] [-0.00578288 0.9999825 -0.00125014 0.20258626] [ 0.01553823 0.00133987 0.99987838 -0.26925187] [ 0. 0. 0. 1. ]] SLAMing on 57.393133365 meters Centerline goodness : 0.102913 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99986459 0.00567203 -0.01544754 -0.1955415 ] [-0.00569584 0.99998266 -0.00149779 0.20363133] [ 0.01543877 0.00158558 0.99987956 -0.26915811] [ 0. 0. 0. 1. ]] SLAMing on 57.42313336499999 meters Centerline goodness : 0.238876 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99986737 0.00563448 -0.01528079 -0.19624704] [-0.00565888 0.99998278 -0.00155388 0.20377658] [ 0.01527177 0.00164014 0.99988203 -0.2686982 ] [ 0. 0. 0. 1. ]] SLAMing on 57.45313336499999 meters Centerline goodness : 0.155619 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.20, Z:-0.27 [[ 0.99987202 0.00560783 -0.01498322 -0.1973031 ] [-0.00563206 0.9999829 -0.00157554 0.20376714] [ 0.01497413 0.00165973 0.9998865 -0.26821631] [ 0. 0. 0. 1. ]] SLAMing on 57.48313336499999 meters Centerline goodness : 0.151799 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.27 [[ 9.99898278e-01 -2.24514968e-03 -1.40852381e-02 -1.79508717e-01] [ 2.24230798e-03 9.99997462e-01 -2.17539686e-04 2.09861741e-01] [ 1.40856908e-02 1.85934116e-04 9.99900774e-01 -2.66937060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.513133364999995 meters Centerline goodness : 0.122216 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.27 [[ 9.99895834e-01 -2.22655108e-03 -1.42605549e-02 -1.78755793e-01] [ 2.22284885e-03 9.99997492e-01 -2.75458173e-04 2.10465729e-01] [ 1.42611324e-02 2.43730422e-04 9.99898275e-01 -2.67528116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543133364999996 meters Centerline goodness : 0.181066 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.21, Z:-0.27 [[ 9.99883554e-01 -2.04107596e-03 -1.51232171e-02 -1.75988679e-01] [ 2.03826999e-03 9.99997903e-01 -2.00952118e-04 2.10640825e-01] [ 1.51235956e-02 1.70103518e-04 9.99885617e-01 -2.68719205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.573133365 meters Centerline goodness : 0.103594 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.21, Z:-0.27 [[ 9.99878301e-01 -2.01849211e-03 -1.54696229e-02 -1.74967068e-01] [ 2.01748222e-03 9.99997962e-01 -8.08877340e-05 2.09735926e-01] [ 1.54697546e-02 4.96682009e-05 9.99880335e-01 -2.69014436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60313336499999 meters Centerline goodness : 0.161570 Centerline is valid? [False, False] Translation: X:-0.17, Y:0.21, Z:-0.27 [[ 9.99875061e-01 -1.90382548e-03 -1.56919450e-02 -1.74266720e-01] [ 1.90852169e-03 9.99998138e-01 2.84305637e-04 2.07749269e-01] [ 1.56913745e-02 -3.14218533e-04 9.99876833e-01 -2.69227212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63313336499999 meters Centerline goodness : 0.182079 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.20, Z:-0.27 [[ 0.99990875 0.00245049 -0.01328511 -0.19226145] [-0.00247641 0.99999506 -0.0019348 0.19648297] [ 0.0132803 0.00196752 0.99990988 -0.27091996] [ 0. 0. 0. 1. ]] SLAMing on 57.66313336499999 meters Centerline goodness : 0.121111 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.19, Z:-0.27 [[ 0.99990787 0.00245094 -0.01335105 -0.19211174] [-0.00247056 0.99999589 -0.00145287 0.19347228] [ 0.01334744 0.00148572 0.99990982 -0.27078983] [ 0. 0. 0. 1. ]] SLAMing on 57.693133364999994 meters Centerline goodness : 0.094766 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.19, Z:-0.27 [[ 9.99922951e-01 3.12572169e-04 -1.24094151e-02 -1.96185913e-01] [-3.44021602e-04 9.99996735e-01 -2.53226658e-03 1.85857328e-01] [ 1.24085831e-02 2.53634058e-03 9.99919794e-01 -2.68405863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723133364999995 meters Centerline goodness : 0.104086 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.18, Z:-0.27 [[ 9.99931855e-01 2.33421847e-04 -1.16717613e-02 -1.98244942e-01] [-2.57530029e-04 9.99997837e-01 -2.06405329e-03 1.82507353e-01] [ 1.16712543e-02 2.06691846e-03 9.99929752e-01 -2.67781121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.753133365 meters Centerline goodness : 0.166030 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.18, Z:-0.27 [[ 0.99993301 -0.00334638 -0.01108007 -0.20021621] [ 0.00329249 0.99998268 -0.00487799 0.17716249] [ 0.01109621 0.00484118 0.99992672 -0.26677317] [ 0. 0. 0. 1. ]] SLAMing on 57.783133365 meters Centerline goodness : 0.151747 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.17, Z:-0.27 [[ 0.99993185 -0.00320319 -0.0112264 -0.19987119] [ 0.0031545 0.99998555 -0.00435257 0.17432866] [ 0.01124018 0.00431686 0.99992751 -0.26668386] [ 0. 0. 0. 1. ]] SLAMing on 57.81313336499999 meters Centerline goodness : 0.104873 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.17, Z:-0.27 [[ 0.99992918 -0.00300627 -0.01151514 -0.19897622] [ 0.00296225 0.99998825 -0.0038379 0.1718505 ] [ 0.01152654 0.00380351 0.99992633 -0.26697578] [ 0. 0. 0. 1. ]] SLAMing on 57.84313336499999 meters Centerline goodness : 0.139412 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.16, Z:-0.27 [[ 0.99990847 0.00513599 -0.01251667 -0.21671489] [-0.00519638 0.99997499 -0.00479692 0.16342154] [ 0.01249172 0.00486152 0.99991016 -0.2688469 ] [ 0. 0. 0. 1. ]] SLAMing on 57.873133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 57.903133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 57.933133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 57.963133365 meters Centerline goodness : 0.165956 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.15, Z:-0.27 [[ 0.99992225 0.00199915 -0.01230875 -0.2174335 ] [-0.00208134 0.9999756 -0.00666782 0.15212993] [ 0.01229512 0.00669292 0.99990201 -0.2684596 ] [ 0. 0. 0. 1. ]] SLAMing on 57.99313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.02313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.053133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.083133364999995 meters Centerline goodness : 0.155749 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.15, Z:-0.27 [[ 0.99991363 0.00274005 -0.01285391 -0.2151756 ] [-0.00282424 0.99997465 -0.00653582 0.15361284] [ 0.01283568 0.00657156 0.99989602 -0.27024618] [ 0. 0. 0. 1. ]] SLAMing on 58.113133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.143133365 meters Centerline goodness : 0.092717 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.15, Z:-0.27 [[ 0.99990976 0.00273365 -0.01315318 -0.21454491] [-0.00282148 0.99997381 -0.00666418 0.1544168 ] [ 0.01313462 0.00670069 0.99989129 -0.27022861] [ 0. 0. 0. 1. ]] SLAMing on 58.17313336499999 meters Centerline goodness : 0.116501 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 0.99990877 0.00275528 -0.01322384 -0.21427512] [-0.00284555 0.99997275 -0.00681217 0.15565279] [ 0.01320471 0.00684918 0.99988936 -0.27043992] [ 0. 0. 0. 1. ]] SLAMing on 58.20313336499999 meters Centerline goodness : 0.095039 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 0.9999084 0.00270028 -0.0132625 -0.21403004] [-0.00279296 0.99997178 -0.00697422 0.15633543] [ 0.01324329 0.00701063 0.99988773 -0.27073898] [ 0. 0. 0. 1. ]] SLAMing on 58.23313336499999 meters Centerline goodness : 0.175720 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.16, Z:-0.27 [[ 0.99990981 0.00264568 -0.01316732 -0.21419712] [-0.00273989 0.99997074 -0.00714178 0.15708834] [ 0.01314804 0.00717722 0.9998878 -0.27088621] [ 0. 0. 0. 1. ]] SLAMing on 58.263133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.293133364999996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.35313336499999 meters Centerline goodness : 0.175787 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.16, Z:-0.27 [[ 0.99990045 0.00636171 -0.01259402 -0.21610989] [-0.00641796 0.99996959 -0.00443059 0.16467626] [ 0.01256545 0.00451098 0.99991088 -0.27018691] [ 0. 0. 0. 1. ]] SLAMing on 58.38313336499999 meters Centerline goodness : 0.178501 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.17, Z:-0.27 [[ 0.99990275 0.006238 -0.01247342 -0.21652543] [-0.00629981 0.99996804 -0.00492169 0.16737457] [ 0.01244232 0.00499979 0.99991009 -0.27010726] [ 0. 0. 0. 1. ]] SLAMing on 58.41313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.443133364999994 meters Centerline goodness : 0.175223 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.18, Z:-0.27 [[ 0.99987974 0.00926187 -0.01243918 -0.21805436] [-0.00930039 0.99995212 -0.0030424 0.17616361] [ 0.0124104 0.00315772 0.999918 -0.26848763] [ 0. 0. 0. 1. ]] SLAMing on 58.473133364999995 meters Centerline goodness : 0.092679 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.18, Z:-0.27 [[ 0.99995404 0.00225516 -0.00931827 -0.23854949] [-0.00227883 0.9999942 -0.00252974 0.18293998] [ 0.00931251 0.00255086 0.99995338 -0.27066795] [ 0. 0. 0. 1. ]] SLAMing on 58.503133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.533133365 meters Centerline goodness : 0.155683 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.19, Z:-0.27 [[ 0.99996799 -0.00524527 -0.00604258 -0.22163712] [ 0.0052376 0.99998546 -0.00128478 0.19316363] [ 0.00604923 0.00125309 0.99998092 -0.2691586 ] [ 0. 0. 0. 1. ]] SLAMing on 58.56313336499999 meters Centerline goodness : 0.162880 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99997357 0.00226954 -0.00690708 -0.24004724] [-0.00229146 0.99999236 -0.00316774 0.18755512] [ 0.00689984 0.00318348 0.99997113 -0.2706753 ] [ 0. 0. 0. 1. ]] SLAMing on 58.59313336499999 meters Centerline goodness : 0.148230 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99996806 0.00199708 -0.00773868 -0.23749937] [-0.00202324 0.99999226 -0.00337362 0.18755054] [ 0.00773189 0.00338917 0.99996437 -0.27158965] [ 0. 0. 0. 1. ]] SLAMing on 58.623133364999994 meters Centerline goodness : 0.097382 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99996759 0.00202706 -0.00779169 -0.23721051] [-0.00205275 0.99999248 -0.00329099 0.18728316] [ 0.00778497 0.00330688 0.99996423 -0.27184688] [ 0. 0. 0. 1. ]] SLAMing on 58.653133364999995 meters Centerline goodness : 0.117998 Centerline is valid? [False, False] Translation: X:-0.22, Y:0.19, Z:-0.27 [[ 0.99995443 -0.0060078 -0.00741896 -0.21774817] [ 0.00599139 0.99997956 -0.00223293 0.19298832] [ 0.00743222 0.00218838 0.99996999 -0.27101996] [ 0. 0. 0. 1. ]] SLAMing on 58.683133364999996 meters Centerline goodness : 0.099302 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.9999705 0.00176835 -0.00747485 -0.23605482] [-0.00179691 0.99999111 -0.00381576 0.18731782] [ 0.00746804 0.00382908 0.99996478 -0.27301553] [ 0. 0. 0. 1. ]] SLAMing on 58.713133365 meters Centerline goodness : 0.138130 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.19, Z:-0.27 [[ 0.99996938 0.00177959 -0.00762096 -0.23565966] [-0.00180844 0.99999122 -0.00378094 0.18712562] [ 0.00761417 0.0037946 0.99996381 -0.27312901] [ 0. 0. 0. 1. ]] SLAMing on 58.74313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 58.77313336499999 meters Centerline goodness : 0.144327 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.18, Z:-0.27 [[ 0.99996564 0.00203864 -0.00803568 -0.2345803 ] [-0.00206367 0.99999304 -0.0031078 0.18444003] [ 0.00802929 0.00312427 0.99996288 -0.27315501] [ 0. 0. 0. 1. ]] SLAMing on 58.803133364999994 meters Centerline goodness : 0.183927 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.18, Z:-0.27 [[ 0.9999668 0.00205539 -0.00788546 -0.23498353] [-0.00207783 0.99999381 -0.00283847 0.18257234] [ 0.00787958 0.00285476 0.99996488 -0.27300692] [ 0. 0. 0. 1. ]] SLAMing on 58.833133364999995 meters Centerline goodness : 0.103683 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.18, Z:-0.27 [[ 0.99997342 0.00142993 -0.00715 -0.23693784] [-0.00144972 0.99999513 -0.00276378 0.17775235] [ 0.00714601 0.00277407 0.99997062 -0.27265852] [ 0. 0. 0. 1. ]] SLAMing on 58.863133364999996 meters Centerline goodness : 0.104509 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.17, Z:-0.27 [[ 0.99997373 0.00158782 -0.00707278 -0.23716202] [-0.00160266 0.99999653 -0.00209256 0.17414637] [ 0.00706943 0.00210384 0.9999728 -0.27246608] [ 0. 0. 0. 1. ]] SLAMing on 58.893133365 meters Centerline goodness : 0.106636 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.16, Z:-0.27 [[ 9.99954086e-01 9.92031213e-04 -9.53105078e-03 -2.80902472e-01] [-1.00826394e-03 9.99998049e-01 -1.69848731e-03 1.62588452e-01] [ 9.52934723e-03 1.70801914e-03 9.99953136e-01 -2.72242516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92313336499999 meters Centerline goodness : 0.160739 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.16, Z:-0.27 [[ 0.99995277 0.00108304 -0.00965886 -0.2802426 ] [-0.00109497 0.99999864 -0.00122954 0.15949837] [ 0.00965752 0.00124006 0.9999526 -0.27275053] [ 0. 0. 0. 1. ]] SLAMing on 58.95313336499999 meters Centerline goodness : 0.092021 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.16, Z:-0.27 [[ 9.99929463e-01 -7.21211783e-03 -9.43687956e-03 -2.59883779e-01] [ 7.20909393e-03 9.99973951e-01 -3.54412215e-04 1.61548302e-01] [ 9.43918980e-03 2.86355864e-04 9.99955409e-01 -2.72368496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 59.013133364999995 meters Centerline goodness : 0.092582 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.16, Z:-0.27 [[ 0.99993852 -0.00500062 -0.00989695 -0.25696816] [ 0.00501965 0.9999856 0.00189887 0.15736803] [ 0.00988732 -0.00194843 0.99994922 -0.27468345] [ 0. 0. 0. 1. ]] SLAMing on 59.043133364999996 meters Centerline goodness : 0.169231 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99954916e-01 3.51976405e-03 -8.81919076e-03 -2.37198936e-01] [-3.51265260e-03 9.99993493e-01 8.21720158e-04 1.54052995e-01] [ 8.82202564e-03 -7.90704358e-04 9.99960773e-01 -2.73678203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.073133365 meters Centerline goodness : 0.158542 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99957293e-01 3.55247222e-03 -8.53182512e-03 -2.38131207e-01] [-3.54483813e-03 9.99993303e-01 9.09733357e-04 1.53494622e-01] [ 8.53499979e-03 -8.79450566e-04 9.99963189e-01 -2.73359493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 59.13313336499999 meters Centerline goodness : 0.165816 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99959430e-01 3.58933950e-03 -8.26161322e-03 -2.38651245e-01] [-3.58222426e-03 9.99993200e-01 8.75877152e-04 1.53880629e-01] [ 8.26470087e-03 -8.46246666e-04 9.99965489e-01 -2.73669925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16313336499999 meters Centerline goodness : 0.171693 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.15, Z:-0.27 [[ 9.99961289e-01 3.50273810e-03 -8.07165324e-03 -2.39124861e-01] [-3.49754859e-03 9.99993668e-01 6.56955394e-04 1.54814212e-01] [ 8.07390327e-03 -6.28698963e-04 9.99967208e-01 -2.73708273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.193133364999994 meters Centerline goodness : 0.167773 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.16, Z:-0.27 [[ 9.99963487e-01 3.36086931e-03 -7.85680207e-03 -2.40006296e-01] [-3.35892795e-03 9.99994325e-01 2.60274948e-04 1.56747060e-01] [ 7.85763223e-03 -2.33875012e-04 9.99969101e-01 -2.73281241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223133364999995 meters Centerline goodness : 0.171001 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.16, Z:-0.27 [[ 9.99962180e-01 3.30897449e-03 -8.04292881e-03 -2.39641019e-01] [-3.30793054e-03 9.99994519e-01 1.43097387e-04 1.57406549e-01] [ 8.04335823e-03 -1.16486525e-04 9.99967645e-01 -2.73177405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.253133365 meters Centerline goodness : 0.106883 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99923888e-01 2.63567817e-03 -1.20528465e-02 -2.80734858e-01] [-2.63874070e-03 9.99996490e-01 -2.38196575e-04 1.54885285e-01] [ 1.20521764e-02 2.69982782e-04 9.99927333e-01 -2.73162608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283133365 meters Centerline goodness : 0.176398 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99920820e-01 2.57748109e-03 -1.23170660e-02 -2.80078283e-01] [-2.58046929e-03 9.99996645e-01 -2.26720465e-04 1.54527780e-01] [ 1.23164403e-02 2.58486324e-04 9.99924116e-01 -2.73201939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 59.34313336499999 meters Centerline goodness : 0.196551 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99927053e-01 2.01768942e-03 -1.19087522e-02 -2.81294613e-01] [-2.02447851e-03 9.99997795e-01 -5.58064820e-04 1.54355456e-01] [ 1.19076000e-02 5.82133124e-04 9.99928933e-01 -2.72617187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.373133364999994 meters Centerline goodness : 0.261727 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99929122e-01 1.91475723e-03 -1.17509364e-02 -2.81874815e-01] [-1.92067207e-03 9.99998034e-01 -4.92085323e-04 1.53964567e-01] [ 1.17499710e-02 5.14620140e-04 9.99930834e-01 -2.72207489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403133364999995 meters Centerline goodness : 0.106739 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.15, Z:-0.27 [[ 9.99929383e-01 1.84650251e-03 -1.17396837e-02 -2.81868953e-01] [-1.85328664e-03 9.99998122e-01 -5.67027687e-04 1.54153519e-01] [ 1.17386146e-02 5.88744644e-04 9.99930927e-01 -2.72269054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.433133364999996 meters Centerline goodness : 0.098221 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.16, Z:-0.27 [[ 9.99926995e-01 1.68342548e-03 -1.19653653e-02 -2.81254054e-01] [-1.69328160e-03 9.99998235e-01 -8.13637789e-04 1.55056424e-01] [ 1.19639745e-02 8.33839123e-04 9.99928081e-01 -2.72358754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463133365 meters Centerline goodness : 0.162845 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.15, Z:-0.27 [[ 9.99893795e-01 1.83579660e-03 -1.44578153e-02 -3.26599942e-01] [-1.84802466e-03 9.99997946e-01 -8.32460404e-04 1.53294295e-01] [ 1.44562573e-02 8.59090392e-04 9.99895134e-01 -2.71532160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49313336499999 meters Centerline goodness : 0.098417 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989773 -0.00428865 -0.013643 -0.30518931] [ 0.00431476 0.99998892 0.00188464 0.15774793] [ 0.01363477 -0.00194331 0.99990515 -0.27169043] [ 0. 0. 0. 1. ]] SLAMing on 59.52313336499999 meters Centerline goodness : 0.148456 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989851 -0.00441665 -0.0135445 -0.30566151] [ 0.00443828 0.99998892 0.00156726 0.15920019] [ 0.01353743 -0.00162722 0.99990704 -0.27139389] [ 0. 0. 0. 1. ]] SLAMing on 59.553133364999994 meters Centerline goodness : 0.158562 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989886 -0.004441 -0.01351087 -0.30583227] [ 0.00446263 0.99998881 0.00157161 0.15891953] [ 0.01350374 -0.00163175 0.99990749 -0.27129115] [ 0. 0. 0. 1. ]] SLAMing on 59.583133364999995 meters Centerline goodness : 0.135501 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989702 -0.00435518 -0.01367406 -0.30539983] [ 0.00438154 0.9999886 0.00189863 0.15723246] [ 0.01366564 -0.00195835 0.9999047 -0.27130774] [ 0. 0. 0. 1. ]] SLAMing on 59.613133364999996 meters Centerline goodness : 0.103403 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.16, Z:-0.27 [[ 0.99989652 -0.00426565 -0.01373876 -0.30530097] [ 0.00429555 0.99998847 0.00214786 0.15603434] [ 0.01372944 -0.00220665 0.99990331 -0.27117258] [ 0. 0. 0. 1. ]] SLAMing on 59.643133365 meters Centerline goodness : 0.175468 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.15, Z:-0.27 [[ 0.99989545 -0.00423725 -0.01382508 -0.30528991] [ 0.00426949 0.99998823 0.00230313 0.15497921] [ 0.01381516 -0.00236192 0.99990178 -0.27084461] [ 0. 0. 0. 1. ]] SLAMing on 59.67313336499999 meters Centerline goodness : 0.147704 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.15, Z:-0.27 [[ 9.99903600e-01 3.34144789e-03 -1.34768732e-02 -2.85808579e-01] [-3.32911576e-03 9.99994019e-01 9.37389162e-04 1.49275730e-01] [ 1.34799249e-02 -8.92432726e-04 9.99908743e-01 -2.68718907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70313336499999 meters Centerline goodness : 0.167531 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.15, Z:-0.27 [[ 0.99990419 0.00341556 -0.0134143 -0.28612071] [-0.00340072 0.99999358 0.0011287 0.14826982] [ 0.01341807 -0.00108298 0.99990939 -0.26846893] [ 0. 0. 0. 1. ]] SLAMing on 59.73313336499999 meters Centerline goodness : 0.145316 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.15, Z:-0.27 [[ 0.99990429 0.00364886 -0.01334513 -0.28652859] [-0.00362628 0.99999195 0.00171596 0.1455298 ] [ 0.01335128 -0.0016674 0.99990948 -0.26804858] [ 0. 0. 0. 1. ]] SLAMing on 59.763133364999995 meters Centerline goodness : 0.118754 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.14, Z:-0.27 [[ 0.99990593 0.00376698 -0.01318869 -0.28696794] [-0.00373963 0.99999081 0.00209765 0.14355049] [ 0.01319647 -0.00204813 0.99991083 -0.26792058] [ 0. 0. 0. 1. ]] SLAMing on 59.793133364999996 meters Centerline goodness : 0.123803 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.14, Z:-0.27 [[ 0.99991014 0.00381509 -0.01285164 -0.28797039] [-0.00378396 0.99998985 0.00244536 0.14139471] [ 0.01286084 -0.00239651 0.99991442 -0.26755491] [ 0. 0. 0. 1. ]] SLAMing on 59.823133365 meters Centerline goodness : 0.098242 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.14, Z:-0.27 [[ 0.99990648 -0.0056113 -0.01247176 -0.31266488] [ 0.00564763 0.99997991 0.00287967 0.13772974] [ 0.01245535 -0.00294984 0.99991808 -0.26688093] [ 0. 0. 0. 1. ]] SLAMing on 59.85313336499999 meters Centerline goodness : 0.149982 Centerline is valid? [False, False] Translation: X:-0.31, Y:0.13, Z:-0.27 [[ 0.99990553 -0.00544433 -0.01262113 -0.31220094] [ 0.00548814 0.99997903 0.0034392 0.13476836] [ 0.01260214 -0.00350815 0.99991444 -0.26694941] [ 0. 0. 0. 1. ]] SLAMing on 59.88313336499999 meters Centerline goodness : 0.095812 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.12, Z:-0.27 [[ 9.99947560e-01 1.77322933e-04 -1.02393902e-02 -3.31448419e-01] [-1.57393827e-04 9.99998092e-01 1.94709069e-03 1.23661246e-01] [ 1.02397159e-02 -1.94537697e-03 9.99945680e-01 -2.68713631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91313336499999 meters Centerline goodness : 0.179496 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.12, Z:-0.27 [[ 9.99947945e-01 2.80794023e-04 -1.01993978e-02 -3.31766667e-01] [-2.56490569e-04 9.99997125e-01 2.38406217e-03 1.21126465e-01] [ 1.02000379e-02 -2.38132202e-03 9.99945143e-01 -2.68278778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.943133364999994 meters Centerline goodness : 0.145299 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.12, Z:-0.27 [[ 9.99947244e-01 3.99969333e-04 -1.02639684e-02 -3.31623893e-01] [-3.70863887e-04 9.99995906e-01 2.83743799e-03 1.18600283e-01] [ 1.02650612e-02 -2.83348176e-03 9.99943298e-01 -2.68214839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.973133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.003133365 meters Centerline goodness : 0.182540 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.11, Z:-0.27 [[ 0.99992983 -0.00138638 -0.0117648 -0.32519166] [ 0.00141038 0.99999694 0.00203209 0.11012896] [ 0.01176194 -0.00204854 0.99992873 -0.27166679] [ 0. 0. 0. 1. ]] SLAMing on 60.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.06313336499999 meters Centerline goodness : 0.096236 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.10, Z:-0.27 [[ 9.99916671e-01 -4.91394207e-03 -1.19375063e-02 -3.24722319e-01] [ 4.90801060e-03 9.99987817e-01 -5.26121867e-04 1.02893982e-01] [ 1.19399462e-02 4.67488618e-04 9.99928607e-01 -2.71617460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.123133364999994 meters Centerline goodness : 0.095602 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.10, Z:-0.27 [[ 9.99905606e-01 -4.63080527e-03 -1.29358006e-02 -3.21719830e-01] [ 4.63944671e-03 9.99989034e-01 6.38096286e-04 9.67497506e-02] [ 1.29327038e-02 -6.98051011e-04 9.99916125e-01 -2.72489071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.153133364999995 meters Centerline goodness : 0.096769 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 9.99906573e-01 3.22146637e-03 -1.32841102e-02 -3.40221465e-01] [-3.22834549e-03 9.99994666e-01 -4.96434398e-04 9.00630659e-02] [ 1.32824401e-02 5.39273715e-04 9.99911639e-01 -2.74224107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183133364999996 meters Centerline goodness : 0.096769 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 9.99906573e-01 3.22146637e-03 -1.32841102e-02 -3.40221465e-01] [-3.22834549e-03 9.99994666e-01 -4.96434398e-04 9.00630659e-02] [ 1.32824401e-02 5.39273715e-04 9.99911639e-01 -2.74224107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.213133365 meters Centerline goodness : 0.157887 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99910933e-01 -4.94858887e-03 -1.23951004e-02 -3.20304709e-01] [ 4.95345116e-03 9.99987666e-01 3.61605146e-04 9.35446125e-02] [ 1.23931581e-02 -4.22971463e-04 9.99923112e-01 -2.73323725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.27313336499999 meters Centerline goodness : 0.154908 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99923507e-01 -5.62563020e-03 -1.10150662e-02 -3.24876537e-01] [ 5.62941649e-03 9.99984106e-01 3.12762772e-04 9.08500017e-02] [ 1.10131316e-02 -3.74747243e-04 9.99939283e-01 -2.71138402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.303133364999994 meters Centerline goodness : 0.096260 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99913471e-01 -6.14106399e-03 -1.16334736e-02 -3.23232838e-01] [ 6.14748420e-03 9.99980971e-01 5.16194315e-04 8.74911097e-02] [ 1.16300822e-02 -5.87666245e-04 9.99932196e-01 -2.71317238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.333133364999995 meters Centerline goodness : 0.417316 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.09, Z:-0.27 [[ 9.99913602e-01 -6.30984375e-03 -1.15314394e-02 -3.23632454e-01] [ 6.31908924e-03 9.99979741e-01 7.65503880e-04 8.52283810e-02] [ 1.15263756e-02 -8.38305937e-04 9.99933218e-01 -2.70976584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363133364999996 meters Centerline goodness : 0.250791 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.08, Z:-0.27 [[ 0.9999174 -0.0064774 -0.01110146 -0.32495856] [ 0.00648966 0.99997837 0.00106837 0.08272705] [ 0.0110943 -0.00114032 0.99993781 -0.27033868] [ 0. 0. 0. 1. ]] SLAMing on 60.393133365 meters Centerline goodness : 0.357565 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.08, Z:-0.27 [[ 0.99992473 -0.00714702 -0.00997302 -0.32854478] [ 0.00715948 0.99997363 0.00121419 0.0776562 ] [ 0.00996408 -0.0012855 0.99994953 -0.26884244] [ 0. 0. 0. 1. ]] SLAMing on 60.42313336499999 meters Centerline goodness : 0.043188 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.08, Z:-0.27 [[ 0.99992391 -0.00713822 -0.0100605 -0.32817616] [ 0.00715486 0.99997309 0.00161901 0.07502264] [ 0.01004867 -0.00169087 0.99994808 -0.26907539] [ 0. 0. 0. 1. ]] SLAMing on 60.45313336499999 meters Centerline goodness : 0.045688 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 9.99947121e-01 -5.23680232e-04 -1.02704145e-02 -3.45861282e-01] [ 5.23838110e-04 9.99999863e-01 1.26820887e-05 6.42152457e-02] [ 1.02704065e-02 -1.80614526e-05 9.99947258e-01 -2.71694415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.513133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.543133364999996 meters Centerline goodness : 0.334062 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.05, Z:-0.27 [[ 0.99993848 -0.00353997 -0.01051221 -0.34544171] [ 0.00352124 0.99999218 -0.00180008 0.05493167] [ 0.0105185 0.00176295 0.99994312 -0.2713956 ] [ 0. 0. 0. 1. ]] SLAMing on 60.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.60313336499999 meters Centerline goodness : 0.097102 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.05, Z:-0.27 [[ 0.99991482 0.00494738 -0.01207785 -0.3658173 ] [-0.00497579 0.99998492 -0.00232407 0.04843677] [ 0.01206617 0.00238397 0.99992436 -0.27162852] [ 0. 0. 0. 1. ]] SLAMing on 60.63313336499999 meters Centerline goodness : 0.096067 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.05, Z:-0.27 [[ 9.99923285e-01 -2.17437986e-03 -1.21941333e-02 -3.46797608e-01] [ 2.16582394e-03 9.99997399e-01 -7.14804128e-04 5.38992244e-02] [ 1.21956558e-02 6.88338946e-04 9.99925393e-01 -2.69963440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66313336499999 meters Centerline goodness : 0.096673 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.05, Z:-0.27 [[ 9.99923766e-01 -2.21242162e-03 -1.21476951e-02 -3.46973564e-01] [ 2.20161434e-03 9.99997169e-01 -9.02957489e-04 5.48723601e-02] [ 1.21496584e-02 8.76144114e-04 9.99925806e-01 -2.69866701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.693133364999994 meters Centerline goodness : 0.095138 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992891 -0.00233583 -0.01169289 -0.34840857] [ 0.00232051 0.99999643 -0.00132372 0.05690693] [ 0.01169594 0.00129649 0.99993076 -0.26934302] [ 0. 0. 0. 1. ]] SLAMing on 60.723133364999995 meters Centerline goodness : 0.091368 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99993016 -0.00236733 -0.01157879 -0.34897818] [ 0.00235045 0.99999616 -0.00147118 0.0578917 ] [ 0.01158223 0.00144386 0.99993188 -0.26889519] [ 0. 0. 0. 1. ]] SLAMing on 60.753133365 meters Centerline goodness : 0.040601 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992709 -0.00250973 -0.0118117 -0.34851154] [ 0.00248778 0.99999515 -0.00187198 0.06020942] [ 0.01181634 0.00184246 0.99992849 -0.26879888] [ 0. 0. 0. 1. ]] SLAMing on 60.783133365 meters Centerline goodness : 0.101265 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992582 -0.00270275 -0.01187637 -0.34834491] [ 0.00267722 0.99999407 -0.00216471 0.06130567] [ 0.01188215 0.00213276 0.99992713 -0.26887877] [ 0. 0. 0. 1. ]] SLAMing on 60.81313336499999 meters Centerline goodness : 0.094530 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99992934 -0.00333569 -0.01141037 -0.34970293] [ 0.00330343 0.9999905 -0.00284462 0.06330712] [ 0.01141975 0.00280673 0.99993085 -0.26844071] [ 0. 0. 0. 1. ]] SLAMing on 60.84313336499999 meters Centerline goodness : 0.139995 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.06, Z:-0.27 [[ 0.99993125 -0.00355471 -0.0111743 -0.3505106 ] [ 0.00352009 0.99998895 -0.00311688 0.06430957] [ 0.01118526 0.00307733 0.99993271 -0.26811967] [ 0. 0. 0. 1. ]] SLAMing on 60.873133364999994 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 60.903133364999995 meters Centerline goodness : 0.419054 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.07, Z:-0.27 [[ 0.99992287 -0.00445927 -0.0115917 -0.34965802] [ 0.00440993 0.99998112 -0.00427881 0.06921229] [ 0.01161056 0.00422736 0.99992366 -0.26797683] [ 0. 0. 0. 1. ]] SLAMing on 60.933133364999996 meters Centerline goodness : 0.092043 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.07, Z:-0.27 [[ 0.99991906 -0.00462558 -0.01185205 -0.34872809] [ 0.00457005 0.99997848 -0.00470788 0.07148785] [ 0.01187357 0.00465334 0.99991868 -0.26845582] [ 0. 0. 0. 1. ]] SLAMing on 60.963133365 meters Centerline goodness : 0.423030 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.07, Z:-0.27 [[ 0.999916 -0.00484842 -0.01201994 -0.34797924] [ 0.00478517 0.99997458 -0.00528526 0.07441265] [ 0.01204526 0.0052273 0.99991379 -0.2689852 ] [ 0. 0. 0. 1. ]] SLAMing on 60.99313336499999 meters Centerline goodness : 0.090933 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.08, Z:-0.27 [[ 0.99993479 -0.00285638 -0.01105731 -0.35196004] [ 0.00281136 0.9999877 -0.00408492 0.08175996] [ 0.01106884 0.00405357 0.99993052 -0.26705241] [ 0. 0. 0. 1. ]] SLAMing on 61.02313336499999 meters Centerline goodness : 0.091169 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.09, Z:-0.27 [[ 0.99993597 -0.00305938 -0.01089466 -0.35266752] [ 0.00300729 0.99998398 -0.00479439 0.0855501 ] [ 0.01090915 0.00476132 0.99992916 -0.26648482] [ 0. 0. 0. 1. ]] SLAMing on 61.053133364999994 meters Centerline goodness : 0.093319 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.09, Z:-0.27 [[ 0.99993251 -0.0011277 -0.01156319 -0.35055845] [ 0.00108282 0.99999186 -0.00388631 0.09427909] [ 0.01156748 0.00387352 0.99992559 -0.26707786] [ 0. 0. 0. 1. ]] SLAMing on 61.083133364999995 meters Centerline goodness : 0.099907 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.9999284 -0.00130246 -0.01189568 -0.34943604] [ 0.00124849 0.9999889 -0.00454364 0.09786704] [ 0.01190147 0.00452847 0.99991892 -0.26761058] [ 0. 0. 0. 1. ]] SLAMing on 61.113133364999996 meters Centerline goodness : 0.085534 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99992417 -0.00148206 -0.01222506 -0.34844322] [ 0.00141865 0.99998551 -0.00519325 0.10129334] [ 0.01223258 0.00517552 0.99991179 -0.26793084] [ 0. 0. 0. 1. ]] SLAMing on 61.143133365 meters Centerline goodness : 0.085516 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99992105 -0.00169098 -0.01245155 -0.34787557] [ 0.00161824 0.99998158 -0.00584991 0.10466762] [ 0.01246121 0.00582929 0.99990536 -0.2679294 ] [ 0. 0. 0. 1. ]] SLAMing on 61.17313336499999 meters Centerline goodness : 0.085884 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99922634e-01 9.44084393e-04 -1.24030326e-02 -3.49122993e-01] [-9.94949018e-04 9.99991119e-01 -4.09545274e-03 1.11815176e-01] [ 1.23990560e-02 4.10747628e-03 9.99914692e-01 -2.66637822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20313336499999 meters Centerline goodness : 0.117834 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99922068e-01 7.00887861e-04 -1.24646011e-02 -3.49007670e-01] [-7.60940762e-04 9.99988124e-01 -4.81378608e-03 1.15378950e-01] [ 1.24610791e-02 4.82289576e-03 9.99910727e-01 -2.66533264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23313336499999 meters Centerline goodness : 0.222765 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99921933e-01 3.39243672e-04 -1.24905096e-02 -3.49171139e-01] [-4.14341925e-04 9.99981852e-01 -6.01032835e-03 1.22241017e-01] [ 1.24882439e-02 6.01503448e-03 9.99903927e-01 -2.66093149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.263133364999995 meters Centerline goodness : 0.124724 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989896 -0.00785287 -0.01184909 -0.32994323] [ 0.00779252 0.99995648 -0.00513066 0.12920641] [ 0.01188886 0.00503781 0.99991663 -0.26478319] [ 0. 0. 0. 1. ]] SLAMing on 61.293133364999996 meters Centerline goodness : 0.038175 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989874 -0.00801322 -0.01175986 -0.33025844] [ 0.0079494 0.99995348 -0.00546385 0.13075144] [ 0.0118031 0.00536982 0.99991592 -0.26461668] [ 0. 0. 0. 1. ]] SLAMing on 61.323133365 meters Centerline goodness : 0.150899 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989569 -0.00854839 -0.01164229 -0.33061961] [ 0.00847985 0.9999465 -0.00592353 0.13198913] [ 0.0116923 0.00582419 0.99991468 -0.26450623] [ 0. 0. 0. 1. ]] SLAMing on 61.35313336499999 meters Centerline goodness : 0.109386 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99989527 -0.00858051 -0.01165447 -0.33069742] [ 0.00851311 0.99994682 -0.00582061 0.1313565 ] [ 0.0117038 0.00572079 0.99991514 -0.26426825] [ 0. 0. 0. 1. ]] SLAMing on 61.38313336499999 meters Centerline goodness : 0.121759 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99990245 -0.00915716 -0.01054715 -0.33388906] [ 0.00909324 0.9999401 -0.00609236 0.13083263] [ 0.01060231 0.00599586 0.99992582 -0.26317931] [ 0. 0. 0. 1. ]] SLAMing on 61.41313336499999 meters Centerline goodness : 0.131729 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99990473 -0.00917299 -0.01031459 -0.33467932] [ 0.00911167 0.99994063 -0.00597631 0.13002623] [ 0.0103688 0.00588176 0.99992894 -0.26272837] [ 0. 0. 0. 1. ]] SLAMing on 61.443133364999994 meters Centerline goodness : 0.136198 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99990508 -0.00916355 -0.01028905 -0.33486387] [ 0.00910298 0.99994106 -0.00591788 0.12975586] [ 0.01034267 0.00582366 0.99992955 -0.26252422] [ 0. 0. 0. 1. ]] SLAMing on 61.473133364999995 meters Centerline goodness : 0.137106 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99992929 -0.00601675 -0.01025735 -0.33470176] [ 0.00598961 0.99997848 -0.00267522 0.12999172] [ 0.01027322 0.0026136 0.99994381 -0.26294645] [ 0. 0. 0. 1. ]] SLAMing on 61.503133365 meters Centerline goodness : 0.129632 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99992903 -0.00606245 -0.01025614 -0.33473316] [ 0.00603292 0.99997757 -0.00290791 0.13132989] [ 0.01027354 0.00284583 0.99994318 -0.26287645] [ 0. 0. 0. 1. ]] SLAMing on 61.533133365 meters Centerline goodness : 0.135277 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.26 [[ 0.99992967 -0.00626094 -0.01007251 -0.33539487] [ 0.00622449 0.99997398 -0.00364693 0.13506455] [ 0.01009508 0.00358398 0.99994262 -0.26247813] [ 0. 0. 0. 1. ]] SLAMing on 61.56313336499999 meters Centerline goodness : 0.130548 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.26 [[ 0.99993704 0.00243004 -0.0109551 -0.35500243] [-0.00248318 0.99998521 -0.00483974 0.13342556] [ 0.01094318 0.00486664 0.99992828 -0.26361496] [ 0. 0. 0. 1. ]] SLAMing on 61.59313336499999 meters Centerline goodness : 0.146370 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.9999099 -0.00528361 -0.01233983 -0.33474588] [ 0.00523659 0.99997892 -0.00384017 0.13942894] [ 0.01235986 0.00377521 0.99991649 -0.26197456] [ 0. 0. 0. 1. ]] SLAMing on 61.623133364999994 meters Centerline goodness : 0.131710 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99990562 -0.00548081 -0.01259779 -0.33354237] [ 0.00542885 0.99997663 -0.00415466 0.14065186] [ 0.01262027 0.00408588 0.99991201 -0.26288753] [ 0. 0. 0. 1. ]] SLAMing on 61.653133364999995 meters Centerline goodness : 0.136278 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99990543 -0.0055117 -0.01259938 -0.33331998] [ 0.00546055 0.99997672 -0.00409112 0.14008826] [ 0.01262163 0.00402193 0.99991226 -0.26324875] [ 0. 0. 0. 1. ]] SLAMing on 61.683133364999996 meters Centerline goodness : 0.130120 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99990061 -0.00600847 -0.01275426 -0.33289261] [ 0.00595715 0.99997402 -0.00405825 0.13827136] [ 0.01277831 0.00398186 0.99991043 -0.26333614] [ 0. 0. 0. 1. ]] SLAMing on 61.713133365 meters Centerline goodness : 0.121747 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.14, Z:-0.26 [[ 0.99989635 -0.00605309 -0.01306318 -0.33207435] [ 0.00600484 0.99997501 -0.00372989 0.13631239] [ 0.01308543 0.00365106 0.99990772 -0.26349737] [ 0. 0. 0. 1. ]] SLAMing on 61.74313336499999 meters Centerline goodness : 0.118550 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.26 [[ 0.99988915 -0.00606926 -0.01359578 -0.33068027] [ 0.0060247 0.99997635 -0.00331662 0.133947 ] [ 0.01361559 0.00323434 0.99990207 -0.26378652] [ 0. 0. 0. 1. ]] SLAMing on 61.77313336499999 meters Centerline goodness : 0.141348 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.13, Z:-0.27 [[ 0.99985787 -0.00900667 -0.01425193 -0.32756815] [ 0.00893015 0.99994542 -0.00542383 0.12839396] [ 0.0143 0.00529578 0.99988373 -0.26562532] [ 0. 0. 0. 1. ]] SLAMing on 61.803133364999994 meters Centerline goodness : 0.132346 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99902139e-01 -7.42977170e-04 -1.39699714e-02 -3.47091743e-01] [ 6.56451291e-04 9.99980581e-01 -6.19727053e-03 1.21515837e-01] [ 1.39743045e-02 6.18749345e-03 9.99883210e-01 -2.67565949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.833133364999995 meters Centerline goodness : 0.131259 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 9.99904267e-01 -6.30610821e-04 -1.38224238e-02 -3.47367210e-01] [ 5.52110896e-04 9.99983703e-01 -5.68225262e-03 1.18789758e-01] [ 1.38257819e-02 5.67407713e-03 9.99888320e-01 -2.67771666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863133364999996 meters Centerline goodness : 0.132560 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99906123e-01 -4.56580737e-04 -1.36944201e-02 -3.47656971e-01] [ 3.90266900e-04 9.99988188e-01 -4.84467987e-03 1.14018865e-01] [ 1.36964703e-02 4.83888059e-03 9.99894490e-01 -2.67948993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.893133365 meters Centerline goodness : 0.140100 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99904731e-01 -3.17312212e-04 -1.37995780e-02 -3.47355767e-01] [ 2.56198760e-04 9.99990154e-01 -4.43018872e-03 1.11864951e-01] [ 1.38008479e-02 4.42623123e-03 9.99894967e-01 -2.68096692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92313336499999 meters Centerline goodness : 0.137947 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99903161e-01 -5.55798622e-05 -1.39164086e-02 -3.47179506e-01] [ 2.42859829e-06 9.99992706e-01 -3.81931110e-03 1.08846476e-01] [ 1.39165194e-02 3.81890744e-03 9.99895868e-01 -2.68005166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95313336499999 meters Centerline goodness : 0.137082 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99905438e-01 9.99731915e-05 -1.37515630e-02 -3.47762917e-01] [-1.49481434e-04 9.99993512e-01 -3.59920951e-03 1.08046962e-01] [ 1.37511139e-02 3.60092477e-03 9.99898965e-01 -2.67673969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98313336499999 meters Centerline goodness : 0.135932 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 9.99907920e-01 1.98134007e-04 -1.35688328e-02 -3.48413454e-01] [-2.46022606e-04 9.99993747e-01 -3.52773041e-03 1.07940578e-01] [ 1.35680490e-02 3.53074382e-03 9.99901716e-01 -2.67282575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.013133364999995 meters Centerline goodness : 0.137702 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.11, Z:-0.27 [[ 9.99925916e-01 -4.88865911e-03 -1.11473315e-02 -3.26042181e-01] [ 4.88436087e-03 9.99987986e-01 -4.12776479e-04 1.07237595e-01] [ 1.11492155e-02 3.58298309e-04 9.99937781e-01 -2.67916140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043133364999996 meters Centerline goodness : 0.135816 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.11, Z:-0.27 [[ 9.99924917e-01 -4.87024995e-03 -1.12446248e-02 -3.25705891e-01] [ 4.86508559e-03 9.99988047e-01 -4.86581755e-04 1.07734725e-01] [ 1.12468602e-02 4.31839158e-04 9.99936659e-01 -2.68099678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.073133365 meters Centerline goodness : 0.134622 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99992378 0.00400555 -0.01167895 -0.34636808] [-0.00402197 0.99999096 -0.00138292 0.10536679] [ 0.01167331 0.00142979 0.99993084 -0.26935547] [ 0. 0. 0. 1. ]] SLAMing on 62.10313336499999 meters Centerline goodness : 0.134622 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99992378 0.00400555 -0.01167895 -0.34636808] [-0.00402197 0.99999096 -0.00138292 0.10536679] [ 0.01167331 0.00142979 0.99993084 -0.26935547] [ 0. 0. 0. 1. ]] SLAMing on 62.13313336499999 meters Centerline goodness : 0.131623 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.11, Z:-0.27 [[ 0.99993904 -0.00250352 -0.01075377 -0.32360649] [ 0.00251698 0.99999607 0.00123835 0.10628374] [ 0.01075063 -0.00126535 0.99994141 -0.27017847] [ 0. 0. 0. 1. ]] SLAMing on 62.16313336499999 meters Centerline goodness : 0.133621 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 9.99927274e-01 5.76163344e-03 -1.05948431e-02 -3.43418986e-01] [-5.76119774e-03 9.99983402e-01 7.16441547e-05 1.02287038e-01] [ 1.05950800e-02 -1.05999584e-05 9.99943871e-01 -2.71847712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.193133364999994 meters Centerline goodness : 0.134944 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 9.99927773e-01 5.75802940e-03 -1.05495473e-02 -3.43638239e-01] [-5.75662306e-03 9.99983417e-01 1.63668621e-04 1.01709320e-01] [ 1.05503148e-02 -1.02927032e-04 9.99944339e-01 -2.71691374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223133364999995 meters Centerline goodness : 0.134068 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 9.99926612e-01 5.74693458e-03 -1.06650182e-02 -3.43415235e-01] [-5.74491418e-03 9.99983474e-01 2.20068206e-04 1.01345419e-01] [ 1.06661066e-02 -1.58782442e-04 9.99943103e-01 -2.71647998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.253133365 meters Centerline goodness : 0.108393 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.11, Z:-0.27 [[ 0.99993691 -0.00241127 -0.01097103 -0.36397742] [ 0.00242421 0.99999638 0.00116618 0.10593838] [ 0.01096818 -0.00119271 0.99993914 -0.27231427] [ 0. 0. 0. 1. ]] SLAMing on 62.283133365 meters Centerline goodness : 0.133001 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99939622e-01 5.23912804e-03 -9.65934334e-03 -3.45506404e-01] [-5.23854580e-03 9.99986275e-01 8.55777875e-05 1.00548982e-01] [ 9.65965912e-03 -3.49717080e-05 9.99953344e-01 -2.71194127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31313336499999 meters Centerline goodness : 0.134192 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99942218e-01 5.19688695e-03 -9.41028598e-03 -3.46293711e-01] [-5.19640861e-03 9.99986496e-01 7.52811244e-05 1.00288779e-01] [ 9.41055013e-03 -2.63770834e-05 9.99955719e-01 -2.70862195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34313336499999 meters Centerline goodness : 0.135948 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.10, Z:-0.27 [[ 0.9999526 -0.00288409 -0.00929957 -0.32729509] [ 0.00289359 0.99999531 0.0010085 0.10391181] [ 0.00929662 -0.00103537 0.99995625 -0.26950128] [ 0. 0. 0. 1. ]] SLAMing on 62.373133364999994 meters Centerline goodness : 0.133786 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99934259e-01 5.87226714e-03 -9.84859035e-03 -3.47348878e-01] [-5.87263743e-03 9.99982756e-01 -8.67917426e-06 1.01534278e-01] [ 9.84836955e-03 6.65158040e-05 9.99951501e-01 -2.70981967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403133364999995 meters Centerline goodness : 0.132724 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99929980e-01 6.34505938e-03 -9.98872490e-03 -3.47056358e-01] [-6.34444352e-03 9.99979869e-01 9.33419631e-05 1.02639159e-01] [ 9.98911608e-03 -2.99625263e-05 9.99950107e-01 -2.70847587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.433133364999996 meters Centerline goodness : 0.139153 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99929659e-01 6.34314352e-03 -1.00220543e-02 -3.46956392e-01] [-6.34461175e-03 9.99979866e-01 -1.14712740e-04 1.03829101e-01] [ 1.00211249e-02 1.78290714e-04 9.99949771e-01 -2.70863856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463133365 meters Centerline goodness : 0.134603 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 9.99929169e-01 6.33616654e-03 -1.00752155e-02 -3.46839764e-01] [-6.33948186e-03 9.99979861e-01 -2.97154473e-04 1.04765007e-01] [ 1.00731297e-02 3.61005071e-04 9.99949200e-01 -2.70846340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49313336499999 meters Centerline goodness : 0.117304 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.11, Z:-0.27 [[ 9.99964973e-01 -5.23336515e-04 -8.35341868e-03 -3.64884204e-01] [ 5.28557215e-04 9.99999666e-01 6.22782297e-04 1.11410409e-01] [ 8.35308997e-03 -6.27175742e-04 9.99964916e-01 -2.73026395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52313336499999 meters Centerline goodness : 0.144322 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.11, Z:-0.27 [[ 9.99970006e-01 -4.25848702e-04 -7.73337037e-03 -3.66719647e-01] [ 4.29602938e-04 9.99999791e-01 4.83804569e-04 1.12435331e-01] [ 7.73316273e-03 -4.87112336e-04 9.99969980e-01 -2.72485455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.553133364999994 meters Centerline goodness : 0.131572 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.11, Z:-0.27 [[ 9.99970636e-01 -4.30445454e-04 -7.65124349e-03 -3.66958094e-01] [ 4.33139280e-04 9.99999845e-01 3.50423207e-04 1.13286604e-01] [ 7.65109147e-03 -3.53726972e-04 9.99970667e-01 -2.72437681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583133364999995 meters Centerline goodness : 0.132949 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.12, Z:-0.27 [[ 9.99967179e-01 -2.57112563e-04 -8.09787872e-03 -3.65622745e-01] [ 2.58711754e-04 9.99999947e-01 1.96435843e-04 1.15064538e-01] [ 8.09782779e-03 -1.98524412e-04 9.99967192e-01 -2.72909852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.613133364999996 meters Centerline goodness : 0.096838 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.12, Z:-0.27 [[ 9.99964415e-01 -2.47779166e-04 -8.43248136e-03 -3.64682287e-01] [ 2.47577700e-04 9.99999969e-01 -2.49355621e-05 1.16484047e-01] [ 8.43248728e-03 2.28469805e-05 9.99964446e-01 -2.73150431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643133365 meters Centerline goodness : 0.131195 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.12, Z:-0.27 [[ 9.99963273e-01 -3.17574600e-04 -8.56454217e-03 -3.64384973e-01] [ 3.14396512e-04 9.99999881e-01 -3.72418783e-04 1.18345270e-01] [ 8.56465942e-03 3.69712443e-04 9.99963254e-01 -2.73116606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67313336499999 meters Centerline goodness : 0.130279 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.12, Z:-0.27 [[ 9.99970397e-01 2.84712851e-04 -7.68918567e-03 -3.67004776e-01] [-2.88092031e-04 9.99999862e-01 -4.38367671e-04 1.21193882e-01] [ 7.68905980e-03 4.40569888e-04 9.99970342e-01 -2.72365187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70313336499999 meters Centerline goodness : 0.130940 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.12, Z:-0.27 [[ 9.99973050e-01 2.29661540e-04 -7.33803206e-03 -3.68073523e-01] [-2.35620955e-04 9.99999643e-01 -8.11272929e-04 1.23269398e-01] [ 7.33784312e-03 8.12980059e-04 9.99972747e-01 -2.71927953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73313336499999 meters Centerline goodness : 0.092606 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.13, Z:-0.27 [[ 9.99970488e-01 1.44967559e-04 -7.68127100e-03 -3.67204539e-01] [-1.56495107e-04 9.99998863e-01 -1.50015475e-03 1.26954938e-01] [ 7.68104479e-03 1.50131256e-03 9.99969373e-01 -2.72060014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.763133364999995 meters Centerline goodness : 0.163024 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.13, Z:-0.27 [[ 9.99967441e-01 5.48650105e-05 -8.06932361e-03 -3.65999886e-01] [-6.98567338e-05 9.99998272e-01 -1.85759606e-03 1.28715996e-01] [ 8.06920775e-03 1.85809927e-03 9.99965717e-01 -2.72532534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.793133364999996 meters Centerline goodness : 0.126522 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.27 [[ 9.99961194e-01 1.17811311e-04 -8.80888557e-03 -3.64080549e-01] [-1.38329142e-04 9.99997279e-01 -2.32864685e-03 1.31927614e-01] [ 8.80858726e-03 2.32977501e-03 9.99958490e-01 -2.72883517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823133365 meters Centerline goodness : 0.239250 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.27 [[ 9.99960833e-01 3.30658700e-05 -8.85048797e-03 -3.64122109e-01] [-5.67189032e-05 9.99996428e-01 -2.67227411e-03 1.33679718e-01] [ 8.85036799e-03 2.67267143e-03 9.99957263e-01 -2.72634619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85313336499999 meters Centerline goodness : 0.107208 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 9.99961929e-01 -8.17394101e-05 -8.72542719e-03 -3.64612298e-01] [ 5.48005191e-05 9.99995232e-01 -3.08759525e-03 1.35642580e-01] [ 8.72563797e-03 3.08699954e-03 9.99957166e-01 -2.72328035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88313336499999 meters Centerline goodness : 0.126012 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 9.99953365e-01 -6.04058251e-03 -7.53518914e-03 -3.42636720e-01] [ 6.03532430e-03 9.99981528e-01 -7.20364387e-04 1.40834512e-01] [ 7.53940137e-03 6.74853482e-04 9.99971351e-01 -2.72279688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91313336499999 meters Centerline goodness : 0.206206 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 9.99953072e-01 -6.05225650e-03 -7.56464314e-03 -3.42751118e-01] [ 6.04498436e-03 9.99981245e-01 -9.83827954e-04 1.42394173e-01] [ 7.57045564e-03 9.38053636e-04 9.99970904e-01 -2.72031358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.943133364999994 meters Centerline goodness : 0.125200 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 0.99995617 -0.00608454 -0.00711643 -0.34396776] [ 0.00607492 0.99998061 -0.00137274 0.14471867] [ 0.00712465 0.00132945 0.99997374 -0.27182365] [ 0. 0. 0. 1. ]] SLAMing on 62.973133364999995 meters Centerline goodness : 0.128239 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.15, Z:-0.27 [[ 0.99995719 -0.00618339 -0.00688373 -0.34482506] [ 0.0061727 0.99997971 -0.00157342 0.1454423 ] [ 0.00689332 0.00153086 0.99997507 -0.27137996] [ 0. 0. 0. 1. ]] SLAMing on 63.003133365 meters Centerline goodness : 0.149803 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.14, Z:-0.27 [[ 0.99997812 0.00217664 -0.00624615 -0.36538542] [-0.0021939 0.99999379 -0.00275731 0.14136083] [ 0.00624011 0.00277095 0.99997669 -0.27266104] [ 0. 0. 0. 1. ]] SLAMing on 63.033133365 meters Centerline goodness : 0.154035 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.14, Z:-0.27 [[ 0.99997746 0.00220319 -0.00634296 -0.36505435] [-0.00222054 0.99999381 -0.00273032 0.14125589] [ 0.00633691 0.00274435 0.99997616 -0.27288535] [ 0. 0. 0. 1. ]] SLAMing on 63.06313336499999 meters Centerline goodness : 0.240309 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997602 0.00223929 -0.00655263 -0.36445322] [-0.00225726 0.99999371 -0.002736 0.14129036] [ 0.00654647 0.00275072 0.99997479 -0.27308175] [ 0. 0. 0. 1. ]] SLAMing on 63.09313336499999 meters Centerline goodness : 0.231535 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997436 0.00243713 -0.00673297 -0.36386259] [-0.00245545 0.9999933 -0.00271349 0.14161472] [ 0.00672631 0.00272996 0.99997365 -0.27339296] [ 0. 0. 0. 1. ]] SLAMing on 63.123133364999994 meters Centerline goodness : 0.140356 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997429 0.00245644 -0.00673625 -0.36387253] [-0.00247511 0.99999312 -0.00276385 0.14195115] [ 0.00672942 0.00278045 0.99997349 -0.27339919] [ 0. 0. 0. 1. ]] SLAMing on 63.153133364999995 meters Centerline goodness : 0.233725 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997333 0.00283766 -0.0067298 -0.36400532] [-0.00285483 0.99999269 -0.00254352 0.14189484] [ 0.00672253 0.00256266 0.99997412 -0.27326446] [ 0. 0. 0. 1. ]] SLAMing on 63.183133364999996 meters Centerline goodness : 0.040724 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997234 0.00290145 -0.00684801 -0.36365377] [-0.00291932 0.99999235 -0.00260192 0.14237816] [ 0.00684041 0.00262184 0.99997317 -0.27346303] [ 0. 0. 0. 1. ]] SLAMing on 63.213133365 meters Centerline goodness : 0.116654 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.99997158 0.002957 -0.00693553 -0.36326489] [-0.00297529 0.99999212 -0.00262891 0.14265528] [ 0.0069277 0.00264947 0.99997249 -0.27380999] [ 0. 0. 0. 1. ]] SLAMing on 63.24313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.27313336499999 meters Centerline goodness : 0.039996 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.14, Z:-0.27 [[ 0.9999686 0.00375665 -0.00697729 -0.36287534] [-0.00377134 0.9999907 -0.00209256 0.14209749] [ 0.00696937 0.00211881 0.99997347 -0.27442534] [ 0. 0. 0. 1. ]] SLAMing on 63.303133364999994 meters Centerline goodness : 0.097471 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.27 [[ 9.99981042e-01 -2.04850704e-03 -5.80678220e-03 -3.40967821e-01] [ 2.05362298e-03 9.99997508e-01 8.75202904e-04 1.42811229e-01] [ 5.80497488e-03 -8.87111253e-04 9.99982758e-01 -2.74974198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.333133364999995 meters Centerline goodness : 0.099024 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.28 [[ 0.99998129 -0.00197105 -0.00579075 -0.34098216] [ 0.00197708 0.99999751 0.0010358 0.14193393] [ 0.00578869 -0.00104723 0.9999827 -0.27505439] [ 0. 0. 0. 1. ]] SLAMing on 63.363133364999996 meters Centerline goodness : 0.129591 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.14, Z:-0.28 [[ 0.99998081 -0.00188185 -0.00590277 -0.34060466] [ 0.00188915 0.99999746 0.0012312 0.14091692] [ 0.00590044 -0.00124233 0.99998182 -0.27524635] [ 0. 0. 0. 1. ]] SLAMing on 63.393133365 meters Centerline goodness : 0.315512 Centerline is valid? [False, False] Translation: X:-0.38, Y:0.14, Z:-0.28 [[ 0.99995678 -0.00118554 -0.00922079 -0.38219978] [ 0.00119917 0.9999982 0.00147358 0.13574492] [ 0.00921903 -0.00148457 0.9999564 -0.27594088] [ 0. 0. 0. 1. ]] SLAMing on 63.42313336499999 meters Centerline goodness : 0.087443 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 9.99930911e-01 6.96203737e-03 -9.47115377e-03 -3.61243337e-01] [-6.95417042e-03 9.99975447e-01 8.63301672e-04 1.31434256e-01] [ 9.47693156e-03 -7.97378010e-04 9.99954775e-01 -2.75490629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.48313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.513133364999995 meters Centerline goodness : 0.102449 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 0.99993927 0.00741423 -0.00815336 -0.36441641] [-0.00740398 0.99997176 0.00128691 0.13033485] [ 0.00816267 -0.00122646 0.99996593 -0.27538615] [ 0. 0. 0. 1. ]] SLAMing on 63.543133364999996 meters Centerline goodness : 0.094721 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 0.9999379 0.00747967 -0.00826097 -0.36433257] [-0.00746797 0.99997107 0.00144628 0.12952549] [ 0.00827155 -0.0013845 0.99996483 -0.27514013] [ 0. 0. 0. 1. ]] SLAMing on 63.573133365 meters Centerline goodness : 0.092900 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.13, Z:-0.28 [[ 0.99993693 0.00750761 -0.00835241 -0.36398233] [-0.00749422 0.99997058 0.00163277 0.12839235] [ 0.00836442 -0.00157007 0.99996379 -0.27536211] [ 0. 0. 0. 1. ]] SLAMing on 63.60313336499999 meters Centerline goodness : 0.086486 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.13, Z:-0.27 [[ 0.99996817 -0.00121411 -0.00788517 -0.34347363] [ 0.00123316 0.99999633 0.00241123 0.13085651] [ 0.00788221 -0.00242087 0.999966 -0.27468771] [ 0. 0. 0. 1. ]] SLAMing on 63.63313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.66313336499999 meters Centerline goodness : 0.090028 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.12, Z:-0.27 [[ 0.99996956 -0.00367472 -0.00688231 -0.34833477] [ 0.00368385 0.99999235 0.00131529 0.12116124] [ 0.00687743 -0.00134061 0.99997545 -0.27137781] [ 0. 0. 0. 1. ]] SLAMing on 63.693133364999994 meters Centerline goodness : 0.094522 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.11, Z:-0.27 [[ 9.99956080e-01 3.80508655e-03 -8.56500172e-03 -3.64104581e-01] [-3.80433905e-03 9.99992758e-01 1.03564001e-04 1.09115546e-01] [ 8.56533376e-03 -7.09752819e-05 9.99963314e-01 -2.74005037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723133364999995 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.783133365 meters Centerline goodness : 0.134135 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.10, Z:-0.27 [[ 9.99954184e-01 4.11914354e-03 -8.64076409e-03 -3.63602099e-01] [-4.11180516e-03 9.99991171e-01 8.66867461e-04 1.04458403e-01] [ 8.64425855e-03 -8.31298606e-04 9.99962292e-01 -2.74466955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 63.84313336499999 meters Centerline goodness : 0.142094 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995396 0.00537679 -0.00794754 -0.36535379] [-0.00536051 0.99998349 0.00206879 0.10221052] [ 0.00795853 -0.0020261 0.99996628 -0.27436551] [ 0. 0. 0. 1. ]] SLAMing on 63.873133364999994 meters Centerline goodness : 0.134496 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.9999539 0.0054971 -0.0078725 -0.36515823] [-0.00547993 0.99998256 0.00220146 0.10123325] [ 0.00788446 -0.00215822 0.99996659 -0.27504106] [ 0. 0. 0. 1. ]] SLAMing on 63.903133364999995 meters Centerline goodness : 0.124794 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995406 0.00555602 -0.00781083 -0.36537219] [-0.00553819 0.99998201 0.00230251 0.1006962 ] [ 0.00782348 -0.00225914 0.99996684 -0.27499264] [ 0. 0. 0. 1. ]] SLAMing on 63.933133364999996 meters Centerline goodness : 0.128561 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995415 0.0056529 -0.00772938 -0.36569144] [-0.00563401 0.99998109 0.00246457 0.10009649] [ 0.00774316 -0.00242091 0.99996709 -0.27482267] [ 0. 0. 0. 1. ]] SLAMing on 63.963133365 meters Centerline goodness : 0.158182 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995445 0.00577821 -0.0075964 -0.36605927] [-0.00575772 0.99997973 0.00271662 0.09906713] [ 0.00761194 -0.00267276 0.99996746 -0.27475719] [ 0. 0. 0. 1. ]] SLAMing on 63.99313336499999 meters Centerline goodness : 0.158182 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995445 0.00577821 -0.0075964 -0.36605927] [-0.00575772 0.99997973 0.00271662 0.09906713] [ 0.00761194 -0.00267276 0.99996746 -0.27475719] [ 0. 0. 0. 1. ]] SLAMing on 64.02313336499999 meters Centerline goodness : 0.096361 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.27 [[ 0.99995473 0.00581278 -0.00753343 -0.36616884] [-0.00579124 0.99997909 0.00287717 0.09805207] [ 0.00754999 -0.00283341 0.99996748 -0.27482391] [ 0. 0. 0. 1. ]] SLAMing on 64.053133365 meters Centerline goodness : 0.135812 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996693 -0.00244976 -0.00775498 -0.34662317] [ 0.00247983 0.99998944 0.00386998 0.10056672] [ 0.00774542 -0.00388909 0.99996244 -0.27340603] [ 0. 0. 0. 1. ]] SLAMing on 64.083133365 meters Centerline goodness : 0.139048 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996624 -0.00238845 -0.00786157 -0.34626277] [ 0.00242031 0.99998889 0.00404515 0.0997046 ] [ 0.00785182 -0.00406404 0.99996092 -0.27355239] [ 0. 0. 0. 1. ]] SLAMing on 64.113133365 meters Centerline goodness : 0.133368 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996404 -0.00232597 -0.00815532 -0.34519753] [ 0.00236065 0.9999882 0.00424515 0.09854501] [ 0.00814535 -0.00426425 0.99995773 -0.27411666] [ 0. 0. 0. 1. ]] SLAMing on 64.143133365 meters Centerline goodness : 0.140157 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 0.9999629 -0.00232035 -0.00829508 -0.34458946] [ 0.00235589 0.99998808 0.00427728 0.09826332] [ 0.00828505 -0.00429666 0.99995645 -0.27460681] [ 0. 0. 0. 1. ]] SLAMing on 64.173133365 meters Centerline goodness : 0.133695 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 0.99996242 -0.00230851 -0.00835634 -0.34445967] [ 0.00234465 0.99998793 0.00431755 0.09794932] [ 0.00834628 -0.00433698 0.99995576 -0.2745776 ] [ 0. 0. 0. 1. ]] SLAMing on 64.203133365 meters Centerline goodness : 0.124628 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996422 -0.0022046 -0.00816665 -0.34520764] [ 0.00224256 0.99998671 0.00464205 0.09632025] [ 0.00815631 -0.0046602 0.99995588 -0.27406404] [ 0. 0. 0. 1. ]] SLAMing on 64.233133365 meters Centerline goodness : 0.128848 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996433 -0.00216172 -0.00816445 -0.34515842] [ 0.00220095 0.99998606 0.00479981 0.09550312] [ 0.00815396 -0.00481761 0.99995515 -0.27413754] [ 0. 0. 0. 1. ]] SLAMing on 64.26313336499999 meters Centerline goodness : 0.143003 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 0.99996363 -0.00204937 -0.00827841 -0.34479048] [ 0.00209234 0.99998436 0.00518594 0.09367704] [ 0.00826766 -0.00520307 0.99995229 -0.27422938] [ 0. 0. 0. 1. ]] SLAMing on 64.29313336499999 meters Centerline goodness : 0.151315 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 0.99996348 -0.00198832 -0.00831189 -0.34468101] [ 0.00203252 0.99998382 0.00531268 0.09318579] [ 0.00830119 -0.00532938 0.99995134 -0.27424662] [ 0. 0. 0. 1. ]] SLAMing on 64.32313336499999 meters Centerline goodness : 0.139671 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.09, Z:-0.27 [[ 0.99996332 -0.00197405 -0.0083342 -0.34463558] [ 0.00201853 0.99998375 0.00533136 0.09316032] [ 0.00832354 -0.00534799 0.99995106 -0.27422763] [ 0. 0. 0. 1. ]] SLAMing on 64.35313336499999 meters Centerline goodness : 0.143518 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.27 [[ 0.99996188 -0.00210102 -0.00847534 -0.34407839] [ 0.00214234 0.99998585 0.00486896 0.09529614] [ 0.00846499 -0.00488693 0.99995223 -0.27470102] [ 0. 0. 0. 1. ]] SLAMing on 64.38313336499999 meters Centerline goodness : 0.159297 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.28 [[ 0.99996147 -0.00220476 -0.00849657 -0.34375781] [ 0.00224224 0.99998779 0.00440395 0.09760586] [ 0.00848676 -0.00442283 0.99995421 -0.27530158] [ 0. 0. 0. 1. ]] SLAMing on 64.413133365 meters Centerline goodness : 0.141776 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.28 [[ 0.99996466 -0.00145271 -0.00828071 -0.34419817] [ 0.00148908 0.99998927 0.00438741 0.10171833] [ 0.00827425 -0.00439958 0.99995609 -0.27566248] [ 0. 0. 0. 1. ]] SLAMing on 64.443133365 meters Centerline goodness : 0.136728 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.10, Z:-0.28 [[ 0.99996435 -0.00146621 -0.00831528 -0.34407851] [ 0.00149958 0.99999084 0.00400856 0.10411154] [ 0.00830932 -0.00402089 0.99995739 -0.2758843 ] [ 0. 0. 0. 1. ]] SLAMing on 64.473133365 meters Centerline goodness : 0.137331 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.11, Z:-0.28 [[ 0.99996405 -0.00160959 -0.00832527 -0.34406108] [ 0.00163957 0.9999922 0.00359447 0.10603847] [ 0.00831942 -0.00360799 0.99995888 -0.27594537] [ 0. 0. 0. 1. ]] SLAMing on 64.503133365 meters Centerline goodness : 0.142949 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.11, Z:-0.28 [[ 9.99940714e-01 4.87712567e-03 -9.73557620e-03 -3.65032537e-01] [-4.87214520e-03 9.99987988e-01 5.35225543e-04 1.05256666e-01] [ 9.73806962e-03 -4.87760671e-04 9.99952465e-01 -2.76026815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.533133365 meters Centerline goodness : 0.142285 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995202 -0.00315755 -0.00927319 -0.34594686] [ 0.00317053 0.99999401 0.00138578 0.11143212] [ 0.00926876 -0.00141512 0.99995604 -0.27494403] [ 0. 0. 0. 1. ]] SLAMing on 64.563133365 meters Centerline goodness : 0.126016 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995473 -0.00313629 -0.00898289 -0.34706688] [ 0.00314906 0.99999405 0.00140758 0.11181703] [ 0.00897842 -0.00143581 0.99995866 -0.27422065] [ 0. 0. 0. 1. ]] SLAMing on 64.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 64.623133365 meters Centerline goodness : 0.141183 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995978 -0.00312148 -0.00840857 -0.34880705] [ 0.0031358 0.99999366 0.00169013 0.11027818] [ 0.00840324 -0.00171643 0.99996322 -0.27344374] [ 0. 0. 0. 1. ]] SLAMing on 64.65313336499999 meters Centerline goodness : 0.139597 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99996027 -0.00299632 -0.00839533 -0.34886384] [ 0.00301534 0.99999291 0.00225376 0.10722819] [ 0.00838852 -0.00227898 0.99996222 -0.27324091] [ 0. 0. 0. 1. ]] SLAMing on 64.68313336499999 meters Centerline goodness : 0.141133 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.11, Z:-0.27 [[ 0.99995781 -0.00290141 -0.00871572 -0.34779636] [ 0.00292351 0.99999254 0.00252413 0.10577959] [ 0.00870833 -0.0025495 0.99995883 -0.27368644] [ 0. 0. 0. 1. ]] SLAMing on 64.71313336499999 meters Centerline goodness : 0.129527 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.28 [[ 0.99995303 -0.00280917 -0.00927562 -0.34549588] [ 0.0028367 0.9999916 0.00295702 0.10273899] [ 0.00926723 -0.0029832 0.99995261 -0.27516685] [ 0. 0. 0. 1. ]] SLAMing on 64.74313336499999 meters Centerline goodness : 0.126295 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.28 [[ 0.99995383 -0.00266802 -0.00923135 -0.34553268] [ 0.00269863 0.9999909 0.00330538 0.10103553] [ 0.00922244 -0.00333014 0.99995193 -0.27525083] [ 0. 0. 0. 1. ]] SLAMing on 64.77313336499999 meters Centerline goodness : 0.049343 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99995619 -0.00249288 -0.00902197 -0.34621838] [ 0.00252567 0.99999024 0.00362535 0.09974248] [ 0.00901284 -0.00364798 0.99995273 -0.27492099] [ 0. 0. 0. 1. ]] SLAMing on 64.803133365 meters Centerline goodness : 0.140893 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.27 [[ 0.99996044 -0.00216972 -0.00862567 -0.34721906] [ 0.0022045 0.99998947 0.00402512 0.09839312] [ 0.00861684 -0.00404397 0.9999547 -0.27479905] [ 0. 0. 0. 1. ]] SLAMing on 64.833133365 meters Centerline goodness : 0.098377 Centerline is valid? [False, False] Translation: X:-0.35, Y:0.10, Z:-0.28 [[ 0.99995909 -0.00213217 -0.00879039 -0.34650399] [ 0.00216726 0.99998971 0.00398413 0.09862443] [ 0.0087818 -0.00400301 0.99995343 -0.27542362] [ 0. 0. 0. 1. ]] SLAMing on 64.863133365 meters Centerline goodness : 0.101811 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.09, Z:-0.28 [[ 0.99993656 0.006138 -0.00944464 -0.36566173] [-0.00611153 0.99997732 0.00282893 0.093551 ] [ 0.00946179 -0.00277103 0.9999514 -0.27739156] [ 0. 0. 0. 1. ]] SLAMing on 64.893133365 meters Centerline goodness : 0.152110 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.09, Z:-0.28 [[ 0.99993347 0.00623324 -0.00970619 -0.3646073 ] [-0.0062077 0.9999772 0.00265884 0.09476809] [ 0.00972254 -0.00259841 0.99994936 -0.27828514] [ 0. 0. 0. 1. ]] SLAMing on 64.923133365 meters Centerline goodness : 0.118658 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.10, Z:-0.28 [[ 0.99993353 0.00624896 -0.00968897 -0.36457897] [-0.0062238 0.99997719 0.0026249 0.0951198 ] [ 0.00970515 -0.00256442 0.99994962 -0.27841728] [ 0. 0. 0. 1. ]] SLAMing on 64.953133365 meters Centerline goodness : 0.347433 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99993596 0.00619402 -0.00947113 -0.36521339] [-0.00617094 0.99997792 0.00246462 0.09597554] [ 0.00948619 -0.00240602 0.99995211 -0.27827434] [ 0. 0. 0. 1. ]] SLAMing on 64.983133365 meters Centerline goodness : 0.186567 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99993693 0.00611717 -0.00941936 -0.36542787] [-0.00609545 0.9999787 0.00233293 0.09646444] [ 0.00943343 -0.00227536 0.99995292 -0.27814869] [ 0. 0. 0. 1. ]] SLAMing on 65.01313336499999 meters Centerline goodness : 0.097250 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99993714 0.00603958 -0.0094466 -0.36526779] [-0.00601902 0.99997946 0.00220317 0.09696215] [ 0.00945971 -0.00214618 0.99995295 -0.27832659] [ 0. 0. 0. 1. ]] SLAMing on 65.04313336499999 meters Centerline goodness : 0.120848 Centerline is valid? [False, False] Translation: X:-0.36, Y:0.10, Z:-0.28 [[ 0.99993763 0.00592706 -0.00946575 -0.36482574] [-0.00590765 0.99998039 0.00207723 0.09750672] [ 0.00947787 -0.00202118 0.99995304 -0.27895339] [ 0. 0. 0. 1. ]] SLAMing on 65.07313336499999 meters Centerline goodness : 0.088734 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.9999389 0.00590753 -0.00934316 -0.36516922] [-0.0058881 0.99998045 0.00210621 0.09737831] [ 0.00935542 -0.00205106 0.99995413 -0.27882026] [ 0. 0. 0. 1. ]] SLAMing on 65.10313336499999 meters Centerline goodness : 0.101258 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99994181 0.00584551 -0.00906689 -0.36610349] [-0.00582599 0.99998066 0.00217834 0.09682853] [ 0.00907945 -0.00212539 0.99995652 -0.2782689 ] [ 0. 0. 0. 1. ]] SLAMing on 65.13313336499999 meters Centerline goodness : 0.098598 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99995833 0.00194423 -0.00891967 -0.36672541] [-0.00195875 0.99999677 -0.00161968 0.09712555] [ 0.00891649 0.00163708 0.99995891 -0.27790842] [ 0. 0. 0. 1. ]] SLAMing on 65.163133365 meters Centerline goodness : 0.159660 Centerline is valid? [False, False] Translation: X:-0.37, Y:0.10, Z:-0.28 [[ 0.99995661 0.00193158 -0.00911315 -0.3659523 ] [-0.00194519 0.99999701 -0.0014852 0.09626893] [ 0.00911026 0.00150286 0.99995737 -0.27837021] [ 0. 0. 0. 1. ]] SLAMing on 65.193133365 meters Centerline goodness : 0.134971 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99928725e-01 8.39066814e-04 -1.19096938e-02 -4.09144383e-01] [-8.63979433e-04 9.99997449e-01 -2.08680257e-03 9.22605287e-02] [ 1.19079124e-02 2.09694357e-03 9.99926900e-01 -2.79158731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.223133365 meters Centerline goodness : 0.125493 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99929309e-01 8.77296921e-04 -1.18577695e-02 -4.09435157e-01] [-9.00523357e-04 9.99997686e-01 -1.95355523e-03 9.16030606e-02] [ 1.18560282e-02 1.96409533e-03 9.99927786e-01 -2.78885278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.253133365 meters Centerline goodness : 0.133174 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99929617e-01 9.35709800e-04 -1.18273188e-02 -4.09607449e-01] [-9.56978903e-04 9.99997935e-01 -1.79277153e-03 9.08204099e-02] [ 1.18256169e-02 1.80396384e-03 9.99928448e-01 -2.78694973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.283133365 meters Centerline goodness : 0.106495 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99929556e-01 9.73418434e-04 -1.18294134e-02 -4.09608440e-01] [-9.93397373e-04 9.99998090e-01 -1.68316200e-03 9.01871480e-02] [ 1.18277524e-02 1.69479474e-03 9.99928613e-01 -2.78687980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.313133365 meters Centerline goodness : 0.147499 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993031 0.00111407 -0.0117533 -0.40957896] [-0.00112945 0.99999851 -0.00130238 0.08816011] [ 0.01175183 0.00131556 0.99993008 -0.27897753] [ 0. 0. 0. 1. ]] SLAMing on 65.343133365 meters Centerline goodness : 0.163028 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99931784e-01 1.32266686e-03 -1.16050482e-02 -4.09705540e-01] [-1.33377587e-03 9.99998660e-01 -9.49569556e-04 8.69100319e-02] [ 1.16037767e-02 9.64983314e-04 9.99932208e-01 -2.79327894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.373133365 meters Centerline goodness : 0.129409 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99932630e-01 1.39728250e-03 -1.15231371e-02 -4.09822237e-01] [-1.40806119e-03 9.99998579e-01 -9.27335672e-04 8.70904461e-02] [ 1.15218249e-02 9.43498480e-04 9.99933176e-01 -2.79502792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40313336499999 meters Centerline goodness : 0.103866 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993265 0.00143636 -0.01151651 -0.40978003] [-0.00144798 0.99999845 -0.00100079 0.08761966] [ 0.01151506 0.0010174 0.99993318 -0.27964897] [ 0. 0. 0. 1. ]] SLAMing on 65.43313336499999 meters Centerline goodness : 0.150316 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993322 0.00146891 -0.0114629 -0.40992496] [-0.00148153 0.99999831 -0.00109314 0.08834711] [ 0.01146127 0.00111005 0.9999337 -0.27966212] [ 0. 0. 0. 1. ]] SLAMing on 65.46313336499999 meters Centerline goodness : 0.101214 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99993793 0.0018914 -0.01097985 -0.41115889] [-0.00190351 0.99999759 -0.00109339 0.08998518] [ 0.01097776 0.00111422 0.99993912 -0.27967506] [ 0. 0. 0. 1. ]] SLAMing on 65.49313336499999 meters Centerline goodness : 0.098648 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.9999383 0.00189916 -0.01094489 -0.41105559] [-0.00191417 0.99999724 -0.00136074 0.09171161] [ 0.01094227 0.0013816 0.99993918 -0.2800671 ] [ 0. 0. 0. 1. ]] SLAMing on 65.52313336499999 meters Centerline goodness : 0.114922 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993201 0.00207383 -0.01147499 -0.40937226] [-0.00209552 0.99999604 -0.00187786 0.09561295] [ 0.01147105 0.00190178 0.9999324 -0.2810261 ] [ 0. 0. 0. 1. ]] SLAMing on 65.553133365 meters Centerline goodness : 0.090356 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993374 0.00191554 -0.01135092 -0.40973256] [-0.00194118 0.99999559 -0.00224806 0.09714788] [ 0.01134656 0.00226995 0.99993305 -0.28098496] [ 0. 0. 0. 1. ]] SLAMing on 65.583133365 meters Centerline goodness : 0.098915 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993685 0.00179792 -0.01109369 -0.410715 ] [-0.00182522 0.99999533 -0.00245094 0.09781429] [ 0.01108924 0.00247103 0.99993546 -0.28041439] [ 0. 0. 0. 1. ]] SLAMing on 65.613133365 meters Centerline goodness : 0.098752 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99994892 0.00154725 -0.00998859 -0.41437457] [-0.00157287 0.99999549 -0.00255852 0.09791378] [ 0.00998458 0.0025741 0.99994684 -0.27868841] [ 0. 0. 0. 1. ]] SLAMing on 65.643133365 meters Centerline goodness : 0.100454 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99995008 0.0015527 -0.00987029 -0.41477721] [-0.001577 0.99999574 -0.00245524 0.09738963] [ 0.00986643 0.00247068 0.99994827 -0.27844426] [ 0. 0. 0. 1. ]] SLAMing on 65.673133365 meters Centerline goodness : 0.167642 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99994823 0.00153237 -0.01005951 -0.41411687] [-0.00155562 0.99999614 -0.00230413 0.09630024] [ 0.01005594 0.00231966 0.99994675 -0.27873223] [ 0. 0. 0. 1. ]] SLAMing on 65.703133365 meters Centerline goodness : 0.104348 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 9.99931972e-01 7.31711259e-04 -1.16411260e-02 -4.09292462e-01] [-7.63975865e-04 9.99995879e-01 -2.76739982e-03 9.53306213e-02] [ 1.16390531e-02 2.77610510e-03 9.99928410e-01 -2.80269949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.733133365 meters Centerline goodness : 0.139914 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99930070e-01 7.88010977e-04 -1.17997868e-02 -4.08857739e-01] [-8.17717143e-04 9.99996508e-01 -2.51290420e-03 9.39963678e-02] [ 1.17977655e-02 2.52237736e-03 9.99927223e-01 -2.80321364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76313336499999 meters Centerline goodness : 0.097815 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99937908e-01 7.35083334e-04 -1.11193546e-02 -4.10969354e-01] [-7.57119580e-04 9.99997758e-01 -1.97771216e-03 9.05649471e-02] [ 1.11178759e-02 1.98600804e-03 9.99936222e-01 -2.79277179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79313336499999 meters Centerline goodness : 0.134907 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99941016e-01 7.88680995e-04 -1.08324442e-02 -4.12142714e-01] [-8.05776887e-04 9.99998437e-01 -1.57393811e-03 8.81271931e-02] [ 1.08311860e-02 1.58257381e-03 9.99940089e-01 -2.78374379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82313336499999 meters Centerline goodness : 0.092548 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99941878e-01 9.05263768e-04 -1.07433835e-02 -4.12571977e-01] [-9.17366337e-04 9.99998950e-01 -1.12163925e-03 8.56681860e-02] [ 1.07423568e-02 1.13142968e-03 9.99941659e-01 -2.77941170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85313336499999 meters Centerline goodness : 0.162309 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99941533e-01 1.22958848e-03 -1.07433415e-02 -4.12031323e-01] [-1.23294160e-03 9.99999193e-01 -3.05493252e-04 8.17756058e-02] [ 1.07429572e-02 3.18721304e-04 9.99942242e-01 -2.78730726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 65.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 65.943133365 meters Centerline goodness : 0.158521 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99934166e-01 1.53136120e-03 -1.13718706e-02 -4.09660914e-01] [-1.53144680e-03 9.99998827e-01 1.18041984e-06 8.07645266e-02] [ 1.13718591e-02 1.62350727e-05 9.99935338e-01 -2.80212756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.973133365 meters Centerline goodness : 0.156784 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99927636e-01 2.10182989e-03 -1.18450654e-02 -4.08102853e-01] [-2.10034521e-03 9.99997785e-01 1.37779692e-04 8.17145119e-02] [ 1.18453287e-02 -1.12890995e-04 9.99929835e-01 -2.81126646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.003133365 meters Centerline goodness : 0.196237 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.08, Z:-0.28 [[ 9.99926970e-01 2.19180018e-03 -1.18848945e-02 -4.07909448e-01] [-2.19318901e-03 9.99997590e-01 -1.03824173e-04 8.34489677e-02] [ 1.18846383e-02 1.29882410e-04 9.99929367e-01 -2.81438772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.033133365 meters Centerline goodness : 0.115045 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99923404e-01 2.80053027e-03 -1.20558445e-02 -4.06822147e-01] [-2.80484854e-03 9.99996008e-01 -3.41295807e-04 8.71853235e-02] [ 1.20548406e-02 3.75084482e-04 9.99927267e-01 -2.82895723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.063133365 meters Centerline goodness : 0.135424 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99921182e-01 2.73849851e-03 -1.22527557e-02 -4.06032517e-01] [-2.74940666e-03 9.99995839e-01 -8.73504898e-04 8.99777130e-02] [ 1.22503127e-02 9.07123859e-04 9.99924551e-01 -2.83674986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.093133365 meters Centerline goodness : 0.103559 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 0.99991541 0.00321198 -0.0126038 -0.40513627] [-0.003227 0.99999411 -0.00117151 0.09436498] [ 0.01259996 0.00121209 0.99991988 -0.28420068] [ 0. 0. 0. 1. ]] SLAMing on 66.123133365 meters Centerline goodness : 0.156911 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.9999157 0.00313217 -0.01260128 -0.40516608] [-0.0031517 0.99999386 -0.00153046 0.0965401 ] [ 0.01259641 0.00157004 0.99991943 -0.28427403] [ 0. 0. 0. 1. ]] SLAMing on 66.15313336499999 meters Centerline goodness : 0.138638 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991772 0.00297991 -0.012477 -0.40562809] [-0.0030036 0.99999372 -0.00188033 0.0981792 ] [ 0.01247132 0.00191765 0.99992039 -0.28404714] [ 0. 0. 0. 1. ]] SLAMing on 66.18313336499999 meters Centerline goodness : 0.159740 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992308 0.00261788 -0.01212379 -0.40696052] [-0.00264706 0.99999364 -0.00239174 0.10001372] [ 0.01211745 0.00242365 0.99992364 -0.28330217] [ 0. 0. 0. 1. ]] SLAMing on 66.21313336499999 meters Centerline goodness : 0.091263 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992508 0.00254296 -0.01197369 -0.40750087] [-0.00257344 0.99999349 -0.00253081 0.10090357] [ 0.01196717 0.00256144 0.99992511 -0.28302836] [ 0. 0. 0. 1. ]] SLAMing on 66.24313336499999 meters Centerline goodness : 0.110632 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992736 0.00250609 -0.01178937 -0.40805433] [-0.0025374 0.99999329 -0.00264172 0.10185422] [ 0.01178267 0.00267144 0.99992701 -0.28282769] [ 0. 0. 0. 1. ]] SLAMing on 66.27313336499999 meters Centerline goodness : 0.119088 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993589 0.0021248 -0.01112222 -0.40994601] [-0.00215831 0.99999317 -0.00300191 0.10297981] [ 0.01111576 0.00302572 0.99993364 -0.28222028] [ 0. 0. 0. 1. ]] SLAMing on 66.303133365 meters Centerline goodness : 0.174487 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993635 0.00196681 -0.01110947 -0.41026329] [-0.00200125 0.99999323 -0.0030894 0.10285228] [ 0.01110332 0.00311143 0.99993352 -0.28167463] [ 0. 0. 0. 1. ]] SLAMing on 66.333133365 meters Centerline goodness : 0.138397 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993421 0.00188273 -0.01131541 -0.40991547] [-0.00191782 0.99999338 -0.00309098 0.10260422] [ 0.01130951 0.00311248 0.9999312 -0.28139838] [ 0. 0. 0. 1. ]] SLAMing on 66.363133365 meters Centerline goodness : 0.114285 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993038 0.00184895 -0.01165379 -0.40904688] [-0.00188396 0.99999375 -0.0029932 0.10204891] [ 0.01164818 0.00301495 0.99992761 -0.28144153] [ 0. 0. 0. 1. ]] SLAMing on 66.393133365 meters Centerline goodness : 0.097296 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992002 0.0011925 -0.01259125 -0.40632158] [-0.00123235 0.99999426 -0.00315732 0.10061228] [ 0.01258741 0.00317258 0.99991574 -0.28203324] [ 0. 0. 0. 1. ]] SLAMing on 66.423133365 meters Centerline goodness : 0.151889 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991855 0.00105581 -0.01271956 -0.40590763] [-0.00109426 0.99999485 -0.00301632 0.09903813] [ 0.01271631 0.00302999 0.99991455 -0.28206679] [ 0. 0. 0. 1. ]] SLAMing on 66.453133365 meters Centerline goodness : 0.178242 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 9.99928811e-01 7.49801556e-04 -1.19084181e-02 -4.07968687e-01] [-7.81854215e-04 9.99996084e-01 -2.68716936e-03 9.59228587e-02] [ 1.19063566e-02 2.69628871e-03 9.99925482e-01 -2.81588362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.483133365 meters Centerline goodness : 0.112130 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99930974e-01 8.60393906e-04 -1.17177704e-02 -4.08448621e-01] [-8.88046626e-04 9.99996833e-01 -2.35489739e-03 9.43975897e-02] [ 1.17157072e-02 2.36514077e-03 9.99928572e-01 -2.81473856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.54313336499999 meters Centerline goodness : 0.090334 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.09, Z:-0.28 [[ 9.99928654e-01 7.97485086e-04 -1.19185481e-02 -4.07495577e-01] [-8.25177008e-04 9.99996971e-01 -2.31869386e-03 9.33533089e-02] [ 1.19166629e-02 2.32836334e-03 9.99926283e-01 -2.82165906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.60313336499999 meters Centerline goodness : 0.135512 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991899 0.00119497 -0.01267234 -0.40527696] [-0.00122605 0.99999626 -0.00244508 0.09577471] [ 0.01266938 0.00246042 0.99991671 -0.28307485] [ 0. 0. 0. 1. ]] SLAMing on 66.63313336499999 meters Centerline goodness : 0.170532 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992004 0.00132523 -0.01257617 -0.40562463] [-0.00135996 0.99999528 -0.00275327 0.09820641] [ 0.01257246 0.00277015 0.99991713 -0.28302627] [ 0. 0. 0. 1. ]] SLAMing on 66.663133365 meters Centerline goodness : 0.103370 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990109 -0.00633267 -0.01255837 -0.38793394] [ 0.00631244 0.99997872 -0.00164948 0.10402234] [ 0.01256855 0.00157004 0.99991978 -0.2810973 ] [ 0. 0. 0. 1. ]] SLAMing on 66.693133365 meters Centerline goodness : 0.107029 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990427 -0.006293 -0.01232272 -0.38856255] [ 0.00627405 0.99997908 -0.00157606 0.1037619 ] [ 0.01233238 0.00149859 0.99992283 -0.28102205] [ 0. 0. 0. 1. ]] SLAMing on 66.723133365 meters Centerline goodness : 0.114980 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990419 -0.00628423 -0.01233382 -0.38823293] [ 0.00626589 0.99997921 -0.0015251 0.10340975] [ 0.01234315 0.00144767 0.99992277 -0.28149786] [ 0. 0. 0. 1. ]] SLAMing on 66.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.783133365 meters Centerline goodness : 0.095150 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990197 -0.00626796 -0.01252036 -0.38727851] [ 0.0062498 0.99997936 -0.00148897 0.10311999] [ 0.01252944 0.00141057 0.99992051 -0.28231313] [ 0. 0. 0. 1. ]] SLAMing on 66.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.843133365 meters Centerline goodness : 0.091927 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.10, Z:-0.28 [[ 0.99990262 -0.00609217 -0.01255562 -0.38724497] [ 0.00607471 0.99998053 -0.00142844 0.10381658] [ 0.01256408 0.00135203 0.99992015 -0.28231192] [ 0. 0. 0. 1. ]] SLAMing on 66.873133365 meters Centerline goodness : 0.127756 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991885 0.00256603 -0.01247873 -0.4075097 ] [-0.00259279 0.99999437 -0.00212852 0.09936665] [ 0.0124732 0.0021607 0.99991987 -0.28410109] [ 0. 0. 0. 1. ]] SLAMing on 66.90313336499999 meters Centerline goodness : 0.158400 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99991954 0.00254187 -0.01242753 -0.40749533] [-0.00256972 0.99999422 -0.00222551 0.09974325] [ 0.01242181 0.00225727 0.9999203 -0.28437484] [ 0. 0. 0. 1. ]] SLAMing on 66.93313336499999 meters Centerline goodness : 0.110218 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992192 0.00248516 -0.01224644 -0.40798997] [-0.00251406 0.99999409 -0.00234574 0.09996184] [ 0.01224054 0.00237635 0.99992226 -0.28434849] [ 0. 0. 0. 1. ]] SLAMing on 66.96313336499999 meters Centerline goodness : 0.162238 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992296 0.00248999 -0.01216037 -0.40815656] [-0.00251897 0.99999402 -0.00236885 0.10018432] [ 0.0121544 0.0023993 0.99992325 -0.28444745] [ 0. 0. 0. 1. ]] SLAMing on 66.99313336499999 meters Centerline goodness : 0.163142 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992389 0.00249542 -0.01208214 -0.40827723] [-0.00252447 0.99999396 -0.00239012 0.10040308] [ 0.01207611 0.00242044 0.99992415 -0.28459498] [ 0. 0. 0. 1. ]] SLAMing on 67.02313336499999 meters Centerline goodness : 0.116339 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992551 0.00248161 -0.01195027 -0.40868329] [-0.0025093 0.9999942 -0.00230288 0.09959608] [ 0.01194448 0.00233269 0.99992594 -0.2844533 ] [ 0. 0. 0. 1. ]] SLAMing on 67.053133365 meters Centerline goodness : 0.169724 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992478 0.00249453 -0.0120089 -0.40866525] [-0.00252036 0.99999454 -0.00213636 0.09854378] [ 0.01200351 0.00216646 0.99992561 -0.28419167] [ 0. 0. 0. 1. ]] SLAMing on 67.083133365 meters Centerline goodness : 0.171553 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.9999215 0.00254405 -0.01226835 -0.40801876] [-0.00256778 0.99999486 -0.00191887 0.09742119] [ 0.01226341 0.00195022 0.9999229 -0.28418342] [ 0. 0. 0. 1. ]] SLAMing on 67.113133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.143133365 meters Centerline goodness : 0.166406 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.9999178 0.00261087 -0.01255324 -0.40709719] [-0.00263299 0.99999501 -0.00174562 0.09660493] [ 0.01254862 0.00177853 0.99991968 -0.2845174 ] [ 0. 0. 0. 1. ]] SLAMing on 67.173133365 meters Centerline goodness : 0.175443 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99992937 0.00285898 -0.01153605 -0.40988337] [-0.00287958 0.99999429 -0.0017699 0.09776364] [ 0.01153093 0.00180299 0.99993189 -0.28393484] [ 0. 0. 0. 1. ]] SLAMing on 67.203133365 meters Centerline goodness : 0.170707 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993416 0.00291599 -0.01109831 -0.41110936] [-0.0029373 0.99999387 -0.00190426 0.0989001 ] [ 0.01109269 0.00193673 0.9999366 -0.28368459] [ 0. 0. 0. 1. ]] SLAMing on 67.233133365 meters Centerline goodness : 0.171302 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993524 0.0028925 -0.01100647 -0.41130835] [-0.00291667 0.99999337 -0.00218036 0.10045373] [ 0.01100009 0.00221232 0.99993705 -0.2838368 ] [ 0. 0. 0. 1. ]] SLAMing on 67.26313336499999 meters Centerline goodness : 0.091460 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.28 [[ 0.99993384 0.00286286 -0.01114059 -0.4108471 ] [-0.0028906 0.99999276 -0.00247487 0.10210924] [ 0.01113342 0.00250691 0.99993488 -0.28419095] [ 0. 0. 0. 1. ]] SLAMing on 67.29313336499999 meters Centerline goodness : 0.145326 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.29 [[ 0.9999253 0.0029987 -0.01184926 -0.40867445] [-0.00303194 0.99999152 -0.00278808 0.10431177] [ 0.0118408 0.0028238 0.99992591 -0.28518643] [ 0. 0. 0. 1. ]] SLAMing on 67.32313336499999 meters Centerline goodness : 0.145147 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.10, Z:-0.29 [[ 0.99992448 0.00294621 -0.01193125 -0.40841184] [-0.00298144 0.99999124 -0.0029366 0.10495039] [ 0.0119225 0.00297195 0.99992451 -0.28536363] [ 0. 0. 0. 1. ]] SLAMing on 67.35313336499999 meters Centerline goodness : 0.150605 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.11, Z:-0.29 [[ 0.99992279 0.00290244 -0.01208231 -0.40803944] [-0.00293894 0.99999117 -0.00300439 0.10514269] [ 0.01207348 0.00303967 0.99992249 -0.28536535] [ 0. 0. 0. 1. ]] SLAMing on 67.38313336499999 meters Centerline goodness : 0.173481 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.11, Z:-0.29 [[ 0.99992097 0.00284182 -0.01224669 -0.4075349 ] [-0.00288068 0.99999087 -0.00315598 0.10605476] [ 0.01223761 0.003191 0.99992003 -0.28556788] [ 0. 0. 0. 1. ]] SLAMing on 67.413133365 meters Centerline goodness : 0.173979 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.11, Z:-0.29 [[ 0.99992248 0.00279071 -0.01213425 -0.40779846] [-0.00283119 0.99999048 -0.00331974 0.10702279] [ 0.01212487 0.00335384 0.99992087 -0.28558237] [ 0. 0. 0. 1. ]] SLAMing on 67.443133365 meters Centerline goodness : 0.149082 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99991681 -0.00491329 -0.0119263 -0.38917239] [ 0.00488502 0.99998519 -0.00239899 0.11582321] [ 0.01193791 0.00234053 0.999926 -0.28425687] [ 0. 0. 0. 1. ]] SLAMing on 67.473133365 meters Centerline goodness : 0.172687 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99991545 -0.00500327 -0.01200264 -0.38904189] [ 0.00497235 0.99998425 -0.00260413 0.1167967 ] [ 0.01201548 0.00254423 0.99992457 -0.28417757] [ 0. 0. 0. 1. ]] SLAMing on 67.503133365 meters Centerline goodness : 0.171740 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99991361 -0.00511243 -0.01210891 -0.38876466] [ 0.00507868 0.99998314 -0.00281643 0.11772483] [ 0.01212311 0.00275469 0.99992272 -0.28421892] [ 0. 0. 0. 1. ]] SLAMing on 67.533133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.563133365 meters Centerline goodness : 0.152069 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990808 -0.00542486 -0.01242611 -0.38795217] [ 0.00538259 0.99997962 -0.00343206 0.12070356] [ 0.01244448 0.00336486 0.9999169 -0.28431321] [ 0. 0. 0. 1. ]] SLAMing on 67.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.623133365 meters Centerline goodness : 0.094270 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990728 -0.00569459 -0.01236905 -0.38856071] [ 0.0056471 0.99997656 -0.00387122 0.12274774] [ 0.01239081 0.00380101 0.99991601 -0.28356551] [ 0. 0. 0. 1. ]] SLAMing on 67.65313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.68313336499999 meters Centerline goodness : 0.143021 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990956 -0.00586431 -0.01210312 -0.38972007] [ 0.00581701 0.99997532 -0.00393988 0.12277338] [ 0.01212592 0.00386912 0.99991899 -0.2825837 ] [ 0. 0. 0. 1. ]] SLAMing on 67.71313336499999 meters Centerline goodness : 0.182765 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990959 -0.00584981 -0.01210752 -0.38981835] [ 0.00580379 0.99997581 -0.00383276 0.12226236] [ 0.01212965 0.00376214 0.99991936 -0.28234707] [ 0. 0. 0. 1. ]] SLAMing on 67.74313336499999 meters Centerline goodness : 0.146888 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990656 -0.00589398 -0.01233443 -0.38917405] [ 0.00584938 0.99997624 -0.00364853 0.12104829] [ 0.01235564 0.00357604 0.99991727 -0.28239113] [ 0. 0. 0. 1. ]] SLAMing on 67.77313336499999 meters Centerline goodness : 0.109048 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990527 -0.00588418 -0.01244322 -0.38874593] [ 0.00584021 0.99997658 -0.00356712 0.12050117] [ 0.01246392 0.00349411 0.99991622 -0.28264363] [ 0. 0. 0. 1. ]] SLAMing on 67.803133365 meters Centerline goodness : 0.109048 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990527 -0.00588418 -0.01244322 -0.38874593] [ 0.00584021 0.99997658 -0.00356712 0.12050117] [ 0.01246392 0.00349411 0.99991622 -0.28264363] [ 0. 0. 0. 1. ]] SLAMing on 67.833133365 meters Centerline goodness : 0.112539 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990449 -0.00594005 -0.0124791 -0.38850304] [ 0.00589451 0.99997585 -0.0036829 0.1208601 ] [ 0.01250067 0.00360899 0.99991535 -0.28292177] [ 0. 0. 0. 1. ]] SLAMing on 67.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.893133365 meters Centerline goodness : 0.092109 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.9999055 -0.00595381 -0.01239103 -0.38857152] [ 0.00590595 0.99997497 -0.00389489 0.12214761] [ 0.01241391 0.00382135 0.99991564 -0.28323446] [ 0. 0. 0. 1. ]] SLAMing on 67.923133365 meters Centerline goodness : 0.109595 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990572 -0.00605079 -0.01232666 -0.38864562] [ 0.00599876 0.99997296 -0.00425342 0.12386847] [ 0.01235206 0.00417908 0.99991498 -0.2834562 ] [ 0. 0. 0. 1. ]] SLAMing on 67.953133365 meters Centerline goodness : 0.139231 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.12, Z:-0.28 [[ 0.99990574 -0.00604911 -0.01232579 -0.38860228] [ 0.005996 0.9999726 -0.00434131 0.12448601] [ 0.01235171 0.004267 0.99991461 -0.28359044] [ 0. 0. 0. 1. ]] SLAMing on 67.983133365 meters Centerline goodness : 0.108231 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99990765 -0.00603888 -0.01217478 -0.38893377] [ 0.00598541 0.9999723 -0.00442406 0.125193 ] [ 0.01220116 0.00435078 0.9999161 -0.28368687] [ 0. 0. 0. 1. ]] SLAMing on 68.01313336499999 meters Centerline goodness : 0.141970 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99991328 -0.00603209 -0.01170656 -0.39021439] [ 0.00598002 0.99997209 -0.00447781 0.12560478] [ 0.01173324 0.00440741 0.99992145 -0.28349435] [ 0. 0. 0. 1. ]] SLAMing on 68.04313336499999 meters Centerline goodness : 0.146827 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99991339 -0.00606434 -0.01168048 -0.39031603] [ 0.00601194 0.99997173 -0.00451538 0.12558453] [ 0.01170753 0.00444476 0.99992159 -0.28339628] [ 0. 0. 0. 1. ]] SLAMing on 68.07313336499999 meters Centerline goodness : 0.114277 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99991077 -0.00612606 -0.01187146 -0.38974845] [ 0.00606953 0.9999701 -0.00479189 0.12699248] [ 0.01190046 0.00471941 0.99991805 -0.28371236] [ 0. 0. 0. 1. ]] SLAMing on 68.10313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.13313336499999 meters Centerline goodness : 0.107894 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99990637 -0.00600308 -0.01229687 -0.38838451] [ 0.00594155 0.99996968 -0.00503389 0.12917152] [ 0.01232672 0.00496035 0.99991172 -0.28443689] [ 0. 0. 0. 1. ]] SLAMing on 68.163133365 meters Centerline goodness : 0.149001 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.28 [[ 0.99990413 -0.00595626 -0.01249984 -0.38769146] [ 0.00588939 0.99996819 -0.00537897 0.13139118] [ 0.01253148 0.00530484 0.99990741 -0.28496535] [ 0. 0. 0. 1. ]] SLAMing on 68.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.253133365 meters Centerline goodness : 0.207653 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.13, Z:-0.29 [[ 0.99988251 0.00311034 -0.01500993 -0.4069187 ] [-0.00320197 0.99997636 -0.00608446 0.12979397] [ 0.01499065 0.00613181 0.99986883 -0.28602777] [ 0. 0. 0. 1. ]] SLAMing on 68.283133365 meters Centerline goodness : 0.130514 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.13, Z:-0.29 [[ 0.99988407 0.00309785 -0.01490785 -0.40720141] [-0.00319141 0.99997533 -0.00625655 0.13083853] [ 0.0148881 0.0063034 0.9998693 -0.28601213] [ 0. 0. 0. 1. ]] SLAMing on 68.313133365 meters Centerline goodness : 0.112949 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991154 -0.00221187 -0.01311571 -0.38587353] [ 0.00217234 0.99999306 -0.0030273 0.13602421] [ 0.01312232 0.00299854 0.9999094 -0.28623579] [ 0. 0. 0. 1. ]] SLAMing on 68.343133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.373133365 meters Centerline goodness : 0.185020 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991726 -0.00212868 -0.01268615 -0.38717951] [ 0.00209004 0.99999314 -0.00305832 0.13688299] [ 0.01269258 0.00303155 0.99991485 -0.28589671] [ 0. 0. 0. 1. ]] SLAMing on 68.40313336499999 meters Centerline goodness : 0.139673 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991806 -0.00212823 -0.01262336 -0.38721625] [ 0.00209002 0.9999932 -0.00303949 0.13672381] [ 0.01262974 0.00301286 0.9999157 -0.28608234] [ 0. 0. 0. 1. ]] SLAMing on 68.43313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.46313336499999 meters Centerline goodness : 0.104915 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.99991445 -0.00227508 -0.01288102 -0.38630331] [ 0.00223898 0.99999353 -0.00281658 0.13460983] [ 0.01288734 0.0027875 0.99991307 -0.2864393 ] [ 0. 0. 0. 1. ]] SLAMing on 68.49313336499999 meters Centerline goodness : 0.164070 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.99991513 -0.0022265 -0.01283636 -0.38652538] [ 0.00219136 0.99999381 -0.00275108 0.13453241] [ 0.01284241 0.00272272 0.99991383 -0.28621304] [ 0. 0. 0. 1. ]] SLAMing on 68.52313336499999 meters Centerline goodness : 0.120101 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.99991591 -0.00223455 -0.0127738 -0.38670611] [ 0.00219957 0.9999938 -0.00275136 0.13446243] [ 0.01277986 0.00272303 0.99991463 -0.28616275] [ 0. 0. 0. 1. ]] SLAMing on 68.553133365 meters Centerline goodness : 0.141922 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.13, Z:-0.29 [[ 0.9999131 -0.00230362 -0.01297995 -0.38594924] [ 0.00226602 0.9999932 -0.00291059 0.13493234] [ 0.01298657 0.00288092 0.99991152 -0.28663142] [ 0. 0. 0. 1. ]] SLAMing on 68.583133365 meters Centerline goodness : 0.158622 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991245 -0.00232835 -0.01302577 -0.3857129 ] [ 0.002289 0.99999277 -0.0030351 0.13559166] [ 0.01303274 0.00300502 0.99991055 -0.28693467] [ 0. 0. 0. 1. ]] SLAMing on 68.613133365 meters Centerline goodness : 0.145258 Centerline is valid? [False, False] Translation: X:-0.39, Y:0.14, Z:-0.29 [[ 0.99991276 -0.00230418 -0.01300632 -0.38567982] [ 0.00226366 0.99999254 -0.00312932 0.13633939] [ 0.01301343 0.0030996 0.99991052 -0.28711911] [ 0. 0. 0. 1. ]] SLAMing on 68.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.673133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.703133365 meters Centerline goodness : 0.131727 Centerline is valid? [False, False] Translation: X:-0.41, Y:0.13, Z:-0.29 [[ 0.99990629 0.00571586 -0.01243949 -0.40623039] [-0.00577737 0.99997123 -0.00491451 0.13483535] [ 0.01241104 0.00498591 0.99991055 -0.28910675] [ 0. 0. 0. 1. ]] SLAMing on 68.733133365 meters Centerline goodness : 0.118428 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.14, Z:-0.29 [[ 0.99992059 -0.00199814 -0.01244288 -0.42611575] [ 0.00195219 0.99999123 -0.00370408 0.14139792] [ 0.01245018 0.0036795 0.99991572 -0.29124313] [ 0. 0. 0. 1. ]] SLAMing on 68.76313336499999 meters Centerline goodness : 0.188047 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.14, Z:-0.29 [[ 0.99992088 -0.0020628 -0.01240867 -0.426194 ] [ 0.0020138 0.99999013 -0.00396034 0.14290026] [ 0.01241672 0.00393503 0.99991517 -0.2913058 ] [ 0. 0. 0. 1. ]] SLAMing on 68.79313336499999 meters Centerline goodness : 0.104723 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.14, Z:-0.29 [[ 0.9999217 -0.00219026 -0.01232041 -0.42646877] [ 0.00213706 0.99998834 -0.00432971 0.14477063] [ 0.01232975 0.00430304 0.99991473 -0.2912699 ] [ 0. 0. 0. 1. ]] SLAMing on 68.82313336499999 meters Centerline goodness : 0.173116 Centerline is valid? [False, False] Translation: X:-0.43, Y:0.15, Z:-0.29 [[ 0.99991948 -0.00252626 -0.01243575 -0.42638918] [ 0.00246215 0.99998361 -0.00516855 0.1487102 ] [ 0.0124486 0.00513751 0.99990932 -0.29109809] [ 0. 0. 0. 1. ]] SLAMing on 68.85313336499999 meters Centerline goodness : 0.138185 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988329 -0.00217235 -0.01512248 -0.47052577] [ 0.00209398 0.9999843 -0.00519667 0.14775626] [ 0.01513353 0.00516439 0.99987214 -0.29102502] [ 0. 0. 0. 1. ]] SLAMing on 68.88313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 68.913133365 meters Centerline goodness : 0.091286 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987808 -0.00252524 -0.01540965 -0.46995901] [ 0.0024294 0.99997761 -0.00623526 0.15358039] [ 0.01542505 0.00619706 0.99986182 -0.29102636] [ 0. 0. 0. 1. ]] SLAMing on 68.943133365 meters Centerline goodness : 0.132407 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987623 -0.00262944 -0.01551134 -0.47005091] [ 0.00253047 0.99997634 -0.0063972 0.15431608] [ 0.01552779 0.00635715 0.99985923 -0.2904846 ] [ 0. 0. 0. 1. ]] SLAMing on 68.973133365 meters Centerline goodness : 0.092374 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987564 -0.00267689 -0.01554176 -0.47017017] [ 0.00257778 0.99997624 -0.00639346 0.15430323] [ 0.0155585 0.0063526 0.99985878 -0.29009586] [ 0. 0. 0. 1. ]] SLAMing on 69.003133365 meters Centerline goodness : 0.094268 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99986866 -0.00309948 -0.01590786 -0.4692835 ] [ 0.0029982 0.99997511 -0.00638693 0.15293323] [ 0.01592726 0.00633839 0.99985306 -0.28993458] [ 0. 0. 0. 1. ]] SLAMing on 69.033133365 meters Centerline goodness : 0.145504 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99986549 -0.00315125 -0.01609554 -0.468636 ] [ 0.00305279 0.9999765 -0.00613811 0.15113719] [ 0.01611451 0.00608815 0.99985162 -0.29012016] [ 0. 0. 0. 1. ]] SLAMing on 69.063133365 meters Centerline goodness : 0.099563 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99986568 -0.00308763 -0.01609636 -0.468634 ] [ 0.00299564 0.99997907 -0.00573545 0.14893371] [ 0.01611373 0.00568646 0.999854 -0.29000391] [ 0. 0. 0. 1. ]] SLAMing on 69.093133365 meters Centerline goodness : 0.091688 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988133 -0.00321074 -0.015067 -0.47164672] [ 0.0031327 0.99998157 -0.00520021 0.1454083 ] [ 0.01508342 0.00515239 0.99987296 -0.28882527] [ 0. 0. 0. 1. ]] SLAMing on 69.123133365 meters Centerline goodness : 0.117930 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988301 -0.00312134 -0.0149739 -0.47210149] [ 0.00304863 0.99998346 -0.00487619 0.14367808] [ 0.01498887 0.00482997 0.99987599 -0.28837827] [ 0. 0. 0. 1. ]] SLAMing on 69.15313336499999 meters Centerline goodness : 0.108478 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988584 -0.00294203 -0.01482096 -0.47224875] [ 0.00287842 0.99998656 -0.00431144 0.14056318] [ 0.01483344 0.00426829 0.99988087 -0.28862539] [ 0. 0. 0. 1. ]] SLAMing on 69.18313336499999 meters Centerline goodness : 0.100387 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988728 -0.00279947 -0.01475071 -0.47231748] [ 0.00274023 0.9999881 -0.00403518 0.13940743] [ 0.01476183 0.00399431 0.99988306 -0.28876096] [ 0. 0. 0. 1. ]] SLAMing on 69.21313336499999 meters Centerline goodness : 0.112883 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988705 -0.00270165 -0.01478478 -0.47207399] [ 0.00264452 0.99998897 -0.00388231 0.13886621] [ 0.0147951 0.00384277 0.99988316 -0.28903718] [ 0. 0. 0. 1. ]] SLAMing on 69.24313336499999 meters Centerline goodness : 0.135611 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987367 -0.00242474 -0.01570899 -0.46933055] [ 0.00236353 0.99998955 -0.00391367 0.13958362] [ 0.01571832 0.00387604 0.99986895 -0.29015612] [ 0. 0. 0. 1. ]] SLAMing on 69.27313336499999 meters Centerline goodness : 0.117493 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986881 -0.00240353 -0.01601842 -0.46830852] [ 0.00233781 0.99998878 -0.00412043 0.14068597] [ 0.01602814 0.00408244 0.99986321 -0.29074947] [ 0. 0. 0. 1. ]] SLAMing on 69.303133365 meters Centerline goodness : 0.091308 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987263 -0.00196921 -0.01583832 -0.4687353 ] [ 0.00190405 0.99998967 -0.0041277 0.14201778] [ 0.01584629 0.00409702 0.99986605 -0.29100629] [ 0. 0. 0. 1. ]] SLAMing on 69.333133365 meters Centerline goodness : 0.185364 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987401 -0.00191716 -0.01575741 -0.4688923 ] [ 0.00185113 0.99998945 -0.00420401 0.14274127] [ 0.0157653 0.00417431 0.99986701 -0.29118037] [ 0. 0. 0. 1. ]] SLAMing on 69.363133365 meters Centerline goodness : 0.130968 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987452 -0.00185866 -0.01573186 -0.46891067] [ 0.00179247 0.99998949 -0.00422063 0.14308665] [ 0.01573954 0.0041919 0.99986734 -0.29132533] [ 0. 0. 0. 1. ]] SLAMing on 69.393133365 meters Centerline goodness : 0.106202 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987563 -0.00172858 -0.01567598 -0.46907215] [ 0.00166742 0.99999095 -0.00391353 0.14166918] [ 0.01568261 0.00388691 0.99986947 -0.29127846] [ 0. 0. 0. 1. ]] SLAMing on 69.423133365 meters Centerline goodness : 0.178779 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987713 -0.0016612 -0.01558764 -0.46933302] [ 0.00160419 0.99999198 -0.00366909 0.14035713] [ 0.01559361 0.00364364 0.99987177 -0.29115917] [ 0. 0. 0. 1. ]] SLAMing on 69.453133365 meters Centerline goodness : 0.096319 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988446 -0.0017702 -0.01509768 -0.47041578] [ 0.00172067 0.9999931 -0.00329317 0.1376648 ] [ 0.01510341 0.00326682 0.9998806 -0.29106784] [ 0. 0. 0. 1. ]] SLAMing on 69.483133365 meters Centerline goodness : 0.104369 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988467 -0.00169083 -0.01509273 -0.47034426] [ 0.00164504 0.99999401 -0.00304603 0.13650396] [ 0.01509779 0.00302086 0.99988146 -0.29113098] [ 0. 0. 0. 1. ]] SLAMing on 69.51313336499999 meters Centerline goodness : 0.089452 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99988403 -0.00161398 -0.01514332 -0.47017391] [ 0.00157033 0.99999458 -0.00289418 0.13594099] [ 0.01514791 0.00287006 0.99988114 -0.29120865] [ 0. 0. 0. 1. ]] SLAMing on 69.54313336499999 meters Centerline goodness : 0.113151 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987468 -0.00150828 -0.015759 -0.46821607] [ 0.00146184 0.99999456 -0.0029581 0.13679213] [ 0.01576337 0.00293469 0.99987144 -0.29212386] [ 0. 0. 0. 1. ]] SLAMing on 69.57313336499999 meters Centerline goodness : 0.106949 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987275 -0.0014985 -0.01588231 -0.46765963] [ 0.00145042 0.99999433 -0.00303815 0.13735051] [ 0.01588678 0.00301473 0.99986925 -0.29262782] [ 0. 0. 0. 1. ]] SLAMing on 69.60313336499999 meters Centerline goodness : 0.178094 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987331 -0.00152929 -0.01584376 -0.46757668] [ 0.00147878 0.99999379 -0.00319913 0.13820486] [ 0.01584855 0.0031753 0.99986936 -0.29302206] [ 0. 0. 0. 1. ]] SLAMing on 69.63313336499999 meters Centerline goodness : 0.107625 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987327 -0.00151426 -0.01584795 -0.46745331] [ 0.00146351 0.99999377 -0.00321295 0.13834035] [ 0.01585272 0.00318935 0.99986925 -0.29322548] [ 0. 0. 0. 1. ]] SLAMing on 69.663133365 meters Centerline goodness : 0.103927 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.9998733 -0.00150629 -0.01584662 -0.46744619] [ 0.00145535 0.99999374 -0.00322583 0.13852074] [ 0.01585138 0.00320236 0.99986923 -0.29326776] [ 0. 0. 0. 1. ]] SLAMing on 69.693133365 meters Centerline goodness : 0.104808 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.9998716 -0.00144307 -0.01595923 -0.46723001] [ 0.00139219 0.99999392 -0.0031986 0.13893321] [ 0.01596375 0.00317597 0.99986753 -0.29323829] [ 0. 0. 0. 1. ]] SLAMing on 69.723133365 meters Centerline goodness : 0.104808 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.9998716 -0.00144307 -0.01595923 -0.46723001] [ 0.00139219 0.99999392 -0.0031986 0.13893321] [ 0.01596375 0.00317597 0.99986753 -0.29323829] [ 0. 0. 0. 1. ]] SLAMing on 69.753133365 meters Centerline goodness : 0.091391 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987088 -0.0014774 -0.01600151 -0.46706358] [ 0.00142494 0.99999358 -0.00328923 0.1393244 ] [ 0.01600627 0.003266 0.99986656 -0.29337492] [ 0. 0. 0. 1. ]] SLAMing on 69.783133365 meters Centerline goodness : 0.129794 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99987342 -0.00160384 -0.01582954 -0.46746192] [ 0.0015484 0.99999263 -0.00351428 0.14018393] [ 0.01583506 0.00348932 0.99986853 -0.29342342] [ 0. 0. 0. 1. ]] SLAMing on 69.813133365 meters Centerline goodness : 0.115298 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.14, Z:-0.29 [[ 0.99985647 0.00654806 -0.0156258 -0.48658472] [-0.00662242 0.99996697 -0.00471235 0.13529685] [ 0.01559443 0.00481515 0.99986681 -0.29498674] [ 0. 0. 0. 1. ]] SLAMing on 69.843133365 meters Centerline goodness : 0.103531 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 9.99872410e-01 -1.05327115e-03 -1.59391055e-02 -4.68722720e-01] [ 9.99904250e-04 9.99993869e-01 -3.35577337e-03 1.41829422e-01] [ 1.59425423e-02 3.33940762e-03 9.99867333e-01 -2.92849554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87313336499999 meters Centerline goodness : 0.106522 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986768 -0.00122191 -0.0162215 -0.46752983] [ 0.00116126 0.9999923 -0.00374805 0.14362132] [ 0.01622596 0.00372872 0.9998614 -0.29371944] [ 0. 0. 0. 1. ]] SLAMing on 69.90313336499999 meters Centerline goodness : 0.106912 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986641 -0.00130049 -0.01629331 -0.46724425] [ 0.00123701 0.99999161 -0.00390607 0.14426767] [ 0.01629825 0.00388539 0.99985963 -0.29392594] [ 0. 0. 0. 1. ]] SLAMing on 69.93313336499999 meters Centerline goodness : 0.106551 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.14, Z:-0.29 [[ 0.99986877 -0.0013601 -0.01614312 -0.46777575] [ 0.00129512 0.99999102 -0.00403487 0.14492807] [ 0.01614846 0.00401343 0.99986155 -0.29368085] [ 0. 0. 0. 1. ]] SLAMing on 69.96313336499999 meters Centerline goodness : 0.106637 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987414 -0.00149038 -0.01579526 -0.46926827] [ 0.00142268 0.99998976 -0.00429656 0.14629023] [ 0.0158015 0.00427354 0.99986602 -0.29260699] [ 0. 0. 0. 1. ]] SLAMing on 69.99313336499999 meters Centerline goodness : 0.094152 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987434 -0.0015677 -0.01577512 -0.46945687] [ 0.00149775 0.999989 -0.00444504 0.14693748] [ 0.01578191 0.00442086 0.99986568 -0.29237648] [ 0. 0. 0. 1. ]] SLAMing on 70.02313336499999 meters Centerline goodness : 0.192714 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987276 -0.00165043 -0.01586654 -0.46907365] [ 0.00157725 0.99998807 -0.00462406 0.14775057] [ 0.01587399 0.00459845 0.99986343 -0.29267475] [ 0. 0. 0. 1. ]] SLAMing on 70.053133365 meters Centerline goodness : 0.104689 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.9998741 -0.00180586 -0.01576489 -0.46946055] [ 0.00172663 0.99998582 -0.0050376 0.1499382 ] [ 0.01577376 0.00500974 0.99986304 -0.29255072] [ 0. 0. 0. 1. ]] SLAMing on 70.083133365 meters Centerline goodness : 0.104160 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99987805 -0.0018624 -0.01550518 -0.47036115] [ 0.00178111 0.99998461 -0.00525491 0.15123117] [ 0.01551473 0.00522665 0.99986598 -0.29216671] [ 0. 0. 0. 1. ]] SLAMing on 70.113133365 meters Centerline goodness : 0.110144 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988359 -0.00203249 -0.01512225 -0.47190105] [ 0.00194608 0.99998171 -0.00572653 0.15374623] [ 0.01513361 0.00569644 0.99986925 -0.2912654 ] [ 0. 0. 0. 1. ]] SLAMing on 70.143133365 meters Centerline goodness : 0.168734 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.15, Z:-0.29 [[ 0.99988278 -0.00215296 -0.015159 -0.47180853] [ 0.00206236 0.99997993 -0.00598992 0.15485762] [ 0.0151716 0.00595796 0.99986715 -0.29129266] [ 0. 0. 0. 1. ]] SLAMing on 70.173133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 70.203133365 meters Centerline goodness : 0.054532 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.99988029 -0.00226646 -0.01530608 -0.4713378 ] [ 0.00216943 0.99997746 -0.0063533 0.15688208] [ 0.01532014 0.00631933 0.99986267 -0.29160106] [ 0. 0. 0. 1. ]] SLAMing on 70.233133365 meters Centerline goodness : 0.138391 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.99987742 -0.0022574 -0.01549333 -0.47042803] [ 0.0021572 0.99997667 -0.00648072 0.15813934] [ 0.0155076 0.0064465 0.99985897 -0.29230681] [ 0. 0. 0. 1. ]] SLAMing on 70.26313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 70.29313336499999 meters Centerline goodness : 0.090921 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.99986581 -0.00258528 -0.0161763 -0.46844379] [ 0.00246481 0.99996911 -0.00746316 0.16239403] [ 0.01619509 0.00742229 0.9998413 -0.29305035] [ 0. 0. 0. 1. ]] SLAMing on 70.32313336499999 meters Centerline goodness : 0.108695 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 0.99986291 -0.00260084 -0.01635212 -0.46796612] [ 0.00247146 0.99996552 -0.00792736 0.16526621] [ 0.01637217 0.00788586 0.99983487 -0.29330738] [ 0. 0. 0. 1. ]] SLAMing on 70.35313336499999 meters Centerline goodness : 0.091960 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 0.99986278 -0.00248015 -0.01637924 -0.46808271] [ 0.0023437 0.99996244 -0.00834474 0.16853362] [ 0.01639932 0.00830521 0.99983103 -0.29325943] [ 0. 0. 0. 1. ]] SLAMing on 70.38313336499999 meters Centerline goodness : 0.094742 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 0.99986741 0.00107 -0.01624889 -0.46845227] [-0.00115983 0.99998409 -0.00551981 0.17338203] [ 0.01624272 0.00553792 0.99985274 -0.29326114] [ 0. 0. 0. 1. ]] SLAMing on 70.413133365 meters Centerline goodness : 0.136599 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99867073e-01 8.93495643e-04 -1.62799654e-02 -4.68497580e-01] [-9.91546436e-04 9.99981414e-01 -6.01571277e-03 1.75626015e-01] [ 1.62742878e-02 6.03105547e-03 9.99849376e-01 -2.93201267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.443133365 meters Centerline goodness : 0.110900 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99869583e-01 7.00147090e-04 -1.61346553e-02 -4.69189419e-01] [-8.05366973e-04 9.99978448e-01 -6.51578461e-03 1.77972976e-01] [ 1.61297456e-02 6.52792916e-03 9.99848597e-01 -2.92791684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.473133365 meters Centerline goodness : 0.090753 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99871095e-01 6.98098136e-04 -1.60407744e-02 -4.69553269e-01] [-8.02450761e-04 9.99978553e-01 -6.49994534e-03 1.77935534e-01] [ 1.60358928e-02 6.51197940e-03 9.99850211e-01 -2.92564130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.503133365 meters Centerline goodness : 0.142922 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99871585e-01 6.87387807e-04 -1.60106299e-02 -4.69608188e-01] [-7.90785724e-04 9.99978869e-01 -6.45264399e-03 1.77546351e-01] [ 1.60058561e-02 6.46447635e-03 9.99851000e-01 -2.92539240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.533133365 meters Centerline goodness : 0.108152 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99868510e-01 6.00107677e-04 -1.62050190e-02 -4.68971260e-01] [-7.03640158e-04 9.99979375e-01 -6.38396886e-03 1.76550178e-01] [ 1.62008537e-02 6.39453194e-03 9.99848310e-01 -2.92752168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.563133365 meters Centerline goodness : 0.176720 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99866098e-01 6.57029463e-04 -1.63510041e-02 -4.68589313e-01] [-7.59296085e-04 9.99980186e-01 -6.24903327e-03 1.75993402e-01] [ 1.63465743e-02 6.26061176e-03 9.99846785e-01 -2.92749695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.593133365 meters Centerline goodness : 0.139299 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99863988e-01 7.31878442e-04 -1.64763226e-02 -4.68254916e-01] [-8.33095744e-04 9.99980820e-01 -6.13717220e-03 1.75753497e-01] [ 1.64715149e-02 6.15006382e-03 9.99845421e-01 -2.92839431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 70.65313336499999 meters Centerline goodness : 0.089496 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 9.99868327e-01 8.29892527e-04 -1.62061941e-02 -4.69395373e-01] [-9.25229344e-04 9.99982307e-01 -5.87612800e-03 1.74346942e-01] [ 1.62010309e-02 5.89034871e-03 9.99851404e-01 -2.91995319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68313336499999 meters Centerline goodness : 0.106830 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 9.99872120e-01 8.55650949e-04 -1.59690661e-02 -4.70202299e-01] [-9.49430980e-04 9.99982344e-01 -5.86594884e-03 1.74430433e-01] [ 1.59637650e-02 5.88036023e-03 9.99855279e-01 -2.91690203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71313336499999 meters Centerline goodness : 0.185503 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.17, Z:-0.29 [[ 9.99875197e-01 8.84670381e-04 -1.57736529e-02 -4.70795820e-01] [-9.77065798e-04 9.99982406e-01 -5.85083501e-03 1.74541336e-01] [ 1.57681993e-02 5.86551670e-03 9.99858470e-01 -2.91528191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74313336499999 meters Centerline goodness : 0.124619 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99876196e-01 8.70725852e-04 -1.57109974e-02 -4.70955648e-01] [-9.63900972e-04 9.99981989e-01 -5.92396941e-03 1.75013378e-01] [ 1.57055563e-02 5.93837984e-03 9.99859026e-01 -2.91560415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77313336499999 meters Centerline goodness : 0.136750 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99874945e-01 8.67531709e-04 -1.57905545e-02 -4.70431037e-01] [-9.62629302e-04 9.99981441e-01 -6.01583128e-03 1.75722810e-01] [ 1.57850425e-02 6.03027943e-03 9.99857224e-01 -2.92108459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.803133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 70.833133365 meters Centerline goodness : 0.139736 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99884771e-01 6.92923457e-04 -1.51645980e-02 -4.72671900e-01] [-7.85084403e-04 9.99981255e-01 -6.07226577e-03 1.75150582e-01] [ 1.51601062e-02 6.08347155e-03 9.99866572e-01 -2.90853549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.863133365 meters Centerline goodness : 0.132600 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99881681e-01 7.05048124e-04 -1.53664298e-02 -4.72065519e-01] [-7.98267850e-04 9.99981312e-01 -6.06116403e-03 1.75073858e-01] [ 1.53618693e-02 6.07271340e-03 9.99863558e-01 -2.91054557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.893133365 meters Centerline goodness : 0.137639 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99873804e-01 6.75150520e-04 -1.58719821e-02 -4.70413924e-01] [-7.74211805e-04 9.99980257e-01 -6.23595166e-03 1.75969278e-01] [ 1.58674585e-02 6.24745299e-03 9.99854586e-01 -2.91814400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.923133365 meters Centerline goodness : 0.139241 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99863985e-01 6.18902149e-04 -1.64811776e-02 -4.68239871e-01] [-7.28746613e-04 9.99977559e-01 -6.65967173e-03 1.78390475e-01] [ 1.64766861e-02 6.67077652e-03 9.99841997e-01 -2.93106868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.953133365 meters Centerline goodness : 0.264562 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.18, Z:-0.29 [[ 9.99867721e-01 5.86813822e-04 -1.62541142e-02 -4.69119097e-01] [-6.97198640e-04 9.99976729e-01 -6.78635871e-03 1.79196269e-01] [ 1.62497536e-02 6.79679337e-03 9.99844863e-01 -2.92612884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.983133365 meters Centerline goodness : 0.119029 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.18, Z:-0.29 [[ 0.99988879 -0.00703671 -0.01314873 -0.45220001] [ 0.00697293 0.99996373 -0.00489012 0.18311583] [ 0.01318267 0.00479789 0.99990159 -0.29021069] [ 0. 0. 0. 1. ]] SLAMing on 71.01313336499999 meters Centerline goodness : 0.232833 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.18, Z:-0.29 [[ 0.99988617 -0.00708742 -0.0133199 -0.45170283] [ 0.00702582 0.99996443 -0.00466557 0.18144827] [ 0.01335249 0.00457145 0.9999004 -0.29019762] [ 0. 0. 0. 1. ]] SLAMing on 71.04313336499999 meters Centerline goodness : 0.129285 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.18, Z:-0.29 [[ 0.99987308 -0.00734038 -0.01414028 -0.44915574] [ 0.00727701 0.99996327 -0.00452784 0.17929672] [ 0.014173 0.00442436 0.99988977 -0.29096475] [ 0. 0. 0. 1. ]] SLAMing on 71.07313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.10313336499999 meters Centerline goodness : 0.097282 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.17, Z:-0.29 [[ 0.99982544 -0.0113923 -0.01480901 -0.44687704] [ 0.0112864 0.99991028 -0.00721503 0.1696595 ] [ 0.01488987 0.00704663 0.99986431 -0.29140725] [ 0. 0. 0. 1. ]] SLAMing on 71.13313336499999 meters Centerline goodness : 0.134539 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.16, Z:-0.29 [[ 0.99983647 -0.01152244 -0.01393821 -0.44925919] [ 0.0114341 0.99991414 -0.00640121 0.16333715] [ 0.01401077 0.00624079 0.99988237 -0.29053783] [ 0. 0. 0. 1. ]] SLAMing on 71.163133365 meters Centerline goodness : 0.126773 Centerline is valid? [False, False] Translation: X:-0.47, Y:0.16, Z:-0.29 [[ 0.9999042 -0.00336515 -0.0134267 -0.46748935] [ 0.00326785 0.99996829 -0.00726253 0.15518311] [ 0.01345071 0.00721795 0.99988348 -0.29281362] [ 0. 0. 0. 1. ]] SLAMing on 71.193133365 meters Centerline goodness : 0.091520 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.29 [[ 0.9998875 -0.00283169 -0.01473005 -0.46327363] [ 0.00273381 0.99997408 -0.00666094 0.15301067] [ 0.01474853 0.00661992 0.99986932 -0.2946937 ] [ 0. 0. 0. 1. ]] SLAMing on 71.223133365 meters Centerline goodness : 0.090628 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99987472 -0.00251588 -0.01562765 -0.46055189] [ 0.00241457 0.99997597 -0.00649854 0.1529573 ] [ 0.01564363 0.00646 0.99985676 -0.29579133] [ 0. 0. 0. 1. ]] SLAMing on 71.253133365 meters Centerline goodness : 0.101095 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99987015 -0.00233566 -0.01594482 -0.45966497] [ 0.00223239 0.99997644 -0.00649186 0.15333526] [ 0.0159596 0.00645542 0.9998518 -0.29616255] [ 0. 0. 0. 1. ]] SLAMing on 71.283133365 meters Centerline goodness : 0.090459 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99987286 -0.00218151 -0.0157958 -0.46015344] [ 0.00207993 0.99997707 -0.00644481 0.15348885] [ 0.0158095 0.00641114 0.99985447 -0.29602252] [ 0. 0. 0. 1. ]] SLAMing on 71.313133365 meters Centerline goodness : 0.108409 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988156 -0.00182279 -0.01528227 -0.46161291] [ 0.00172879 0.99997952 -0.00616219 0.15275358] [ 0.01529319 0.00613504 0.99986423 -0.29581793] [ 0. 0. 0. 1. ]] SLAMing on 71.343133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.37313336499999 meters Centerline goodness : 0.099505 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988615 -0.00142582 -0.01502152 -0.46208464] [ 0.00134386 0.99998416 -0.00546491 0.15015802] [ 0.01502908 0.0054441 0.99987224 -0.29607422] [ 0. 0. 0. 1. ]] SLAMing on 71.40313336499999 meters Centerline goodness : 0.139096 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988746 -0.00135771 -0.01494067 -0.46234456] [ 0.00127901 0.99998526 -0.00527601 0.14911305] [ 0.01494761 0.0052563 0.99987446 -0.29595886] [ 0. 0. 0. 1. ]] SLAMing on 71.43313336499999 meters Centerline goodness : 0.104535 Centerline is valid? [False, False] Translation: X:-0.46, Y:0.15, Z:-0.30 [[ 0.99988773 -0.00128832 -0.01492872 -0.46240212] [ 0.00121208 0.99998618 -0.00511485 0.14824105] [ 0.0149351 0.00509618 0.99987548 -0.29588368] [ 0. 0. 0. 1. ]] SLAMing on 71.46313336499999 meters Centerline goodness : 0.097081 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99856712e-01 -5.45058705e-04 -1.69191544e-02 -5.09055429e-01] [ 4.65448576e-04 9.99988805e-01 -4.70890677e-03 1.43605729e-01] [ 1.69215316e-02 4.70035705e-03 9.99845772e-01 -2.94989039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49313336499999 meters Centerline goodness : 0.090765 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99858240e-01 -4.72619614e-04 -1.68308036e-02 -5.09382786e-01] [ 3.95408349e-04 9.99989385e-01 -4.59052957e-03 1.43317021e-01] [ 1.68327945e-02 4.58322378e-03 9.99847814e-01 -2.94787086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52313336499999 meters Centerline goodness : 0.090333 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99859378e-01 -3.99161609e-04 -1.67649695e-02 -5.09698656e-01] [ 3.24364217e-04 9.99989984e-01 -4.46401088e-03 1.42893464e-01] [ 1.67665834e-02 4.45794519e-03 9.99849493e-01 -2.94517875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.553133365 meters Centerline goodness : 0.095242 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99865950e-01 -4.05249891e-04 -1.63682051e-02 -5.10960548e-01] [ 3.32429579e-04 9.99990037e-01 -4.45136391e-03 1.42606162e-01] [ 1.63698459e-02 4.44532593e-03 9.99856123e-01 -2.94009906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.583133365 meters Centerline goodness : 0.096759 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99868090e-01 -4.38929965e-04 -1.62360878e-02 -5.11429998e-01] [ 3.65405151e-04 9.99989667e-01 -4.53117038e-03 1.42801399e-01] [ 1.62379089e-02 4.52463992e-03 9.99857919e-01 -2.93787453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.613133365 meters Centerline goodness : 0.096759 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99868090e-01 -4.38929965e-04 -1.62360878e-02 -5.11429998e-01] [ 3.65405151e-04 9.99989667e-01 -4.53117038e-03 1.42801399e-01] [ 1.62379089e-02 4.52463992e-03 9.99857919e-01 -2.93787453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.643133365 meters Centerline goodness : 0.149253 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.14, Z:-0.29 [[ 9.99872973e-01 -3.18568205e-04 -1.59353934e-02 -5.12049030e-01] [ 2.43000841e-04 9.99988718e-01 -4.74382002e-03 1.44808270e-01] [ 1.59367249e-02 4.73934511e-03 9.99861770e-01 -2.94126683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.673133365 meters Centerline goodness : 0.099794 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.29 [[ 9.99873543e-01 -3.18994512e-04 -1.58995869e-02 -5.11955630e-01] [ 2.40537427e-04 9.99987788e-01 -4.93620415e-03 1.46101627e-01] [ 1.59009673e-02 4.93175548e-03 9.99861409e-01 -2.94519175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.703133365 meters Centerline goodness : 0.090216 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.29 [[ 9.99874554e-01 -4.13270046e-04 -1.58336846e-02 -5.11924839e-01] [ 3.30317292e-04 9.99986210e-01 -5.24126212e-03 1.47569111e-01] [ 1.58356323e-02 5.23537448e-03 9.99860902e-01 -2.94895186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.733133365 meters Centerline goodness : 0.104836 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99871781e-01 -6.11369152e-04 -1.60014781e-02 -5.11350137e-01] [ 5.20054897e-04 9.99983562e-01 -5.71015286e-03 1.49391989e-01] [ 1.60047061e-02 5.70109906e-03 9.99855663e-01 -2.95323317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76313336499999 meters Centerline goodness : 0.119526 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99869344e-01 -6.32767509e-04 -1.61522226e-02 -5.10933394e-01] [ 5.39851793e-04 9.99983287e-01 -5.75621562e-03 1.49559589e-01] [ 1.61555950e-02 5.74674373e-03 9.99852975e-01 -2.95425775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.82313336499999 meters Centerline goodness : 0.132878 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.15, Z:-0.29 [[ 0.99984305 -0.009635 -0.01486735 -0.49096248] [ 0.00955795 0.99994057 -0.0052449 0.15250672] [ 0.014917 0.00510198 0.99987572 -0.29456393] [ 0. 0. 0. 1. ]] SLAMing on 71.85313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.88313336499999 meters Centerline goodness : 0.137147 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99896212e-01 -6.91210498e-04 -1.43905504e-02 -5.11869562e-01] [ 6.12153468e-04 9.99984702e-01 -5.49735682e-03 1.46826120e-01] [ 1.43941301e-02 5.48797703e-03 9.99881339e-01 -2.95434020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 71.943133365 meters Centerline goodness : 0.096112 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99881567e-01 -3.58843853e-04 -1.53858286e-02 -5.09208003e-01] [ 2.64790570e-04 9.99981271e-01 -6.11458274e-03 1.51399629e-01] [ 1.53877346e-02 6.10978455e-03 9.99862935e-01 -2.96366790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.973133365 meters Centerline goodness : 0.131021 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.15, Z:-0.30 [[ 9.99874118e-01 -4.05774465e-04 -1.58614064e-02 -5.07967356e-01] [ 3.00380222e-04 9.99977867e-01 -6.64651489e-03 1.54316367e-01] [ 1.58637524e-02 6.64091376e-03 9.99852109e-01 -2.96778839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.003133365 meters Centerline goodness : 0.099772 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.16, Z:-0.30 [[ 9.99863731e-01 -3.32734358e-04 -1.65048362e-02 -5.06182634e-01] [ 2.15870512e-04 9.99974900e-01 -7.08185833e-03 1.57207408e-01] [ 1.65067783e-02 7.07733038e-03 9.99838706e-01 -2.97436096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.093133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.12313336499999 meters Centerline goodness : 0.128622 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99843886e-01 6.29967670e-04 -1.76580548e-02 -5.03755626e-01] [-7.64251434e-04 9.99970835e-01 -7.59895854e-03 1.71179523e-01] [ 1.76527528e-02 7.61126743e-03 9.99815207e-01 -2.97269851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15313336499999 meters Centerline goodness : 0.142062 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99841103e-01 6.23046206e-04 -1.78151586e-02 -5.03449037e-01] [-7.57333562e-04 9.99971347e-01 -7.53206154e-03 1.71118247e-01] [ 1.78099553e-02 7.54435673e-03 9.99812927e-01 -2.97043752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18313336499999 meters Centerline goodness : 0.090261 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99834589e-01 1.64180539e-04 -1.81870001e-02 -5.02177307e-01] [-3.04096071e-04 9.99970380e-01 -7.69066329e-03 1.70825499e-01] [ 1.81851988e-02 7.69492177e-03 9.99805024e-01 -2.97438705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.24313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.27313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.303133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.333133365 meters Centerline goodness : 0.220661 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99837815e-01 2.60284911e-05 -1.80095423e-02 -5.02270266e-01] [-1.69413157e-04 9.99968303e-01 -7.96011423e-03 1.72212966e-01] [ 1.80087643e-02 7.96187427e-03 9.99806128e-01 -2.97867567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.363133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.393133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.423133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.453133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.483133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.51313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.54313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.57313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.60313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.63313336499999 meters Centerline goodness : 0.230065 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99836732e-01 -9.03696317e-04 -1.80469528e-02 -5.03842830e-01] [ 7.27112681e-04 9.99951824e-01 -9.78884438e-03 1.82230876e-01] [ 1.80549296e-02 9.77412400e-03 9.99789221e-01 -2.95754207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.663133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 72.723133365 meters Centerline goodness : 0.183055 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99831339e-01 -5.96915766e-04 -1.83558547e-02 -5.02627406e-01] [ 4.26925743e-04 9.99957003e-01 -9.26333130e-03 1.80040477e-01] [ 1.83605949e-02 9.25393235e-03 9.99788604e-01 -2.96523569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.753133365 meters Centerline goodness : 0.231858 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99834426e-01 -5.47931141e-04 -1.81884645e-02 -5.03043898e-01] [ 3.80437288e-04 9.99957506e-01 -9.21097872e-03 1.79846803e-01] [ 1.81927386e-02 9.20253406e-03 9.99792147e-01 -2.96544452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.783133365 meters Centerline goodness : 0.137776 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99835359e-01 -4.98032283e-04 -1.81385667e-02 -5.03070842e-01] [ 3.32197547e-04 9.99958133e-01 -9.14452513e-03 1.79578826e-01] [ 1.81423615e-02 9.13699398e-03 9.99793664e-01 -2.96738897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.813133365 meters Centerline goodness : 0.113017 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99832460e-01 -3.65199015e-04 -1.83007958e-02 -5.02666510e-01] [ 2.02404793e-04 9.99960405e-01 -8.89653515e-03 1.78560295e-01] [ 1.83033201e-02 8.89134045e-03 9.99792945e-01 -2.96772838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.843133365 meters Centerline goodness : 0.224967 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99834165e-01 -2.83234842e-04 -1.82088762e-02 -5.03015173e-01] [ 1.27029133e-04 9.99963191e-01 -8.57913186e-03 1.76681350e-01] [ 1.82106358e-02 8.57539608e-03 9.99797397e-01 -2.96510818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87313336499999 meters Centerline goodness : 0.086409 Centerline is valid? [False, False] Translation: X:-0.48, Y:0.18, Z:-0.30 [[ 0.99980418 -0.00847968 -0.01788003 -0.48406916] [ 0.00834949 0.99993818 -0.00734353 0.18115709] [ 0.0179412 0.0071928 0.99981317 -0.29526087] [ 0. 0. 0. 1. ]] SLAMing on 72.90313336499999 meters Centerline goodness : 0.115050 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99842423e-01 -2.29350285e-04 -1.77503814e-02 -5.02038104e-01] [ 8.18925714e-05 9.99965488e-01 -8.30757939e-03 1.74119257e-01] [ 1.77516741e-02 8.30481668e-03 9.99807936e-01 -2.97261332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93313336499999 meters Centerline goodness : 0.222446 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99843068e-01 -1.48148415e-04 -1.77149045e-02 -5.01981522e-01] [ 4.00390230e-06 9.99966897e-01 -8.13666466e-03 1.73447997e-01] [ 1.77155235e-02 8.13531682e-03 9.99809970e-01 -2.97460082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96313336499999 meters Centerline goodness : 0.227473 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99843985e-01 -1.36429647e-04 -1.76631416e-02 -5.02325064e-01] [-5.24573451e-06 9.99967834e-01 -8.02066684e-03 1.72504801e-01] [ 1.76636677e-02 8.01950815e-03 9.99811823e-01 -2.97056266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99313336499999 meters Centerline goodness : 0.122772 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99841466e-01 -1.41043887e-04 -1.78051595e-02 -5.02166187e-01] [-2.92950307e-06 9.99967310e-01 -8.08576385e-03 1.72822812e-01] [ 1.78057179e-02 8.08453413e-03 9.99808780e-01 -2.96838256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02313336499999 meters Centerline goodness : 0.138863 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.17, Z:-0.30 [[ 9.99838909e-01 -1.15504226e-04 -1.79483306e-02 -5.01703214e-01] [-3.12492663e-05 9.99966576e-01 -8.17594686e-03 1.73685471e-01] [ 1.79486751e-02 8.17519066e-03 9.99805487e-01 -2.97065000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 73.083133365 meters Centerline goodness : 0.122283 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99826269e-01 -3.22808714e-05 -1.86394966e-02 -4.99773881e-01] [-1.27015826e-04 9.99963483e-01 -8.54494385e-03 1.76219491e-01] [ 1.86390918e-02 8.54582684e-03 9.99789754e-01 -2.97665998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.113133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 73.143133365 meters Centerline goodness : 0.093770 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99817891e-01 -1.56855687e-04 -1.90829767e-02 -4.98705974e-01] [-2.20738648e-05 9.99956046e-01 -9.37582434e-03 1.80762852e-01] [ 1.90836086e-02 9.37453815e-03 9.99773941e-01 -2.97943549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.173133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 73.203133365 meters Centerline goodness : 0.141510 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.18, Z:-0.30 [[ 9.99828698e-01 -4.91239808e-04 -1.85022727e-02 -5.00730222e-01] [ 3.07584023e-04 9.99950672e-01 -9.92765844e-03 1.82737154e-01] [ 1.85062369e-02 9.92026680e-03 9.99779529e-01 -2.96924096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.233133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 73.26313336499999 meters Centerline goodness : 0.214184 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.19, Z:-0.30 [[ 0.99981385 0.00332874 -0.01900477 -0.49938564] [-0.00345397 0.99997251 -0.00656048 0.18591346] [ 0.01898241 0.0066249 0.99979787 -0.29713656] [ 0. 0. 0. 1. ]] SLAMing on 73.29313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 73.32313336499999 meters Centerline goodness : 0.383188 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.19, Z:-0.30 [[ 0.99980186 0.00598694 -0.01898404 -0.49804186] [-0.0060833 0.99996888 -0.00502228 0.19398501] [ 0.01895338 0.00513677 0.99980717 -0.2987552 ] [ 0. 0. 0. 1. ]] SLAMing on 73.35313336499999 meters Centerline goodness : 0.139668 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.20, Z:-0.30 [[ 0.99980557 0.00588564 -0.01881958 -0.49873347] [-0.00599058 0.99996679 -0.00552471 0.19687035] [ 0.01878644 0.00563637 0.99980763 -0.29842733] [ 0. 0. 0. 1. ]] SLAMing on 73.38313336499999 meters Centerline goodness : 0.085937 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.20, Z:-0.30 [[ 0.99981132 0.00584427 -0.01852505 -0.49978418] [-0.0059557 0.99996447 -0.00596554 0.19975213] [ 0.01848953 0.00607474 0.9998106 -0.29800702] [ 0. 0. 0. 1. ]] SLAMing on 73.413133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 73.443133365 meters Centerline goodness : 0.112371 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.21, Z:-0.30 [[ 0.99980896 0.00554894 -0.01874179 -0.49944926] [-0.00568649 0.99995723 -0.00729409 0.20941782] [ 0.01870052 0.00739927 0.99979775 -0.29798613] [ 0. 0. 0. 1. ]] SLAMing on 73.473133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 73.503133365 meters Centerline goodness : 0.133041 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99880328e-01 -1.16795762e-04 -1.54698693e-02 -5.19028834e-01] [ 2.16110799e-05 9.99981070e-01 -6.15293223e-03 2.21519996e-01] [ 1.54702951e-02 6.15186157e-03 9.99861403e-01 -3.00790597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.533133365 meters Centerline goodness : 0.133041 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99880328e-01 -1.16795762e-04 -1.54698693e-02 -5.19028834e-01] [ 2.16110799e-05 9.99981070e-01 -6.15293223e-03 2.21519996e-01] [ 1.54702951e-02 6.15186157e-03 9.99861403e-01 -3.00790597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.563133365 meters Centerline goodness : 0.085803 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99879650e-01 -7.29760600e-04 -1.54968993e-02 -5.19555210e-01] [ 6.25253681e-04 9.99977040e-01 -6.74750548e-03 2.23226461e-01] [ 1.55014675e-02 6.73700393e-03 9.99857148e-01 -2.99696673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.593133365 meters Centerline goodness : 0.101113 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99874831e-01 -8.75605254e-04 -1.57973599e-02 -5.18907668e-01] [ 7.67646206e-04 9.99976321e-01 -6.83876296e-03 2.23320005e-01] [ 1.58029739e-02 6.82578017e-03 9.99851826e-01 -2.99454506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62313336499999 meters Centerline goodness : 0.149505 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 9.99871272e-01 -9.74303155e-04 -1.60153001e-02 -5.18529237e-01] [ 8.64803834e-04 9.99976215e-01 -6.84267361e-03 2.23127745e-01] [ 1.60215861e-02 6.82794267e-03 9.99848332e-01 -2.99073057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65313336499999 meters Centerline goodness : 0.125665 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99987538 -0.00153585 -0.01571226 -0.51965804] [ 0.00142705 0.99997494 -0.00693394 0.22198168] [ 0.01572252 0.00691065 0.99985251 -0.29812316] [ 0. 0. 0. 1. ]] SLAMing on 73.68313336499999 meters Centerline goodness : 0.121655 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988098 -0.00162967 -0.0153418 -0.52065521] [ 0.00152555 0.99997575 -0.00679555 0.22077339] [ 0.01535251 0.00677134 0.99985921 -0.29780331] [ 0. 0. 0. 1. ]] SLAMing on 73.71313336499999 meters Centerline goodness : 0.171406 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988632 -0.00189879 -0.01495819 -0.52159347] [ 0.0017983 0.99997575 -0.00672856 0.21906346] [ 0.01497061 0.0067009 0.99986548 -0.29761754] [ 0. 0. 0. 1. ]] SLAMing on 73.74313336499999 meters Centerline goodness : 0.127318 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988548 -0.00184526 -0.01502048 -0.5213846 ] [ 0.00174662 0.99997684 -0.00657787 0.21827885] [ 0.01503227 0.00655088 0.99986555 -0.29769286] [ 0. 0. 0. 1. ]] SLAMing on 73.77313336499999 meters Centerline goodness : 0.125579 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99988251 -0.00178391 -0.01522463 -0.5207627 ] [ 0.00168601 0.99997783 -0.00644129 0.21757399] [ 0.01523578 0.00641487 0.99986335 -0.29790228] [ 0. 0. 0. 1. ]] SLAMing on 73.803133365 meters Centerline goodness : 0.183062 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.22, Z:-0.30 [[ 0.99987868 -0.00169555 -0.01548397 -0.51988266] [ 0.00159904 0.99997923 -0.00624292 0.2165655 ] [ 0.01549424 0.0062174 0.99986063 -0.29833299] [ 0. 0. 0. 1. ]] SLAMing on 73.833133365 meters Centerline goodness : 0.170487 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.21, Z:-0.30 [[ 0.99987332 -0.00148745 -0.01584689 -0.51889897] [ 0.00139743 0.99998284 -0.00568962 0.21371586] [ 0.01585508 0.00566675 0.99985824 -0.29847739] [ 0. 0. 0. 1. ]] SLAMing on 73.863133365 meters Centerline goodness : 0.127564 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.21, Z:-0.30 [[ 0.99987034 -0.00124793 -0.0160543 -0.51803238] [ 0.00117006 0.99998751 -0.00485918 0.20935158] [ 0.01606016 0.00483976 0.99985931 -0.29893255] [ 0. 0. 0. 1. ]] SLAMing on 73.893133365 meters Centerline goodness : 0.235187 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.21, Z:-0.30 [[ 0.99986978 -0.00108094 -0.01610168 -0.51766552] [ 0.0010111 0.99999005 -0.00434477 0.20671518] [ 0.01610622 0.00432792 0.99986092 -0.29923606] [ 0. 0. 0. 1. ]] SLAMing on 73.923133365 meters Centerline goodness : 0.228422 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.20, Z:-0.30 [[ 9.99871595e-01 -9.45404778e-04 -1.59968922e-02 -5.17746483e-01] [ 8.84260977e-04 9.99992279e-01 -3.82887156e-03 2.03807626e-01] [ 1.60003885e-02 3.81423449e-03 9.99864710e-01 -2.99433541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.953133365 meters Centerline goodness : 0.237970 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.20, Z:-0.30 [[ 9.99873438e-01 -7.18818316e-04 -1.58931310e-02 -5.18197487e-01] [ 6.71442462e-04 9.99995316e-01 -2.98603631e-03 1.98817603e-01] [ 1.58952030e-02 2.97498707e-03 9.99869237e-01 -2.99046118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.983133365 meters Centerline goodness : 0.188862 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.20, Z:-0.30 [[ 9.99873328e-01 -4.94720276e-04 -1.59086123e-02 -5.18282775e-01] [ 4.55247395e-04 9.99996809e-01 -2.48475285e-03 1.96644108e-01] [ 1.59097908e-02 2.47719575e-03 9.99870363e-01 -2.98782822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.04313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.07313336499999 meters Centerline goodness : 0.204827 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.19, Z:-0.30 [[ 9.99880618e-01 2.58792148e-04 -1.54493461e-02 -5.18492067e-01] [-2.69715491e-04 9.99999715e-01 -7.04963034e-04 1.85263505e-01] [ 1.54491593e-02 7.09045802e-04 9.99880403e-01 -2.99856306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.13313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.163133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.283133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.343133365 meters Centerline goodness : 0.144655 Centerline is valid? [False, False] Translation: X:-0.51, Y:0.19, Z:-0.30 [[ 0.99981622 0.0068725 -0.01789672 -0.51169706] [-0.00681111 0.99997072 0.00348877 0.18552071] [ 0.01792018 -0.00336624 0.99983375 -0.30078367] [ 0. 0. 0. 1. ]] SLAMing on 74.37313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.40313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.43313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.46313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.49313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.52313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.583133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.613133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.673133365 meters Centerline goodness : 0.169775 Centerline is valid? [False, False] Translation: X:-0.52, Y:0.19, Z:-0.30 [[ 9.99773020e-01 -1.54179415e-02 -1.47036219e-02 -5.16393872e-01] [ 1.54313627e-02 9.99880610e-01 7.99754956e-04 1.89918824e-01] [ 1.46895359e-02 -1.02647035e-03 9.99891576e-01 -2.98768595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.703133365 meters Centerline goodness : 0.127098 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.18, Z:-0.30 [[ 9.99851821e-01 -7.24842193e-03 -1.56139843e-02 -5.32819111e-01] [ 7.24485802e-03 9.99973715e-01 -2.84803679e-04 1.80363204e-01] [ 1.56156383e-02 1.71640378e-04 9.99878054e-01 -3.01739089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.76313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.79313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.82313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.85313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.88313336499999 meters Centerline goodness : 0.114114 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.16, Z:-0.31 [[ 9.99895128e-01 -6.17978883e-04 -1.44689833e-02 -5.50331691e-01] [ 6.07950524e-04 9.99999572e-01 -6.97481748e-04 1.59758330e-01] [ 1.44694081e-02 6.88612176e-04 9.99895076e-01 -3.05282705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 74.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.033133365 meters Centerline goodness : 0.136493 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99893338e-01 -2.83679020e-04 -1.46024649e-02 -5.49344281e-01] [ 2.89354801e-04 9.99999883e-01 3.86575227e-04 1.52003793e-01] [ 1.46023535e-02 -3.90759288e-04 9.99893304e-01 -3.06107387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.093133365 meters Centerline goodness : 0.086934 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.15, Z:-0.30 [[ 0.99988408 0.00708302 -0.0134778 -0.53078652] [-0.00709779 0.99997426 -0.00104828 0.14655558] [ 0.01347002 0.00114382 0.99990862 -0.30388186] [ 0. 0. 0. 1. ]] SLAMing on 75.12313336499999 meters Centerline goodness : 0.137175 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.30 [[ 9.99909751e-01 -1.37200090e-03 -1.33644311e-02 -5.53180874e-01] [ 1.36623370e-03 9.99998970e-01 -4.40653793e-04 1.49192043e-01] [ 1.33650219e-02 4.22355089e-04 9.99910595e-01 -3.04639212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15313336499999 meters Centerline goodness : 0.117285 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.30 [[ 9.99912153e-01 -1.26119737e-03 -1.31945530e-02 -5.53408013e-01] [ 1.25864168e-03 9.99999188e-01 -2.01994377e-04 1.48269886e-01] [ 1.31947970e-02 1.85369418e-04 9.99912928e-01 -3.04893620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.21313336499999 meters Centerline goodness : 0.173187 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.30 [[ 9.99916299e-01 -1.30675952e-03 -1.28719912e-02 -5.54281544e-01] [ 1.30338373e-03 9.99999114e-01 -2.70643736e-04 1.48132426e-01] [ 1.28723335e-02 2.53843939e-04 9.99917116e-01 -3.04787896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24313336499999 meters Centerline goodness : 0.140467 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.15, Z:-0.30 [[ 9.99923703e-01 -8.22111930e-04 -1.23252901e-02 -5.56081708e-01] [ 8.20966354e-04 9.99999658e-01 -9.80043905e-05 1.49405050e-01] [ 1.23253664e-02 8.78782645e-05 9.99924036e-01 -3.04195646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.303133365 meters Centerline goodness : 0.136390 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99918251e-01 -5.11920409e-04 -1.27761057e-02 -5.54533807e-01] [ 5.07937770e-04 9.99999821e-01 -3.14968516e-04 1.51921149e-01] [ 1.27762646e-02 3.08453301e-04 9.99918333e-01 -3.05176412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.333133365 meters Centerline goodness : 0.137182 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99916470e-01 -6.58434308e-04 -1.29081449e-02 -5.53825749e-01] [ 6.47559320e-04 9.99999432e-01 -8.46651891e-04 1.54120597e-01] [ 1.29086951e-02 8.38222381e-04 9.99916328e-01 -3.06077678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.363133365 meters Centerline goodness : 0.089280 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99915203e-01 -6.50653050e-04 -1.30063200e-02 -5.53576805e-01] [ 6.38758183e-04 9.99999374e-01 -9.18678323e-04 1.54665290e-01] [ 1.30069096e-02 9.10292528e-04 9.99914992e-01 -3.06154724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.393133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.423133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.453133365 meters Centerline goodness : 0.088007 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99917066e-01 -6.00870656e-04 -1.28647071e-02 -5.53931024e-01] [ 5.89965044e-04 9.99999463e-01 -8.51493732e-04 1.54652905e-01] [ 1.28652119e-02 8.43833386e-04 9.99916884e-01 -3.06142544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.483133365 meters Centerline goodness : 0.086246 Centerline is valid? [False, False] Translation: X:-0.55, Y:0.15, Z:-0.31 [[ 9.99915743e-01 -5.86603032e-04 -1.29677509e-02 -5.53600101e-01] [ 5.76760396e-04 9.99999543e-01 -7.62735522e-04 1.54092673e-01] [ 1.29681924e-02 7.55191971e-04 9.99915624e-01 -3.06260060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.54313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.57313336499999 meters Centerline goodness : 0.165925 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.15, Z:-0.31 [[ 9.99877391e-01 -1.12846215e-03 -1.56182306e-02 -5.98710021e-01] [ 1.11877393e-03 9.99999176e-01 -6.29037612e-04 1.46144285e-01] [ 1.56189276e-02 6.11487217e-04 9.99877830e-01 -3.05001843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.63313336499999 meters Centerline goodness : 0.111403 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.14, Z:-0.31 [[ 9.99872391e-01 -1.84385700e-03 -1.58682961e-02 -5.97746762e-01] [ 1.83537831e-03 9.99998165e-01 -5.48862960e-04 1.41794528e-01] [ 1.58692790e-02 5.19668594e-04 9.99873940e-01 -3.05347800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.663133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.693133365 meters Centerline goodness : 0.170621 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.14, Z:-0.30 [[ 9.99880474e-01 -1.80078225e-03 -1.53556205e-02 -5.99515690e-01] [ 1.79853636e-03 9.99998370e-01 -1.60066738e-04 1.39790053e-01] [ 1.53558838e-02 1.32429964e-04 9.99882083e-01 -3.04292417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.843133365 meters Centerline goodness : 0.177489 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.13, Z:-0.30 [[ 0.99986408 -0.00683604 -0.01500301 -0.60037156] [ 0.00678779 0.99997164 -0.0032642 0.12520798] [ 0.0150249 0.00316192 0.99988212 -0.30378456] [ 0. 0. 0. 1. ]] SLAMing on 75.87313336499999 meters Centerline goodness : 0.110075 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.12, Z:-0.30 [[ 0.99987004 -0.00667969 -0.01467234 -0.60123523] [ 0.00664244 0.99997459 -0.00258621 0.12151346] [ 0.01468924 0.00248842 0.99988901 -0.30351817] [ 0. 0. 0. 1. ]] SLAMing on 75.90313336499999 meters Centerline goodness : 0.175085 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.12, Z:-0.30 [[ 0.99988206 -0.00619527 -0.01405268 -0.60296429] [ 0.0061764 0.99997997 -0.00138581 0.11624697] [ 0.01406098 0.00129885 0.9999003 -0.30295073] [ 0. 0. 0. 1. ]] SLAMing on 75.93313336499999 meters Centerline goodness : 0.096944 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.11, Z:-0.30 [[ 9.99887043e-01 -5.89525410e-03 -1.38256168e-02 -6.03301708e-01] [ 5.88604749e-03 9.99982427e-01 -7.06506068e-04 1.12894700e-01] [ 1.38295389e-02 6.25048026e-04 9.99904172e-01 -3.03220390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 75.99313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.02313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.053133365 meters Centerline goodness : 0.088855 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.10, Z:-0.31 [[ 9.99872269e-01 3.37935215e-03 -1.56213151e-02 -6.20899751e-01] [-3.39277552e-03 9.99993898e-01 -8.32876803e-04 1.01454567e-01] [ 1.56184052e-02 8.85770035e-04 9.99877633e-01 -3.05597977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.083133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.113133365 meters Centerline goodness : 0.132844 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 9.99881667e-01 -5.01204497e-03 -1.45440979e-02 -6.01987471e-01] [ 5.01683574e-03 9.99987373e-01 2.92930469e-04 1.01372995e-01] [ 1.45424461e-02 -3.65861156e-04 9.99894186e-01 -3.04466754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.143133365 meters Centerline goodness : 0.096780 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 9.99881209e-01 -4.85194695e-03 -1.46296742e-02 -6.01562012e-01] [ 4.86261974e-03 9.99987937e-01 6.94047353e-04 9.95680232e-02] [ 1.46261303e-02 -7.65103449e-04 9.99892740e-01 -3.04767512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.173133365 meters Centerline goodness : 0.139171 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.31 [[ 0.99987943 -0.00472027 -0.01479364 -0.60098948] [ 0.00473634 0.99998823 0.001051 0.09782925] [ 0.0147885 -0.00112094 0.99989002 -0.30500043] [ 0. 0. 0. 1. ]] SLAMing on 76.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.233133365 meters Centerline goodness : 0.101223 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987102 -0.00451151 -0.01541407 -0.59906801] [ 0.00453884 0.99998819 0.00173879 0.0939724 ] [ 0.01540604 -0.00180853 0.99987968 -0.30562679] [ 0. 0. 0. 1. ]] SLAMing on 76.26313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.29313336499999 meters Centerline goodness : 0.158208 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987599 -0.00428718 -0.01515324 -0.59936803] [ 0.00432043 0.99998833 0.00216221 0.0921867 ] [ 0.01514379 -0.00222741 0.99988285 -0.30615759] [ 0. 0. 0. 1. ]] SLAMing on 76.32313336499999 meters Centerline goodness : 0.098323 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987674 -0.00427678 -0.01510661 -0.59959021] [ 0.00431093 0.99998822 0.00222883 0.0916578 ] [ 0.0150969 -0.00229368 0.9998834 -0.30600601] [ 0. 0. 0. 1. ]] SLAMing on 76.35313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.38313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.413133365 meters Centerline goodness : 0.154493 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.09, Z:-0.31 [[ 0.99987419 -0.00421815 -0.01529071 -0.59920598] [ 0.00425196 0.99998859 0.00217941 0.09250895] [ 0.01528134 -0.00224415 0.99988072 -0.30602531] [ 0. 0. 0. 1. ]] SLAMing on 76.443133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.473133365 meters Centerline goodness : 0.101614 Centerline is valid? [False, False] Translation: X:-0.62, Y:0.09, Z:-0.31 [[ 0.99987987 0.00458624 -0.01480593 -0.62070391] [-0.0045656 0.99998856 0.00142733 0.0913726 ] [ 0.0148123 -0.00135956 0.99988937 -0.3065072 ] [ 0. 0. 0. 1. ]] SLAMing on 76.503133365 meters Centerline goodness : 0.045009 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.31 [[ 0.99989736 -0.00333932 -0.01393263 -0.60256398] [ 0.00337169 0.99999167 0.00230023 0.09815787] [ 0.01392483 -0.00234697 0.99990029 -0.3050928 ] [ 0. 0. 0. 1. ]] SLAMing on 76.533133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.563133365 meters Centerline goodness : 0.085995 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99989929 -0.0035411 -0.01374276 -0.60358027] [ 0.00356489 0.99999219 0.00170693 0.10144546] [ 0.01373661 -0.00175575 0.99990411 -0.30439097] [ 0. 0. 0. 1. ]] SLAMing on 76.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.62313336499999 meters Centerline goodness : 0.170626 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99990166 -0.00360658 -0.01355192 -0.60438432] [ 0.00363033 0.99999192 0.00172834 0.10126558] [ 0.01354558 -0.00177737 0.99990667 -0.30377378] [ 0. 0. 0. 1. ]] SLAMing on 76.65313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.68313336499999 meters Centerline goodness : 0.087561 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99990107 -0.00440635 -0.01335797 -0.60470068] [ 0.00443073 0.99998857 0.00179551 0.09745577] [ 0.01334991 -0.00185451 0.99990917 -0.30365449] [ 0. 0. 0. 1. ]] SLAMing on 76.71313336499999 meters Centerline goodness : 0.088955 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.10, Z:-0.30 [[ 0.99989967 -0.00435487 -0.01347908 -0.60430726] [ 0.00438426 0.99998807 0.00215201 0.09546161] [ 0.01346955 -0.00221089 0.99990684 -0.3037513 ] [ 0. 0. 0. 1. ]] SLAMing on 76.74313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.77313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.803133365 meters Centerline goodness : 0.084321 Centerline is valid? [False, False] Translation: X:-0.61, Y:0.09, Z:-0.30 [[ 0.99990441 -0.00432471 -0.01313279 -0.60522117] [ 0.00436407 0.99998607 0.00296956 0.08914554] [ 0.01311976 -0.00302659 0.99990935 -0.30335935] [ 0. 0. 0. 1. ]] SLAMing on 76.833133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 76.893133365 meters Centerline goodness : 0.088518 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:-0.30 [[ 0.99988477 0.00530863 -0.01422177 -0.58220657] [-0.00526242 0.99998076 0.00328487 0.08420835] [ 0.01423894 -0.00320965 0.99989347 -0.30312653] [ 0. 0. 0. 1. ]] SLAMing on 76.923133365 meters Centerline goodness : 0.139567 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:-0.30 [[ 0.99988313 0.00534831 -0.01432232 -0.58162692] [-0.00530005 0.99998016 0.00340573 0.08336706] [ 0.01434025 -0.00332943 0.99989163 -0.3037121 ] [ 0. 0. 0. 1. ]] SLAMing on 76.953133365 meters Centerline goodness : 0.095659 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.09, Z:-0.30 [[ 0.99989758 -0.00276781 -0.01404202 -0.56155295] [ 0.00282721 0.99998713 0.004212 0.0869452 ] [ 0.01403018 -0.00425127 0.99989253 -0.30321556] [ 0. 0. 0. 1. ]] SLAMing on 76.983133365 meters Centerline goodness : 0.154609 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.09, Z:-0.30 [[ 0.99989875 -0.00265513 -0.01398022 -0.56163238] [ 0.00271865 0.99998606 0.00452668 0.08532667] [ 0.013968 -0.00456423 0.99989203 -0.30330125] [ 0. 0. 0. 1. ]] SLAMing on 77.01313336499999 meters Centerline goodness : 0.144271 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.08, Z:-0.30 [[ 0.99989853 0.0036458 -0.01377104 -0.58401221] [-0.00361722 0.99999125 0.00209964 0.07904948] [ 0.01377858 -0.00204961 0.99990297 -0.30335829] [ 0. 0. 0. 1. ]] SLAMing on 77.04313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 77.07313336499999 meters Centerline goodness : 0.158263 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.07, Z:-0.30 [[ 0.99990924 0.00243147 -0.01325117 -0.53711679] [-0.00240698 0.99999537 0.00186401 0.07433058] [ 0.01325564 -0.00183194 0.99991046 -0.30417198] [ 0. 0. 0. 1. ]] SLAMing on 77.10313336499999 meters Centerline goodness : 0.141704 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99986965 0.00213229 -0.0160041 -0.58172584] [-0.00210538 0.99999634 0.00169827 0.06935725] [ 0.01600766 -0.00166435 0.99987048 -0.30382555] [ 0. 0. 0. 1. ]] SLAMing on 77.13313336499999 meters Centerline goodness : 0.100799 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99986882 0.00225471 -0.01603957 -0.58162143] [-0.00222562 0.99999585 0.0018317 0.06891681] [ 0.01604364 -0.00179576 0.99986968 -0.30390928] [ 0. 0. 0. 1. ]] SLAMing on 77.163133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 77.193133365 meters Centerline goodness : 0.155996 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99986966 0.00310478 -0.01584365 -0.5818069 ] [-0.00306811 0.99999256 0.00233829 0.06885317] [ 0.01585079 -0.00228938 0.99987175 -0.3045323 ] [ 0. 0. 0. 1. ]] SLAMing on 77.223133365 meters Centerline goodness : 0.122995 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99987136 0.00311755 -0.01573346 -0.58216877] [-0.00308039 0.99999241 0.00238565 0.06850705] [ 0.01574078 -0.00233688 0.99987338 -0.30444214] [ 0. 0. 0. 1. ]] SLAMing on 77.253133365 meters Centerline goodness : 0.118945 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.07, Z:-0.30 [[ 0.99987226 0.00315615 -0.01566845 -0.58243836] [-0.00311624 0.99999184 0.0025712 0.06739447] [ 0.01567644 -0.00252205 0.99987394 -0.30424213] [ 0. 0. 0. 1. ]] SLAMing on 77.283133365 meters Centerline goodness : 0.104232 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99881851e-01 -5.03181735e-04 -1.53632839e-02 -5.83308879e-01] [ 4.93293118e-04 9.99999669e-01 -6.47435341e-04 6.44302834e-02] [ 1.53636046e-02 6.39780245e-04 9.99881768e-01 -3.04057676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.313133365 meters Centerline goodness : 0.156599 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99882570e-01 -3.41502125e-04 -1.53208873e-02 -5.83377736e-01] [ 3.40233236e-04 9.99999938e-01 -8.54272629e-05 6.15248185e-02] [ 1.53209156e-02 8.02045561e-05 9.99882625e-01 -3.03987375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.343133365 meters Centerline goodness : 0.156599 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99882570e-01 -3.41502125e-04 -1.53208873e-02 -5.83377736e-01] [ 3.40233236e-04 9.99999938e-01 -8.54272629e-05 6.15248185e-02] [ 1.53209156e-02 8.02045561e-05 9.99882625e-01 -3.03987375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 77.40313336499999 meters Centerline goodness : 0.150843 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.06, Z:-0.30 [[ 9.99892229e-01 -7.59098356e-05 -1.46807526e-02 -5.84916030e-01] [ 9.06894834e-05 9.99999490e-01 1.00607327e-03 5.54228146e-02] [ 1.46806687e-02 -1.00729624e-03 9.99891726e-01 -3.03734336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43313336499999 meters Centerline goodness : 0.179674 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.30 [[ 9.99891215e-01 1.77011958e-05 -1.47498758e-02 -5.84678226e-01] [ 1.14729414e-06 9.99999184e-01 1.27786504e-03 5.39548396e-02] [ 1.47498864e-02 -1.27774295e-03 9.99890398e-01 -3.03811659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46313336499999 meters Centerline goodness : 0.137969 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.30 [[ 9.99890485e-01 1.05691157e-04 -1.47988916e-02 -5.84493038e-01] [-8.33344794e-05 9.99998855e-01 1.51130797e-03 5.27298640e-02] [ 1.47990344e-02 -1.50990921e-03 9.99889348e-01 -3.03891510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49313336499999 meters Centerline goodness : 0.141887 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.05, Z:-0.31 [[ 9.99866473e-01 7.90432789e-03 -1.43023559e-02 -6.03643929e-01] [-7.89691232e-03 9.99968654e-01 5.74887736e-04 4.53143536e-02] [ 1.43064516e-02 -4.61866523e-04 9.99897551e-01 -3.05842168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52313336499999 meters Centerline goodness : 0.164614 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.31 [[ 9.99902943e-01 1.39652606e-04 -1.39314310e-02 -5.84298336e-01] [-1.15372594e-04 9.99998473e-01 1.74361099e-03 4.82528908e-02] [ 1.39316533e-02 -1.74183446e-03 9.99901433e-01 -3.05276896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.553133365 meters Centerline goodness : 0.138314 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.31 [[ 9.99902379e-01 1.79100502e-04 -1.39714223e-02 -5.83980820e-01] [-1.52786334e-04 9.99998213e-01 1.88447263e-03 4.73910473e-02] [ 1.39717348e-02 -1.88215402e-03 9.99900619e-01 -3.05611601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.583133365 meters Centerline goodness : 0.136027 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.05, Z:-0.31 [[ 9.99902788e-01 2.44478069e-04 -1.39411309e-02 -5.84114179e-01] [-2.15436063e-04 9.99997804e-01 2.08465240e-03 4.62509907e-02] [ 1.39416099e-02 -2.08144632e-03 9.99900645e-01 -3.05503068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.613133365 meters Centerline goodness : 0.146166 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.04, Z:-0.30 [[ 9.99908458e-01 3.54782175e-04 -1.35259181e-02 -5.85340169e-01] [-3.18026862e-04 9.99996252e-01 2.71945281e-03 4.25430257e-02] [ 1.35268322e-02 -2.71490226e-03 9.99904823e-01 -3.04960715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.643133365 meters Centerline goodness : 0.138666 Centerline is valid? [False, False] Translation: X:-0.59, Y:0.04, Z:-0.30 [[ 9.99909112e-01 4.32836355e-04 -1.34752035e-02 -5.85425459e-01] [-3.90242775e-04 9.99994920e-01 3.16335478e-03 3.99904506e-02] [ 1.34765043e-02 -3.15780866e-03 9.99904201e-01 -3.04887886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.673133365 meters Centerline goodness : 0.142124 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.04, Z:-0.30 [[ 9.99906963e-01 5.14534524e-04 -1.36308416e-02 -5.84949626e-01] [-4.64392041e-04 9.99993115e-01 3.68151480e-03 3.69840728e-02] [ 1.36326421e-02 -3.67484223e-03 9.99900318e-01 -3.04932618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.703133365 meters Centerline goodness : 0.145895 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.03, Z:-0.31 [[ 0.99988918 -0.00161766 -0.01479889 -0.58017261] [ 0.00165301 0.99999581 0.00237638 0.02999616] [ 0.01479498 -0.00240058 0.99988767 -0.30716726] [ 0. 0. 0. 1. ]] SLAMing on 77.733133365 meters Centerline goodness : 0.142740 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.03, Z:-0.31 [[ 0.99988051 -0.0014851 -0.01538676 -0.57830974] [ 0.00153101 0.99999441 0.00297293 0.02671393] [ 0.01538226 -0.00299613 0.9998772 -0.30776505] [ 0. 0. 0. 1. ]] SLAMing on 77.76313336499999 meters Centerline goodness : 0.223653 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:-0.31 [[ 0.99987553 -0.00126257 -0.0157269 -0.57721731] [ 0.00132058 0.99999236 0.003679 0.02308347] [ 0.01572213 -0.00369931 0.99986956 -0.30808873] [ 0. 0. 0. 1. ]] SLAMing on 77.79313336499999 meters Centerline goodness : 0.141149 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:-0.31 [[ 0.99987469 -0.00103741 -0.01579677 -0.57697273] [ 0.00110728 0.99998964 0.00441491 0.01923857] [ 0.01579203 -0.00443185 0.99986548 -0.30805762] [ 0. 0. 0. 1. ]] SLAMing on 77.82313336499999 meters Centerline goodness : 0.100420 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.02, Z:-0.31 [[ 9.99874932e-01 -8.24908412e-04 -1.57936886e-02 -5.77037124e-01] [ 9.05296855e-04 9.99986669e-01 5.08343667e-03 1.57386680e-02] [ 1.57892847e-02 -5.09709887e-03 9.99862350e-01 -3.07852828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85313336499999 meters Centerline goodness : 0.141978 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99876084e-01 -4.80779996e-04 -1.57348196e-02 -5.77144987e-01] [ 5.75192146e-04 9.99981857e-01 5.99623001e-03 1.12322194e-02] [ 1.57316512e-02 -6.00453753e-03 9.99858220e-01 -3.07760225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88313336499999 meters Centerline goodness : 0.143193 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:-0.31 [[ 0.99984406 0.00793901 -0.01577434 -0.55700244] [-0.0078598 0.99995622 0.00507683 0.00716751] [ 0.01581395 -0.00495206 0.99986269 -0.30630294] [ 0. 0. 0. 1. ]] SLAMing on 77.913133365 meters Centerline goodness : 0.142085 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99868906e-01 -3.55307868e-04 -1.61877902e-02 -5.76261801e-01] [ 4.59175630e-04 9.99979330e-01 6.41316137e-03 1.00794976e-02] [ 1.61851770e-02 -6.41975368e-03 9.99848402e-01 -3.08148166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.943133365 meters Centerline goodness : 0.159512 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99869875e-01 -3.06205469e-04 -1.61288224e-02 -5.76411784e-01] [ 4.09724089e-04 9.99979338e-01 6.41532466e-03 1.02838914e-02] [ 1.61265248e-02 -6.42109823e-03 9.99849341e-01 -3.08194284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.973133365 meters Centerline goodness : 0.144241 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99876687e-01 -2.16981741e-04 -1.57023779e-02 -5.77801518e-01] [ 3.19255726e-04 9.99978752e-01 6.51106651e-03 1.01242406e-02] [ 1.57006315e-02 -6.51527668e-03 9.99855510e-01 -3.07627261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.003133365 meters Centerline goodness : 0.135961 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99880066e-01 -2.10561303e-04 -1.54857860e-02 -5.78639341e-01] [ 3.12762030e-04 9.99978187e-01 6.59752168e-03 9.52938025e-03] [ 1.54840591e-02 -6.60157378e-03 9.99858322e-01 -3.07079381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.033133365 meters Centerline goodness : 0.128107 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.01, Z:-0.31 [[ 0.99986975 0.00775806 -0.01415224 -0.56033118] [-0.00768827 0.99995805 0.00497862 0.00579501] [ 0.01419027 -0.00486917 0.99988746 -0.30516358] [ 0. 0. 0. 1. ]] SLAMing on 78.063133365 meters Centerline goodness : 0.128675 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 0.99990547 -0.00112693 -0.01370367 -0.58188465] [ 0.00120586 0.99998273 0.00575277 0.00805722] [ 0.01369695 -0.00576875 0.99988955 -0.30634245] [ 0. 0. 0. 1. ]] SLAMing on 78.093133365 meters Centerline goodness : 0.125875 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:-0.31 [[ 9.99910823e-01 -9.28113212e-04 -1.33223051e-02 -5.82868968e-01] [ 1.01174390e-03 9.99979818e-01 6.27212712e-03 5.86976550e-03] [ 1.33162150e-02 -6.28504656e-03 9.99891582e-01 -3.06138974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12313336499999 meters Centerline goodness : 0.130058 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99911669e-01 -8.57265751e-04 -1.32634663e-02 -5.83109362e-01] [ 9.43934233e-04 9.99978237e-01 6.52949673e-03 4.49071680e-03] [ 1.32575801e-02 -6.54143981e-03 9.99890717e-01 -3.05901610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15313336499999 meters Centerline goodness : 0.126747 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99911477e-01 -8.29666141e-04 -1.32797133e-02 -5.83081124e-01] [ 9.19194046e-04 9.99976884e-01 6.73702148e-03 3.12353828e-03] [ 1.32738168e-02 -6.74863172e-03 9.99889125e-01 -3.05797006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18313336499999 meters Centerline goodness : 0.131805 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99909479e-01 -8.35578587e-04 -1.34289297e-02 -5.82509860e-01] [ 9.27630131e-04 9.99976109e-01 6.84995300e-03 2.17145469e-03] [ 1.34228852e-02 -6.86179001e-03 9.99886365e-01 -3.06090431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21313336499999 meters Centerline goodness : 0.125475 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99904806e-01 -7.86102542e-04 -1.37753624e-02 -5.81016346e-01] [ 8.83130241e-04 9.99974837e-01 7.03890095e-03 1.07064955e-03] [ 1.37694824e-02 -7.05039633e-03 9.99880339e-01 -3.07148143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24313336499999 meters Centerline goodness : 0.130096 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99905044e-01 -7.33963409e-04 -1.37610021e-02 -5.80996161e-01] [ 8.31894898e-04 9.99974362e-01 7.11222283e-03 9.21797445e-04] [ 1.37554291e-02 -7.12299518e-03 9.99880018e-01 -3.07220613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27313336499999 meters Centerline goodness : 0.132131 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99906140e-01 -7.28451780e-04 -1.36813654e-02 -5.81098360e-01] [ 8.25591730e-04 9.99974483e-01 7.09585955e-03 1.06617425e-03] [ 1.36758473e-02 -7.10648876e-03 9.99881227e-01 -3.07374931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.303133365 meters Centerline goodness : 0.139051 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99904522e-01 -7.92780619e-04 -1.37956186e-02 -5.80635413e-01] [ 8.89095212e-04 9.99975267e-01 6.97680286e-03 1.38626395e-03] [ 1.37897463e-02 -6.98840234e-03 9.99880495e-01 -3.07674663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.333133365 meters Centerline goodness : 0.130234 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99898976e-01 -8.51534873e-04 -1.41884975e-02 -5.79046517e-01] [ 9.48746951e-04 9.99976115e-01 6.84614921e-03 1.71716783e-03] [ 1.41823288e-02 -6.85891888e-03 9.99875901e-01 -3.08805105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.363133365 meters Centerline goodness : 0.131616 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:-0.31 [[ 9.99898889e-01 -7.98685782e-04 -1.41976398e-02 -5.78844268e-01] [ 8.96775860e-04 9.99975766e-01 6.90387706e-03 1.63922968e-03] [ 1.41917817e-02 -6.91591110e-03 9.99875374e-01 -3.09141706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.393133365 meters Centerline goodness : 0.131025 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.00, Z:-0.31 [[ 0.9998867 0.00672072 -0.01346902 -0.59787315] [-0.00664095 0.9999602 0.00595864 -0.00489664] [ 0.01350853 -0.00586852 0.99989153 -0.31115329] [ 0. 0. 0. 1. ]] SLAMing on 78.423133365 meters Centerline goodness : 0.131445 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 0.99991255 0.00288269 -0.01290702 -0.5992793 ] [-0.00285248 0.99999315 0.00235844 -0.00620878] [ 0.01291373 -0.00232142 0.99991392 -0.3110861 ] [ 0. 0. 0. 1. ]] SLAMing on 78.453133365 meters Centerline goodness : 0.131501 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 0.99991005 0.00287818 -0.01309982 -0.59856514] [-0.00284404 0.99999251 0.00262367 -0.00808585] [ 0.01310727 -0.00258617 0.99991075 -0.31144994] [ 0. 0. 0. 1. ]] SLAMing on 78.483133365 meters Centerline goodness : 0.131321 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 0.99990269 0.00286115 -0.013654 -0.59685934] [-0.00282181 0.99999182 0.00289937 -0.00997527] [ 0.01366218 -0.00286056 0.99990258 -0.31200761] [ 0. 0. 0. 1. ]] SLAMing on 78.51313336499999 meters Centerline goodness : 0.132167 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.01, Z:-0.31 [[ 0.9998926 0.00304674 -0.01433534 -0.59475808] [-0.00299326 0.99998849 0.00375058 -0.01453115] [ 0.0143466 -0.00370727 0.99989021 -0.31264492] [ 0. 0. 0. 1. ]] SLAMing on 78.54313336499999 meters Centerline goodness : 0.131316 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989435 0.00323832 -0.01417031 -0.59527431] [-0.00317794 0.99998579 0.00428113 -0.01706069] [ 0.01418397 -0.00423564 0.99989043 -0.31238529] [ 0. 0. 0. 1. ]] SLAMing on 78.57313336499999 meters Centerline goodness : 0.126577 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989812 0.00341308 -0.01385967 -0.59628585] [-0.00334691 0.9999829 0.00479511 -0.01964593] [ 0.0138758 -0.00474824 0.99989245 -0.31186563] [ 0. 0. 0. 1. ]] SLAMing on 78.60313336499999 meters Centerline goodness : 0.131213 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989926 0.00356931 -0.01373762 -0.5968247 ] [-0.00349767 0.99998018 0.00523528 -0.02190476] [ 0.01375603 -0.00518671 0.99989193 -0.31142436] [ 0. 0. 0. 1. ]] SLAMing on 78.63313336499999 meters Centerline goodness : 0.148725 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989443 0.00374347 -0.01403961 -0.59590554] [-0.00366473 0.99997744 0.00563007 -0.02408918] [ 0.01406037 -0.00557803 0.99988559 -0.31175115] [ 0. 0. 0. 1. ]] SLAMing on 78.663133365 meters Centerline goodness : 0.129790 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989395 0.00382315 -0.01405234 -0.59586313] [-0.00374284 0.99997654 0.00573672 -0.0246169 ] [ 0.01407394 -0.00568351 0.9998848 -0.31181502] [ 0. 0. 0. 1. ]] SLAMing on 78.693133365 meters Centerline goodness : 0.126274 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99989854 0.00391722 -0.01369535 -0.59682565] [-0.00383806 0.9999758 0.00580186 -0.02469394] [ 0.01371774 -0.00574871 0.99988938 -0.31168133] [ 0. 0. 0. 1. ]] SLAMing on 78.723133365 meters Centerline goodness : 0.126234 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99990581 0.00407793 -0.0131054 -0.59858791] [-0.00400013 0.99997426 0.00595702 -0.02498418] [ 0.01312936 -0.00590404 0.99989638 -0.31118018] [ 0. 0. 0. 1. ]] SLAMing on 78.753133365 meters Centerline goodness : 0.127761 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99991872 0.00435045 -0.0119845 -0.60168015] [-0.00427749 0.9999722 0.00610725 -0.02489613] [ 0.01201073 -0.00605549 0.99990953 -0.31059255] [ 0. 0. 0. 1. ]] SLAMing on 78.783133365 meters Centerline goodness : 0.128820 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.9999205 0.00435403 -0.01183365 -0.602061 ] [-0.00428291 0.99997265 0.00602908 -0.02438028] [ 0.01185958 -0.00597792 0.9999118 -0.31062612] [ 0. 0. 0. 1. ]] SLAMing on 78.813133365 meters Centerline goodness : 0.108764 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992179 0.00433353 -0.01173185 -0.60220833] [-0.00426418 0.99997333 0.00592963 -0.02386454] [ 0.01175724 -0.00587914 0.9999136 -0.31084026] [ 0. 0. 0. 1. ]] SLAMing on 78.843133365 meters Centerline goodness : 0.112266 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992366 0.00432745 -0.01157381 -0.60240918] [-0.00425868 0.99997317 0.00595935 -0.02423719] [ 0.01159929 -0.00590961 0.99991526 -0.31115762] [ 0. 0. 0. 1. ]] SLAMing on 78.87313336499999 meters Centerline goodness : 0.126452 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992525 0.00434603 -0.01142802 -0.60286737] [-0.00427671 0.99997235 0.00608334 -0.02495938] [ 0.01145414 -0.00603401 0.99991619 -0.3109891 ] [ 0. 0. 0. 1. ]] SLAMing on 78.90313336499999 meters Centerline goodness : 0.119264 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.02, Z:-0.31 [[ 0.99992815 -0.0048103 -0.01098012 -0.6247447 ] [ 0.00488541 0.99996478 0.0068241 -0.0230078 ] [ 0.0109469 -0.00687726 0.99991643 -0.31204725] [ 0. 0. 0. 1. ]] SLAMing on 78.93313336499999 meters Centerline goodness : 0.126359 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.03, Z:-0.31 [[ 0.99994596 0.00307426 -0.00993124 -0.60591689] [-0.00302247 0.99998178 0.00522509 -0.02659926] [ 0.00994713 -0.00519479 0.99993703 -0.31066439] [ 0. 0. 0. 1. ]] SLAMing on 78.96313336499999 meters Centerline goodness : 0.128239 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.03, Z:-0.31 [[ 0.99991603 -0.00664917 -0.01112306 -0.62790582] [ 0.00670868 0.99996334 0.00532097 -0.02539067] [ 0.01108727 -0.00539515 0.99992398 -0.31124017] [ 0. 0. 0. 1. ]] SLAMing on 78.99313336499999 meters Centerline goodness : 0.126910 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.03, Z:-0.31 [[ 0.99993527 0.0017453 -0.01124345 -0.60770623] [-0.00170178 0.99999103 0.00387974 -0.02658353] [ 0.01125012 -0.00386036 0.99992926 -0.30995325] [ 0. 0. 0. 1. ]] SLAMing on 79.02313336499999 meters Centerline goodness : 0.127439 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.99993459 0.00160132 -0.01132443 -0.60713668] [-0.00156231 0.99999282 0.00345301 -0.0244979 ] [ 0.01132988 -0.00343509 0.99992991 -0.31064748] [ 0. 0. 0. 1. ]] SLAMing on 79.053133365 meters Centerline goodness : 0.177716 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.99993514 0.00148056 -0.01129289 -0.60709155] [-0.00144718 0.99999456 0.00296356 -0.0218507 ] [ 0.01129721 -0.00294702 0.99993184 -0.31097046] [ 0. 0. 0. 1. ]] SLAMing on 79.083133365 meters Centerline goodness : 0.134432 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.9999358 0.00142035 -0.01124201 -0.60716724] [-0.00139462 0.99999639 0.002296 -0.01745865] [ 0.01124523 -0.00228018 0.99993417 -0.31129876] [ 0. 0. 0. 1. ]] SLAMing on 79.113133365 meters Centerline goodness : 0.110230 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 0.99993474 0.00128524 -0.01135206 -0.60673207] [-0.00126352 0.99999736 0.00192028 -0.0154508 ] [ 0.0113545 -0.00190581 0.99993372 -0.31165899] [ 0. 0. 0. 1. ]] SLAMing on 79.143133365 meters Centerline goodness : 0.113244 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.01, Z:-0.31 [[ 0.99993192 0.00115336 -0.01161176 -0.60576885] [-0.00113429 0.999998 0.00164846 -0.01423175] [ 0.01161364 -0.00163518 0.99993122 -0.31222234] [ 0. 0. 0. 1. ]] SLAMing on 79.173133365 meters Centerline goodness : 0.111031 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99918836e-01 6.31357309e-04 -1.27248893e-02 -6.02383164e-01] [-6.19290501e-04 9.99999355e-01 9.52201973e-04 -1.23873786e-02] [ 1.27254823e-02 -9.44244285e-04 9.99918582e-01 -3.13463569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.203133365 meters Centerline goodness : 0.137674 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915670e-01 5.10485687e-04 -1.29765755e-02 -6.01611997e-01] [-5.00893325e-04 9.99999599e-01 7.42445218e-04 -1.15465517e-02] [ 1.29769493e-02 -7.35882728e-04 9.99915525e-01 -3.13775838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.233133365 meters Centerline goodness : 0.137674 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915670e-01 5.10485687e-04 -1.29765755e-02 -6.01611997e-01] [-5.00893325e-04 9.99999599e-01 7.42445218e-04 -1.15465517e-02] [ 1.29769493e-02 -7.35882728e-04 9.99915525e-01 -3.13775838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26313336499999 meters Centerline goodness : 0.113882 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99914784e-01 4.43056548e-04 -1.30471625e-02 -6.01439735e-01] [-4.35338854e-04 9.99999729e-01 5.94356935e-04 -1.07141337e-02] [ 1.30474223e-02 -5.88626350e-04 9.99914706e-01 -3.13817308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29313336499999 meters Centerline goodness : 0.114299 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915170e-01 4.18301829e-04 -1.30183775e-02 -6.01707684e-01] [-4.11202450e-04 9.99999765e-01 5.48007099e-04 -1.02142221e-02] [ 1.30186037e-02 -5.42607422e-04 9.99915107e-01 -3.13503008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32313336499999 meters Centerline goodness : 0.119931 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99918806e-01 3.29528126e-04 -1.27386311e-02 -6.02855644e-01] [-3.24210399e-04 9.99999859e-01 4.19511704e-04 -9.37035422e-03] [ 1.27387676e-02 -4.15347646e-04 9.99918772e-01 -3.12694508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35313336499999 meters Centerline goodness : 0.121613 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99918447e-01 2.37539039e-04 -1.27687912e-02 -6.02723996e-01] [-2.34240839e-04 9.99999939e-01 2.59796546e-04 -8.69615719e-03] [ 1.27688521e-02 -2.56784387e-04 9.99918442e-01 -3.12822299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38313336499999 meters Centerline goodness : 0.132606 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99915754e-01 1.15352746e-04 -1.29796623e-02 -6.02015815e-01] [-1.14561922e-04 9.99999992e-01 6.16714151e-05 -7.94985387e-03] [ 1.29796693e-02 -6.01792444e-05 9.99915759e-01 -3.13164039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.413133365 meters Centerline goodness : 0.118040 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99912916e-01 2.64291554e-05 -1.31969612e-02 -6.01376662e-01] [-2.76250147e-05 9.99999996e-01 -9.04339794e-05 -7.28651906e-03] [ 1.31969587e-02 9.07906703e-05 9.99912912e-01 -3.13363855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.443133365 meters Centerline goodness : 0.122821 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910448e-01 -1.82762159e-04 -1.33814579e-02 -6.01048417e-01] [ 1.78676172e-04 9.99999937e-01 -3.06541834e-04 -6.55953742e-03] [ 1.33815131e-02 3.04123435e-04 9.99910417e-01 -3.13139131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.473133365 meters Centerline goodness : 0.125297 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910375e-01 -2.12848713e-04 -1.33864271e-02 -6.01219444e-01] [ 2.09322530e-04 9.99999943e-01 -2.64815299e-04 -6.94253186e-03] [ 1.33864827e-02 2.61989484e-04 9.99910363e-01 -3.12821835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.503133365 meters Centerline goodness : 0.122114 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910435e-01 -2.51422388e-04 -1.33812875e-02 -6.01417123e-01] [ 2.48830021e-04 9.99999950e-01 -1.95395281e-04 -7.47849777e-03] [ 1.33813360e-02 1.92048114e-04 9.99910447e-01 -3.12487718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.533133365 meters Centerline goodness : 0.127870 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99910420e-01 -2.82006989e-04 -1.33817938e-02 -6.01535729e-01] [ 2.80290074e-04 9.99999952e-01 -1.30177603e-04 -7.91801818e-03] [ 1.33818299e-02 1.26415158e-04 9.99910451e-01 -3.12288369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.563133365 meters Centerline goodness : 0.125788 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99914185e-01 -4.43384433e-04 -1.30929833e-02 -6.02288304e-01] [ 4.45362338e-04 9.99999890e-01 1.48150768e-04 -1.00580420e-02] [ 1.30929162e-02 -1.53969176e-04 9.99914272e-01 -3.12057405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.593133365 meters Centerline goodness : 0.128891 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99913294e-01 -3.77561453e-04 -1.31628728e-02 -6.02184096e-01] [ 3.84529243e-04 9.99999787e-01 5.26824933e-04 -1.21725297e-02] [ 1.31626710e-02 -5.31840763e-04 9.99913227e-01 -3.11909951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62313336499999 meters Centerline goodness : 0.132588 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.01, Z:-0.31 [[ 9.99914361e-01 -2.84663745e-04 -1.30839385e-02 -6.02451576e-01] [ 2.97401180e-04 9.99999484e-01 9.71581537e-04 -1.46516663e-02] [ 1.30836551e-02 -9.75389510e-04 9.99913930e-01 -3.11665229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65313336499999 meters Centerline goodness : 0.120392 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.02, Z:-0.31 [[ 0.99990115 0.00530614 -0.01302026 -0.62532584] [-0.00533154 0.99998395 -0.00191683 -0.02003659] [ 0.01300988 0.00198606 0.9999134 -0.3117633 ] [ 0. 0. 0. 1. ]] SLAMing on 79.68313336499999 meters Centerline goodness : 0.124155 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.02, Z:-0.31 [[ 0.99991955 0.00329742 -0.01224808 -0.62908569] [-0.00334229 0.99998777 -0.00364488 -0.02390893] [ 0.01223591 0.00368553 0.99991835 -0.30958641] [ 0. 0. 0. 1. ]] SLAMing on 79.71313336499999 meters Centerline goodness : 0.128169 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.02, Z:-0.31 [[ 0.99992242 0.00345492 -0.01196734 -0.62995795] [-0.00349644 0.99998794 -0.00345023 -0.02441812] [ 0.01195528 0.0034918 0.99992244 -0.30927078] [ 0. 0. 0. 1. ]] SLAMing on 79.74313336499999 meters Centerline goodness : 0.131683 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 9.99934137e-01 -1.52351334e-03 -1.13754579e-02 -6.08160096e-01] [ 1.52317791e-03 9.99998839e-01 -3.81513586e-05 -2.21198987e-02] [ 1.13755028e-02 2.08219996e-05 9.99935297e-01 -3.09104667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77313336499999 meters Centerline goodness : 0.134658 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 9.99932971e-01 -1.37418709e-03 -1.14963521e-02 -6.07687657e-01] [ 1.37349897e-03 9.99999054e-01 -6.77501321e-05 -2.14129822e-02] [ 1.14964343e-02 5.19553631e-05 9.99933912e-01 -3.09455271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.803133365 meters Centerline goodness : 0.129463 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.02, Z:-0.31 [[ 9.99925021e-01 -1.11123793e-03 -1.21949612e-02 -6.05340737e-01] [ 1.10734924e-03 9.99999334e-01 -3.25624344e-04 -2.00239823e-02] [ 1.21953149e-02 3.12095849e-04 9.99925586e-01 -3.10656032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.833133365 meters Centerline goodness : 0.149827 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.03, Z:-0.31 [[ 0.99989276 0.00688184 -0.01292728 -0.62550697] [-0.00690146 0.9999751 -0.00147418 -0.02505567] [ 0.01291682 0.00156324 0.99991535 -0.31210681] [ 0. 0. 0. 1. ]] SLAMing on 79.863133365 meters Centerline goodness : 0.127500 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.02, Z:-0.31 [[ 0.99992672 0.00136081 -0.01202948 -0.60324566] [-0.00134581 0.99999831 0.00125544 -0.021846 ] [ 0.01203117 -0.00123916 0.99992686 -0.31260186] [ 0. 0. 0. 1. ]] SLAMing on 79.893133365 meters Centerline goodness : 0.130557 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99990109 0.00167143 -0.01396479 -0.65088133] [-0.00163755 0.99999569 0.00243707 -0.02603931] [ 0.0139688 -0.00241396 0.99989952 -0.31131774] [ 0. 0. 0. 1. ]] SLAMing on 79.923133365 meters Centerline goodness : 0.130422 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99990042 0.00169252 -0.01400995 -0.65086838] [-0.00165758 0.99999549 0.00250488 -0.02640099] [ 0.01401412 -0.0024814 0.99989872 -0.31114115] [ 0. 0. 0. 1. ]] SLAMing on 79.953133365 meters Centerline goodness : 0.129199 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99989948 0.00167779 -0.01407862 -0.65075281] [-0.00164235 0.99999545 0.00252845 -0.02668127] [ 0.0140828 -0.00250508 0.99989769 -0.31103984] [ 0. 0. 0. 1. ]] SLAMing on 79.983133365 meters Centerline goodness : 0.130170 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.99989658 0.0016565 -0.01428552 -0.65011207] [-0.00162041 0.99999547 0.00253767 -0.02700095] [ 0.01428966 -0.00251425 0.99989474 -0.31127324] [ 0. 0. 0. 1. ]] SLAMing on 80.01313336499999 meters Centerline goodness : 0.130563 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.03, Z:-0.31 [[ 0.9998855 0.0015335 -0.01505419 -0.64749592] [-0.00150065 0.99999647 0.00219368 -0.02529556] [ 0.0150575 -0.00217084 0.99988427 -0.3125851 ] [ 0. 0. 0. 1. ]] SLAMing on 80.04313336499999 meters Centerline goodness : 0.131384 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 0.99988041 0.00150716 -0.01539144 -0.64619441] [-0.00147738 0.99999702 0.00194598 -0.02360116] [ 0.01539433 -0.00192301 0.99987965 -0.31344342] [ 0. 0. 0. 1. ]] SLAMing on 80.07313336499999 meters Centerline goodness : 0.131886 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 0.99987629 0.00144864 -0.01566195 -0.64526274] [-0.00142357 0.99999769 0.00161185 -0.02155916] [ 0.01566425 -0.00158935 0.99987604 -0.31396965] [ 0. 0. 0. 1. ]] SLAMing on 80.10313336499999 meters Centerline goodness : 0.129763 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.02, Z:-0.31 [[ 9.99873888e-01 1.22752329e-03 -1.58335570e-02 -6.44903333e-01] [-1.21172672e-03 9.99998759e-01 1.00721912e-03 -1.85431676e-02] [ 1.58347737e-02 -9.87906155e-04 9.99874134e-01 -3.13991699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13313336499999 meters Centerline goodness : 0.142354 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99873828e-01 1.11842951e-03 -1.58453944e-02 -6.45274305e-01] [-1.10555424e-03 9.99999052e-01 8.21292194e-04 -1.78891011e-02] [ 1.58462979e-02 -8.03670628e-04 9.99874117e-01 -3.13347304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.163133365 meters Centerline goodness : 0.138606 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99875931e-01 1.06447150e-03 -1.57158993e-02 -6.45849013e-01] [-1.05232217e-03 9.99999141e-01 7.81309487e-04 -1.77942709e-02] [ 1.57167175e-02 -7.64674362e-04 9.99876192e-01 -3.12925131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.193133365 meters Centerline goodness : 0.121503 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99877020e-01 1.07035844e-03 -1.56460755e-02 -6.46392129e-01] [-1.05708073e-03 9.99999074e-01 8.56874356e-04 -1.80496439e-02] [ 1.56469781e-02 -8.40229813e-04 9.99877226e-01 -3.12299830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.223133365 meters Centerline goodness : 0.140955 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99877194e-01 1.06821427e-03 -1.56351072e-02 -6.46616455e-01] [-1.05439032e-03 9.99999046e-01 8.92377285e-04 -1.80632082e-02] [ 1.56360455e-02 -8.75782190e-04 9.99877366e-01 -3.11968378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.253133365 meters Centerline goodness : 0.130700 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871985e-01 9.11660073e-04 -1.59744086e-02 -6.45505640e-01] [-8.98676453e-04 9.99999260e-01 8.19935747e-04 -1.79598435e-02] [ 1.59751443e-02 -8.05474958e-04 9.99872065e-01 -3.12347300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.283133365 meters Centerline goodness : 0.133701 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871244e-01 8.22444048e-04 -1.60255871e-02 -6.45357781e-01] [-8.10543607e-04 9.99999391e-01 7.49071058e-04 -1.79959397e-02] [ 1.60261934e-02 -7.35985173e-04 9.99871301e-01 -3.12356339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.313133365 meters Centerline goodness : 0.140792 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871370e-01 5.79060614e-04 -1.60283255e-02 -6.45438598e-01] [-5.72210212e-04 9.99999743e-01 4.31976323e-04 -1.70015136e-02] [ 1.60285715e-02 -4.22749186e-04 9.99871445e-01 -3.12202975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.343133365 meters Centerline goodness : 0.140637 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.02, Z:-0.31 [[ 9.99871051e-01 5.23120113e-04 -1.60501402e-02 -6.45510017e-01] [-5.17664089e-04 9.99999807e-01 3.44088907e-04 -1.65507088e-02] [ 1.60503171e-02 -3.35735956e-04 9.99871129e-01 -3.11996983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37313336499999 meters Centerline goodness : 0.136496 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99828707e-01 -3.29319135e-05 -1.85082585e-02 -6.91015830e-01] [ 4.42329057e-05 9.99999813e-01 6.10182832e-04 -1.87422822e-02] [ 1.85082349e-02 -6.10896986e-04 9.99828521e-01 -3.11217620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40313336499999 meters Centerline goodness : 0.130590 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.02, Z:-0.31 [[ 9.99813376e-01 8.03712310e-03 -1.75675143e-02 -6.71513544e-01] [-8.04885181e-03 9.99967429e-01 -5.97032726e-04 -2.14138707e-02] [ 1.75621437e-02 7.38319625e-04 9.99845501e-01 -3.09973959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43313336499999 meters Centerline goodness : 0.133001 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99852693e-01 -9.66550336e-04 -1.71364672e-02 -6.93449500e-01] [ 9.66223755e-04 9.99999533e-01 -2.73370871e-05 -1.78742854e-02] [ 1.71364856e-02 1.07753985e-05 9.99853160e-01 -3.10457331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 80.49313336499999 meters Centerline goodness : 0.135388 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99853977e-01 -1.01550963e-03 -1.70585188e-02 -6.93586775e-01] [ 1.01317734e-03 9.99999476e-01 -1.45364589e-04 -1.72087102e-02] [ 1.70586575e-02 1.28060058e-04 9.99854482e-01 -3.10528157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52313336499999 meters Centerline goodness : 0.133017 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.02, Z:-0.31 [[ 9.99852701e-01 -1.09021994e-03 -1.71285511e-02 -6.93256483e-01] [ 1.08397417e-03 9.99999343e-01 -3.73921125e-04 -1.61360855e-02] [ 1.71289475e-02 3.55299140e-04 9.99853226e-01 -3.10804471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.553133365 meters Centerline goodness : 0.133244 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99852734e-01 -1.11248836e-03 -1.71251844e-02 -6.93269109e-01] [ 1.09832747e-03 9.99999047e-01 -8.36287230e-04 -1.36986014e-02] [ 1.71260985e-02 8.17355013e-04 9.99853004e-01 -3.10853897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.583133365 meters Centerline goodness : 0.121917 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 0.99985286 -0.00108632 -0.01711927 -0.69325584] [ 0.00106752 0.99999882 -0.00110697 -0.01187513] [ 0.01712045 0.00108853 0.99985284 -0.31097791] [ 0. 0. 0. 1. ]] SLAMing on 80.613133365 meters Centerline goodness : 0.129896 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99851790e-01 -1.01005578e-03 -1.71865766e-02 -6.93101070e-01] [ 9.86457007e-04 9.99998559e-01 -1.38151560e-03 -9.91328480e-03] [ 1.71879473e-02 1.36435703e-03 9.99851345e-01 -3.11094576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.643133365 meters Centerline goodness : 0.137827 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99858182e-01 -6.04833051e-04 -1.68300351e-02 -6.94164496e-01] [ 5.77669862e-04 9.99998523e-01 -1.61878567e-03 -6.97530623e-03] [ 1.68309893e-02 1.60883389e-03 9.99857055e-01 -3.10970880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.673133365 meters Centerline goodness : 0.137507 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.01, Z:-0.31 [[ 9.99859008e-01 -6.70590800e-04 -1.67784184e-02 -6.94362775e-01] [ 6.38778209e-04 9.99997988e-01 -1.90132967e-03 -5.46977960e-03] [ 1.67796597e-02 1.89034391e-03 9.99857425e-01 -3.10929320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.703133365 meters Centerline goodness : 0.132291 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99859812e-01 -6.84498327e-04 -1.67298467e-02 -6.94509719e-01] [ 6.49762896e-04 9.99997622e-01 -2.08160263e-03 -4.28342133e-03] [ 1.67312317e-02 2.07044039e-03 9.99857879e-01 -3.10956988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.733133365 meters Centerline goodness : 0.129510 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99860230e-01 -7.34848502e-04 -1.67027362e-02 -6.94650113e-01] [ 6.97250980e-04 9.99997211e-01 -2.25669175e-03 -3.25721241e-03] [ 1.67043480e-02 2.24473033e-03 9.99857953e-01 -3.10877941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76313336499999 meters Centerline goodness : 0.147150 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99859196e-01 -8.32705299e-04 -1.67599271e-02 -6.94797049e-01] [ 7.92562002e-04 9.99996802e-01 -2.40169482e-03 -2.75244634e-03] [ 1.67618734e-02 2.38807337e-03 9.99856658e-01 -3.10433689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79313336499999 meters Centerline goodness : 0.135181 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99856837e-01 -8.92194899e-04 -1.68970409e-02 -6.94663722e-01] [ 8.51022408e-04 9.99996652e-01 -2.44370239e-03 -2.81282927e-03] [ 1.68991646e-02 2.42897278e-03 9.99854249e-01 -3.10097003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82313336499999 meters Centerline goodness : 0.131124 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99853882e-01 -9.53761453e-04 -1.70676392e-02 -6.94377123e-01] [ 9.10435257e-04 9.99996344e-01 -2.54608967e-03 -2.28404349e-03] [ 1.70700052e-02 2.53017866e-03 9.99851095e-01 -3.09917398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85313336499999 meters Centerline goodness : 0.134036 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99852958e-01 -9.37061383e-04 -1.71226426e-02 -6.94312293e-01] [ 8.93359402e-04 9.99996325e-01 -2.55976251e-03 -1.83699632e-03] [ 1.71249784e-02 2.54408944e-03 9.99850120e-01 -3.09836590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88313336499999 meters Centerline goodness : 0.132893 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.00, Z:-0.31 [[ 9.99855435e-01 -9.82669078e-04 -1.69748051e-02 -6.94860505e-01] [ 9.36209484e-04 9.99995795e-01 -2.74470339e-03 -5.18793836e-04] [ 1.69774309e-02 2.72841462e-03 9.99852150e-01 -3.09511856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.913133365 meters Centerline goodness : 0.134347 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.00, Z:-0.31 [[ 9.99852339e-01 -1.13319779e-03 -1.71468686e-02 -6.94468874e-01] [ 1.08079462e-03 9.99994719e-01 -3.06509497e-03 7.59743528e-04] [ 1.71502514e-02 3.04611013e-03 9.99848284e-01 -3.09456533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.943133365 meters Centerline goodness : 0.143678 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.00, Z:-0.31 [[ 0.99984579 -0.00127817 -0.01751479 -0.69342123] [ 0.00121758 0.99999324 -0.0034698 0.00263933] [ 0.01751911 0.00344794 0.99984058 -0.30976813] [ 0. 0. 0. 1. ]] SLAMing on 80.973133365 meters Centerline goodness : 0.135125 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.01, Z:-0.31 [[ 9.99824100e-01 -1.05765715e-03 -1.87256743e-02 -6.90016116e-01] [ 9.82891390e-04 9.99991511e-01 -4.00144065e-03 7.33350099e-03] [ 1.87297475e-02 3.98233150e-03 9.99816652e-01 -3.10822442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.003133365 meters Centerline goodness : 0.096540 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.01, Z:-0.31 [[ 0.99982466 -0.00117448 -0.01868894 -0.68997478] [ 0.00109111 0.99998941 -0.00447028 0.00996946] [ 0.01869399 0.00444911 0.99981535 -0.31111833] [ 0. 0. 0. 1. ]] SLAMing on 81.033133365 meters Centerline goodness : 0.143830 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.01, Z:-0.31 [[ 0.99982834 -0.00130126 -0.01848236 -0.69062761] [ 0.00121103 0.9999873 -0.00489203 0.01229753] [ 0.01848849 0.00486881 0.99981722 -0.31097366] [ 0. 0. 0. 1. ]] SLAMing on 81.063133365 meters Centerline goodness : 0.139574 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983489 -0.00148583 -0.01811033 -0.69183065] [ 0.00138597 0.99998378 -0.00552508 0.01609031] [ 0.01811825 0.00549907 0.99982073 -0.31062505] [ 0. 0. 0. 1. ]] SLAMing on 81.093133365 meters Centerline goodness : 0.135576 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983506 -0.0015606 -0.01809443 -0.69183774] [ 0.00145714 0.99998252 -0.00572946 0.01726222] [ 0.01810305 0.00570215 0.99981987 -0.31070972] [ 0. 0. 0. 1. ]] SLAMing on 81.12313336499999 meters Centerline goodness : 0.141012 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983098 -0.00168056 -0.01830821 -0.69115611] [ 0.00157243 0.99998125 -0.00591863 0.01801207] [ 0.01831782 0.00588885 0.99981487 -0.31094759] [ 0. 0. 0. 1. ]] SLAMing on 81.15313336499999 meters Centerline goodness : 0.141012 Centerline is valid? [False, False] Translation: X:-0.69, Y:0.02, Z:-0.31 [[ 0.99983098 -0.00168056 -0.01830821 -0.69115611] [ 0.00157243 0.99998125 -0.00591863 0.01801207] [ 0.01831782 0.00588885 0.99981487 -0.31094759] [ 0. 0. 0. 1. ]] SLAMing on 81.18313336499999 meters Centerline goodness : 0.134131 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.02, Z:-0.31 [[ 0.99976953 -0.00284372 -0.02127932 -0.7348147 ] [ 0.00270721 0.99997559 -0.00644144 0.01535416] [ 0.02129712 0.00638235 0.99975282 -0.31114473] [ 0. 0. 0. 1. ]] SLAMing on 81.21313336499999 meters Centerline goodness : 0.138300 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.01, Z:-0.31 [[ 0.99976772 -0.00312243 -0.02132522 -0.7347917 ] [ 0.00298599 0.99997489 -0.00642701 0.01443951] [ 0.02134475 0.00636184 0.99975193 -0.31087386] [ 0. 0. 0. 1. ]] SLAMing on 81.24313336499999 meters Centerline goodness : 0.124449 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977252 -0.00314689 -0.02109511 -0.7357714 ] [ 0.00301443 0.99997556 -0.00630833 0.01364997] [ 0.02111445 0.00624331 0.99975757 -0.31010866] [ 0. 0. 0. 1. ]] SLAMing on 81.27313336499999 meters Centerline goodness : 0.137160 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977629 -0.00310954 -0.0209212 -0.73665678] [ 0.00298154 0.99997667 -0.00614639 0.01288977] [ 0.02093982 0.00608263 0.99976223 -0.30931509] [ 0. 0. 0. 1. ]] SLAMing on 81.303133365 meters Centerline goodness : 0.135267 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977687 -0.00305917 -0.02090114 -0.7368148 ] [ 0.00293449 0.99997773 -0.00599365 0.01224682] [ 0.02091901 0.00593098 0.99976358 -0.30911955] [ 0. 0. 0. 1. ]] SLAMing on 81.333133365 meters Centerline goodness : 0.138716 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.99977187 -0.00300109 -0.02114724 -0.73586069] [ 0.00287916 0.99997907 -0.00579365 0.01109658] [ 0.02116418 0.00573144 0.99975959 -0.30964704] [ 0. 0. 0. 1. ]] SLAMing on 81.363133365 meters Centerline goodness : 0.147643 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.9997681 -0.00297024 -0.0213291 -0.73526904] [ 0.00285044 0.99998001 -0.00564469 0.01006846] [ 0.02134544 0.00558258 0.99975657 -0.30985927] [ 0. 0. 0. 1. ]] SLAMing on 81.393133365 meters Centerline goodness : 0.136923 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.31 [[ 0.9997693 -0.00289554 -0.02128292 -0.7353928 ] [ 0.00278044 0.99998136 -0.00543579 0.00895175] [ 0.02129826 0.00537536 0.99975872 -0.30984737] [ 0. 0. 0. 1. ]] SLAMing on 81.423133365 meters Centerline goodness : 0.161839 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.01, Z:-0.31 [[ 0.99974469 -0.01062507 -0.01994127 -0.71619216] [ 0.0105481 0.99993652 -0.00396105 0.01127856] [ 0.01998209 0.00374969 0.99979331 -0.30798287] [ 0. 0. 0. 1. ]] SLAMing on 81.453133365 meters Centerline goodness : 0.146922 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.00, Z:-0.31 [[ 0.99979961 -0.00308911 -0.01977867 -0.73463038] [ 0.00298911 0.99998261 -0.00508359 0.00388082] [ 0.01979403 0.00502346 0.99979146 -0.30985002] [ 0. 0. 0. 1. ]] SLAMing on 81.483133365 meters Centerline goodness : 0.146220 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.00, Z:-0.31 [[ 0.99979341 -0.00303843 -0.02009719 -0.73372246] [ 0.00294097 0.99998378 -0.00487725 0.002591 ] [ 0.02011168 0.00481714 0.99978613 -0.31001077] [ 0. 0. 0. 1. ]] SLAMing on 81.51313336499999 meters Centerline goodness : 0.165908 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.00, Z:-0.31 [[ 0.99972763 -0.00357398 -0.02306267 -0.7783086 ] [ 0.00346364 0.99998237 -0.00482225 -0.00225005] [ 0.02307949 0.00474106 0.99972239 -0.30967245] [ 0. 0. 0. 1. ]] SLAMing on 81.54313336499999 meters Centerline goodness : 0.138718 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.31 [[ 0.99975997 0.00282513 -0.02172601 -0.75662772] [-0.00297939 0.99997056 -0.00707116 -0.00693237] [ 0.02170539 0.00713419 0.99973896 -0.30951753] [ 0. 0. 0. 1. ]] SLAMing on 81.57313336499999 meters Centerline goodness : 0.138056 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.31 [[ 0.99976424 0.00295213 -0.02151144 -0.75727066] [-0.00309761 0.99997254 -0.00673242 -0.00853315] [ 0.02149098 0.00679747 0.99974593 -0.30929895] [ 0. 0. 0. 1. ]] SLAMing on 81.60313336499999 meters Centerline goodness : 0.140951 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.31 [[ 0.99976469 0.00304373 -0.02147786 -0.75734791] [-0.00318377 0.99997388 -0.00648901 -0.00975204] [ 0.02145755 0.00655587 0.99974827 -0.30925887] [ 0. 0. 0. 1. ]] SLAMing on 81.63313336499999 meters Centerline goodness : 0.149354 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99974514 -0.00436327 -0.02214971 -0.73725656] [ 0.0042448 0.99997645 -0.00539256 -0.00610349] [ 0.02217272 0.00529717 0.99974012 -0.30820905] [ 0. 0. 0. 1. ]] SLAMing on 81.663133365 meters Centerline goodness : 0.137246 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99974676 -0.00431385 -0.02208621 -0.73750221] [ 0.00419706 0.99997698 -0.00533124 -0.00630946] [ 0.0221087 0.00523719 0.99974186 -0.30804692] [ 0. 0. 0. 1. ]] SLAMing on 81.693133365 meters Centerline goodness : 0.135468 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.999751 -0.00423233 -0.02190951 -0.73825144] [ 0.00411842 0.99997778 -0.00524151 -0.00649536] [ 0.02193121 0.00514997 0.99974622 -0.30756149] [ 0. 0. 0. 1. ]] SLAMing on 81.723133365 meters Centerline goodness : 0.118485 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975715 -0.00401765 -0.02166795 -0.73888786] [ 0.00390643 0.99997899 -0.00517295 -0.00611191] [ 0.02168828 0.00508704 0.99975184 -0.30754038] [ 0. 0. 0. 1. ]] SLAMing on 81.753133365 meters Centerline goodness : 0.134771 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975713 -0.00401958 -0.02166828 -0.73876134] [ 0.00390657 0.99997856 -0.00525533 -0.00569262] [ 0.02168894 0.0051694 0.9997514 -0.30780139] [ 0. 0. 0. 1. ]] SLAMing on 81.783133365 meters Centerline goodness : 0.147116 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975654 -0.00404139 -0.02169155 -0.73862688] [ 0.00392753 0.9999783 -0.00528929 -0.00576716] [ 0.02171246 0.00520281 0.99975072 -0.30794982] [ 0. 0. 0. 1. ]] SLAMing on 81.813133365 meters Centerline goodness : 0.125051 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975655 -0.00399687 -0.02169938 -0.73869209] [ 0.00388512 0.99997898 -0.00518994 -0.00633117] [ 0.02171967 0.00510437 0.99975107 -0.30783511] [ 0. 0. 0. 1. ]] SLAMing on 81.843133365 meters Centerline goodness : 0.132087 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975923 -0.00386476 -0.02159975 -0.7390319 ] [ 0.00375973 0.99998092 -0.0049008 -0.00756675] [ 0.02161828 0.00481841 0.99975469 -0.30769258] [ 0. 0. 0. 1. ]] SLAMing on 81.87313336499999 meters Centerline goodness : 0.133294 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975958 -0.00361298 -0.02162725 -0.7389934 ] [ 0.00352474 0.99998531 -0.00411693 -0.01149956] [ 0.02164181 0.00403971 0.99975763 -0.30753803] [ 0. 0. 0. 1. ]] SLAMing on 81.90313336499999 meters Centerline goodness : 0.105439 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.31 [[ 0.99975437 -0.00355471 -0.02187619 -0.73826404] [ 0.00347532 0.99998724 -0.00366612 -0.01441314] [ 0.02188894 0.00358919 0.99975397 -0.30765221] [ 0. 0. 0. 1. ]] SLAMing on 81.93313336499999 meters Centerline goodness : 0.136163 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.31 [[ 0.99974762 -0.0035088 -0.02218983 -0.73758748] [ 0.00343921 0.99998905 -0.00317342 -0.01764038] [ 0.02220072 0.0030963 0.99974874 -0.30744897] [ 0. 0. 0. 1. ]] SLAMing on 81.96313336499999 meters Centerline goodness : 0.131480 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.31 [[ 0.99974393 -0.00339129 -0.02237353 -0.73717965] [ 0.00334288 0.99999199 -0.00220054 -0.02342406] [ 0.02238081 0.00212519 0.99974726 -0.3072195 ] [ 0. 0. 0. 1. ]] SLAMing on 81.99313336499999 meters Centerline goodness : 0.136127 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.31 [[ 0.99974316 -0.00317927 -0.022439 -0.73700615] [ 0.00314302 0.9999937 -0.00165058 -0.0261015 ] [ 0.0224441 0.00157963 0.99974685 -0.30715526] [ 0. 0. 0. 1. ]] SLAMing on 82.02313336499999 meters Centerline goodness : 0.132810 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.03, Z:-0.31 [[ 0.99973278 0.0046896 -0.02263595 -0.71733844] [-0.00475468 0.99998472 -0.00282179 -0.03230932] [ 0.02262237 0.00292866 0.99973979 -0.30530812] [ 0. 0. 0. 1. ]] SLAMing on 82.053133365 meters Centerline goodness : 0.132419 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99965505 0.00386267 -0.02597808 -0.76148311] [-0.00393655 0.99998835 -0.00279355 -0.04047729] [ 0.02596699 0.00289485 0.99965861 -0.3045366 ] [ 0. 0. 0. 1. ]] SLAMing on 82.083133365 meters Centerline goodness : 0.131498 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.04, Z:-0.30 [[ 0.99965267 -0.00318169 -0.02616146 -0.74236319] [ 0.00315041 0.99999427 -0.00123684 -0.03684551] [ 0.02616525 0.00115399 0.99965697 -0.30254492] [ 0. 0. 0. 1. ]] SLAMing on 82.113133365 meters Centerline goodness : 0.132757 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99966102 0.00491504 -0.02556746 -0.76246682] [-0.00496131 0.99998617 -0.00174668 -0.04321128] [ 0.02555852 0.00187294 0.99967157 -0.30414361] [ 0. 0. 0. 1. ]] SLAMing on 82.143133365 meters Centerline goodness : 0.132162 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99966678 0.00508662 -0.02530728 -0.76317821] [-0.00512883 0.99998556 -0.00160343 -0.04347107] [ 0.02529876 0.00173269 0.99967843 -0.30401827] [ 0. 0. 0. 1. ]] SLAMing on 82.173133365 meters Centerline goodness : 0.130055 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99967691 0.00517892 -0.02488498 -0.76428833] [-0.00522049 0.99998508 -0.00160582 -0.04325348] [ 0.02487629 0.00173521 0.99968903 -0.30389486] [ 0. 0. 0. 1. ]] SLAMing on 82.203133365 meters Centerline goodness : 0.188868 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:-0.30 [[ 0.99968988 0.00540285 -0.0243097 -0.76594496] [-0.00544613 0.9999837 -0.0017144 -0.04216363] [ 0.02430004 0.00184627 0.99970301 -0.30358568] [ 0. 0. 0. 1. ]] SLAMing on 82.233133365 meters Centerline goodness : 0.131017 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.04, Z:-0.30 [[ 0.9996899 0.0053691 -0.02431604 -0.76584984] [-0.00541778 0.99998345 -0.00193648 -0.04096771] [ 0.02430524 0.00206762 0.99970245 -0.30381148] [ 0. 0. 0. 1. ]] SLAMing on 82.26313336499999 meters Centerline goodness : 0.137472 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.30 [[ 9.99676679e-01 2.04107143e-04 -2.54262637e-02 -7.44172758e-01] [-1.91630929e-04 9.99999860e-01 4.93117806e-04 -3.43228956e-02] [ 2.54263608e-02 -4.88085913e-04 9.99676579e-01 -3.02970146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29313336499999 meters Centerline goodness : 0.126860 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.30 [[ 9.99681189e-01 1.15689904e-04 -2.52488902e-02 -7.44677711e-01] [-1.10161322e-04 9.99999970e-01 2.20354214e-04 -3.28551582e-02] [ 2.52489149e-02 -2.17502511e-04 9.99681172e-01 -3.02903746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32313336499999 meters Centerline goodness : 0.126308 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99685385e-01 5.21740127e-05 -2.50824379e-02 -7.45227097e-01] [-5.35072299e-05 9.99999997e-01 -5.24822685e-05 -3.12399107e-02] [ 2.50824351e-02 5.38078485e-05 9.99685385e-01 -3.02764637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35313336499999 meters Centerline goodness : 0.126066 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99689874e-01 -2.76341338e-05 -2.49029082e-02 -7.45662489e-01] [ 1.83059113e-05 9.99999930e-01 -3.74811550e-04 -2.94315136e-02] [ 2.49029168e-02 3.74239441e-04 9.99689804e-01 -3.02832487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38313336499999 meters Centerline goodness : 0.135483 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99684285e-01 -3.31243694e-04 -2.51241191e-02 -7.45145746e-01] [ 2.98998853e-04 9.99999127e-01 -1.28716753e-03 -2.50142888e-02] [ 2.51245235e-02 1.27924907e-03 9.99683511e-01 -3.02989287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.413133365 meters Centerline goodness : 0.128343 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99681628e-01 -4.83424425e-04 -2.52271366e-02 -7.44965716e-01] [ 4.40127513e-04 9.99998421e-01 -1.72180746e-03 -2.28457889e-02] [ 2.52279292e-02 1.71015613e-03 9.99680262e-01 -3.02991844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.443133365 meters Centerline goodness : 0.136383 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.02, Z:-0.30 [[ 9.99725638e-01 6.35047144e-04 -2.34146572e-02 -7.00425230e-01] [-6.74720922e-04 9.99998350e-01 -1.68653793e-03 -1.61902140e-02] [ 2.34135475e-02 1.70187357e-03 9.99724417e-01 -3.02689521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.473133365 meters Centerline goodness : 0.127209 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.02, Z:-0.30 [[ 9.99731153e-01 5.77609489e-04 -2.31794621e-02 -7.01167886e-01] [-6.20855851e-04 9.99998080e-01 -1.85856581e-03 -1.50613975e-02] [ 2.31783441e-02 1.87245724e-03 9.99729593e-01 -3.02459747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.503133365 meters Centerline goodness : 0.125665 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99751924e-01 2.40695430e-04 -2.22717771e-02 -7.04034353e-01] [-2.87111494e-04 9.99997794e-01 -2.08090128e-03 -1.45945826e-02] [ 2.22712271e-02 2.08677954e-03 9.99749788e-01 -3.01253612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.533133365 meters Centerline goodness : 0.149278 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99753527e-01 1.58507652e-04 -2.22004494e-02 -7.04382582e-01] [-2.04194884e-04 9.99997866e-01 -2.05568999e-03 -1.49848858e-02] [ 2.22000762e-02 2.05971653e-03 9.99751426e-01 -3.00938242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.563133365 meters Centerline goodness : 0.133689 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99692484e-01 -7.91957598e-04 -2.47852752e-02 -7.49217549e-01] [ 7.41938212e-04 9.99997670e-01 -2.02723987e-03 -1.83464358e-02] [ 2.47868229e-02 2.00822732e-03 9.99690742e-01 -3.01062755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.593133365 meters Centerline goodness : 0.156258 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99674580e-01 -1.05851192e-05 -2.55094954e-02 -7.02069915e-01] [-4.00627304e-05 9.99998029e-01 -1.98493897e-03 -1.30775045e-02] [ 2.55094662e-02 1.98531501e-03 9.99672609e-01 -3.01461806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62313336499999 meters Centerline goodness : 0.123530 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99599673e-01 -9.80353578e-04 -2.82760144e-02 -7.46310850e-01] [ 9.13740622e-04 9.99996777e-01 -2.36863621e-03 -1.57441678e-02] [ 2.82782454e-02 2.34185103e-03 9.99597347e-01 -3.02078148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65313336499999 meters Centerline goodness : 0.131308 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99598626e-01 -1.04538748e-03 -2.83106848e-02 -7.46090527e-01] [ 9.75252561e-04 9.99996422e-01 -2.49102480e-03 -1.53818641e-02] [ 2.83131876e-02 2.46241490e-03 9.99596068e-01 -3.02329830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68313336499999 meters Centerline goodness : 0.142678 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99598904e-01 -1.05950775e-03 -2.83003402e-02 -7.46175219e-01] [ 9.86910300e-04 9.99996187e-01 -2.57909477e-03 -1.48060472e-02] [ 2.83029649e-02 2.55013041e-03 9.99596138e-01 -3.02306758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71313336499999 meters Centerline goodness : 0.136342 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99598581e-01 -1.03381958e-03 -2.83126905e-02 -7.46270441e-01] [ 9.60453532e-04 9.99996146e-01 -2.60475442e-03 -1.43661855e-02] [ 2.83152743e-02 2.57651579e-03 9.99595722e-01 -3.02129671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74313336499999 meters Centerline goodness : 0.135527 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99597622e-01 -1.03991768e-03 -2.83462995e-02 -7.46202545e-01] [ 9.65193699e-04 9.99996024e-01 -2.64966563e-03 -1.40739152e-02] [ 2.83489422e-02 2.62123979e-03 9.99594651e-01 -3.02123495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77313336499999 meters Centerline goodness : 0.135623 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 9.99593587e-01 -1.06045958e-03 -2.84874691e-02 -7.45691947e-01] [ 9.83815998e-04 9.99995859e-01 -2.70431270e-03 -1.38480358e-02] [ 2.84902189e-02 2.67518721e-03 9.99590492e-01 -3.02423022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.803133365 meters Centerline goodness : 0.121341 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.01, Z:-0.30 [[ 0.99958949 -0.00111304 -0.02862902 -0.74486492] [ 0.00103359 0.99999557 -0.00278973 -0.01363538] [ 0.028632 0.002759 0.99958621 -0.30321369] [ 0. 0. 0. 1. ]] SLAMing on 82.833133365 meters Centerline goodness : 0.146097 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 0.99959283 -0.00113333 -0.02851129 -0.74519358] [ 0.00105463 0.99999559 -0.00277515 -0.01391366] [ 0.02851431 0.00274395 0.99958962 -0.3031374 ] [ 0. 0. 0. 1. ]] SLAMing on 82.863133365 meters Centerline goodness : 0.121094 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.01, Z:-0.30 [[ 0.99959707 -0.00111147 -0.0283629 -0.74586976] [ 0.00103662 0.99999594 -0.00265363 -0.01465994] [ 0.02836574 0.00262316 0.99959417 -0.30262622] [ 0. 0. 0. 1. ]] SLAMing on 82.893133365 meters Centerline goodness : 0.120455 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 0.99959401 -0.0010762 -0.02847189 -0.74591331] [ 0.001008 0.99999659 -0.00240971 -0.01607088] [ 0.02847439 0.00238003 0.99959169 -0.30213629] [ 0. 0. 0. 1. ]] SLAMing on 82.923133365 meters Centerline goodness : 0.251858 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99585986e-01 -1.04411829e-03 -2.87535518e-02 -7.45025158e-01] [ 9.78738338e-04 9.99996904e-01 -2.28778436e-03 -1.67073815e-02] [ 2.87558515e-02 2.25869499e-03 9.99583913e-01 -3.02449152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.953133365 meters Centerline goodness : 0.134464 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957165 -0.00112466 -0.02924486 -0.74341541] [ 0.00105785 0.9999968 -0.00229999 -0.017232 ] [ 0.02924735 0.00226807 0.99956963 -0.30310955] [ 0. 0. 0. 1. ]] SLAMing on 82.983133365 meters Centerline goodness : 0.122592 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957077 -0.0011477 -0.02927372 -0.74356029] [ 0.00108035 0.99999673 -0.00231632 -0.01730065] [ 0.02927628 0.0022837 0.99956875 -0.30278005] [ 0. 0. 0. 1. ]] SLAMing on 83.01313336499999 meters Centerline goodness : 0.137377 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957242 -0.00107224 -0.02922046 -0.74406629] [ 0.00100811 0.99999705 -0.00220935 -0.01754872] [ 0.02922275 0.00217894 0.99957055 -0.30223672] [ 0. 0. 0. 1. ]] SLAMing on 83.04313336499999 meters Centerline goodness : 0.137377 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 0.99957242 -0.00107224 -0.02922046 -0.74406629] [ 0.00100811 0.99999705 -0.00220935 -0.01754872] [ 0.02922275 0.00217894 0.99957055 -0.30223672] [ 0. 0. 0. 1. ]] SLAMing on 83.07313336499999 meters Centerline goodness : 0.166810 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.01, Z:-0.30 [[ 9.99642057e-01 2.22988233e-04 -2.67527096e-02 -7.01122026e-01] [-2.64867071e-04 9.99998745e-01 -1.56187211e-03 -1.49964087e-02] [ 2.67523277e-02 1.56839897e-03 9.99640862e-01 -3.01103463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10313336499999 meters Centerline goodness : 0.132477 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99770431e-01 -4.96730980e-04 -2.14205293e-02 -7.46030161e-01] [ 4.70366639e-04 9.99999126e-01 -1.23581862e-03 -1.89150292e-02] [ 2.14211244e-02 1.22545941e-03 9.99769790e-01 -3.02968748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13313336499999 meters Centerline goodness : 0.132435 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99777362e-01 -5.44315013e-04 -2.10933468e-02 -7.47170948e-01] [ 5.19077756e-04 9.99999143e-01 -1.20191248e-03 -1.95856712e-02] [ 2.10939830e-02 1.19069580e-03 9.99776788e-01 -3.02389961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.163133365 meters Centerline goodness : 0.135229 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99781749e-01 -5.03067452e-04 -2.08854528e-02 -7.47758911e-01] [ 4.79697172e-04 9.99999253e-01 -1.12396888e-03 -2.00835728e-02] [ 2.08860026e-02 1.11370488e-03 9.99781243e-01 -3.02276432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.193133365 meters Centerline goodness : 0.145445 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99783379e-01 -4.06394577e-04 -2.08093677e-02 -7.47844009e-01] [ 3.84717544e-04 9.99999379e-01 -1.04568862e-03 -1.99576330e-02] [ 2.08097798e-02 1.03745637e-03 9.99782915e-01 -3.02468889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.223133365 meters Centerline goodness : 0.134589 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99784880e-01 -3.68478239e-04 -2.07378212e-02 -7.47901725e-01] [ 3.46157791e-04 9.99999357e-01 -1.07989535e-03 -1.95030907e-02] [ 2.07382058e-02 1.07248449e-03 9.99784365e-01 -3.02693238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.253133365 meters Centerline goodness : 0.130526 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99784268e-01 -3.86940622e-04 -2.07669684e-02 -7.47811560e-01] [ 3.63202300e-04 9.99999276e-01 -1.14684030e-03 -1.92734313e-02] [ 2.07673972e-02 1.13905028e-03 9.99783685e-01 -3.02733441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.283133365 meters Centerline goodness : 0.130783 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99783259e-01 -4.52495621e-04 -2.08141732e-02 -7.47805134e-01] [ 4.26576389e-04 9.99999128e-01 -1.24969146e-03 -1.91834247e-02] [ 2.08147206e-02 1.24054177e-03 9.99782581e-01 -3.02614904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.313133365 meters Centerline goodness : 0.131385 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99779352e-01 -4.25714449e-04 -2.10015546e-02 -7.47231326e-01] [ 3.98785128e-04 9.99999093e-01 -1.28642508e-03 -1.89681230e-02] [ 2.10020832e-02 1.27776613e-03 9.99778615e-01 -3.02898218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.343133365 meters Centerline goodness : 0.130085 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99777099e-01 -3.27961536e-04 -2.11103047e-02 -7.46741832e-01] [ 3.01975275e-04 9.99999193e-01 -1.23415117e-03 -1.86121740e-02] [ 2.11106924e-02 1.22750129e-03 9.99776391e-01 -3.03322381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37313336499999 meters Centerline goodness : 0.132178 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99776502e-01 -2.94119738e-04 -2.11390657e-02 -7.46338835e-01] [ 2.68013424e-04 9.99999198e-01 -1.23780203e-03 -1.83404073e-02] [ 2.11394128e-02 1.23185983e-03 9.99775779e-01 -3.03897255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40313336499999 meters Centerline goodness : 0.128622 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99763609e-01 -3.80877544e-04 -2.17389333e-02 -7.44906802e-01] [ 3.54730834e-04 9.99999209e-01 -1.20660309e-03 -1.92442529e-02] [ 2.17393756e-02 1.19860639e-03 9.99762953e-01 -3.03938219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43313336499999 meters Centerline goodness : 0.130250 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99757306e-01 -3.71727420e-04 -2.20270407e-02 -7.44428362e-01] [ 3.49971858e-04 9.99999447e-01 -9.91521872e-04 -2.06231292e-02] [ 2.20273971e-02 9.83572391e-04 9.99756884e-01 -3.03579655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46313336499999 meters Centerline goodness : 0.142755 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.02, Z:-0.30 [[ 9.99753725e-01 -3.19569155e-04 -2.21898044e-02 -7.44253004e-01] [ 3.03374167e-04 9.99999685e-01 -7.33201617e-04 -2.19071123e-02] [ 2.21900317e-02 7.26289235e-04 9.99753507e-01 -3.03191878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49313336499999 meters Centerline goodness : 0.133298 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99770020e-01 -3.82438852e-04 -2.14420367e-02 -7.46507547e-01] [ 3.74075296e-04 9.99999852e-01 -3.94063728e-04 -2.38079901e-02] [ 2.14421843e-02 3.85952165e-04 9.99770015e-01 -3.02275047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52313336499999 meters Centerline goodness : 0.133805 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99772498e-01 -3.64889311e-04 -2.13264961e-02 -7.46923872e-01] [ 3.59994151e-04 9.99999908e-01 -2.33372856e-04 -2.47114212e-02] [ 2.13265793e-02 2.25642349e-04 9.99772537e-01 -3.01998235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.553133365 meters Centerline goodness : 0.128001 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99771381e-01 -3.72631280e-04 -2.13786331e-02 -7.46792745e-01] [ 3.70375973e-04 9.99999925e-01 -1.09452932e-04 -2.56635086e-02] [ 2.13786723e-02 1.01509777e-04 9.99771445e-01 -3.02025558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.583133365 meters Centerline goodness : 0.127848 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99766174e-01 -4.12464824e-04 -2.16200474e-02 -7.46179932e-01] [ 4.11981904e-04 9.99999915e-01 -2.67907284e-05 -2.63812832e-02] [ 2.16200566e-02 1.78773957e-05 9.99766259e-01 -3.02033962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.613133365 meters Centerline goodness : 0.131359 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99759920e-01 -3.87547926e-04 -2.19077937e-02 -7.45622186e-01] [ 3.93589471e-04 9.99999886e-01 2.71460308e-04 -2.82011611e-02] [ 2.19076860e-02 -2.80017813e-04 9.99759959e-01 -3.01737742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.643133365 meters Centerline goodness : 0.131567 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99758431e-01 -3.87220237e-04 -2.19756692e-02 -7.45453180e-01] [ 3.95402151e-04 9.99999854e-01 3.67973011e-04 -2.89899024e-02] [ 2.19755235e-02 -3.76573347e-04 9.99758438e-01 -3.01724015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.673133365 meters Centerline goodness : 0.129012 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99760080e-01 -4.10129393e-04 -2.19000898e-02 -7.45726637e-01] [ 4.20092383e-04 9.99999810e-01 4.50330576e-04 -2.98302855e-02] [ 2.18999010e-02 -4.59422594e-04 9.99760063e-01 -3.01564295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.703133365 meters Centerline goodness : 0.125905 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99762985e-01 -3.54728771e-04 -2.17680614e-02 -7.46354935e-01] [ 3.68712455e-04 9.99999728e-01 6.38384352e-04 -3.08217827e-02] [ 2.17678290e-02 -6.46259200e-04 9.99762844e-01 -3.01079478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.733133365 meters Centerline goodness : 0.130123 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99771908e-01 -1.12158538e-04 -2.13569407e-02 -7.47733713e-01] [ 1.34739048e-04 9.99999434e-01 1.05585538e-03 -3.21940894e-02] [ 2.13568102e-02 -1.05849216e-03 9.99771357e-01 -3.00434163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76313336499999 meters Centerline goodness : 0.128307 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99777615e-01 -6.67691601e-05 -2.10883059e-02 -7.48427984e-01] [ 9.10141624e-05 9.99999336e-01 1.14873174e-03 -3.26825733e-02] [ 2.10882152e-02 -1.15039562e-03 9.99776957e-01 -3.00388295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79313336499999 meters Centerline goodness : 0.126718 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99784058e-01 -8.33154957e-05 -2.07805074e-02 -7.49198849e-01] [ 1.06551515e-04 9.99999370e-01 1.11705948e-03 -3.27775861e-02] [ 2.07804013e-02 -1.11903245e-03 9.99783438e-01 -3.00347178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82313336499999 meters Centerline goodness : 0.128672 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99796024e-01 7.23957114e-05 -2.01966782e-02 -7.50527229e-01] [-5.40330450e-05 9.99999585e-01 9.09736623e-04 -3.10165088e-02] [ 2.01967357e-02 -9.08459770e-04 9.99795612e-01 -3.00543418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85313336499999 meters Centerline goodness : 0.129316 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 9.99793470e-01 1.50233714e-04 -2.03222644e-02 -7.50020257e-01] [-1.36928292e-04 9.99999775e-01 6.56111354e-04 -2.89953599e-02] [ 2.03223584e-02 -6.53193154e-04 9.99793266e-01 -3.00991468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88313336499999 meters Centerline goodness : 0.128271 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 9.99742391e-01 9.36866742e-03 -2.06731461e-02 -7.27176632e-01] [-9.36918443e-03 9.99956106e-01 7.18492088e-05 -2.86543209e-02] [ 2.06729118e-02 1.21859819e-04 9.99786285e-01 -3.00712699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.913133365 meters Centerline goodness : 0.129446 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99759248e-01 1.04889671e-03 -2.19167991e-02 -7.46696280e-01] [-1.02697721e-03 9.99998961e-01 1.01135487e-03 -2.32408017e-02] [ 2.19178371e-02 -9.88603334e-04 9.99759287e-01 -3.02297325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.943133365 meters Centerline goodness : 0.131253 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99759965e-01 1.00551388e-03 -2.18861079e-02 -7.46692353e-01] [-9.96887635e-04 9.99999421e-01 4.05049052e-04 -2.00331853e-02] [ 2.18865025e-02 -3.83133836e-04 9.99760388e-01 -3.02647231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.973133365 meters Centerline goodness : 0.125658 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.02, Z:-0.30 [[ 9.99759016e-01 9.65649009e-04 -2.19311764e-02 -7.46622866e-01] [-9.60263654e-04 9.99999506e-01 2.56086848e-04 -1.91985884e-02] [ 2.19314128e-02 -2.34965424e-04 9.99759450e-01 -3.02658695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.003133365 meters Centerline goodness : 0.129788 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.30 [[ 9.99695361e-01 4.32747101e-04 -2.46778792e-02 -7.91703368e-01] [-4.18920986e-04 9.99999752e-01 5.65430563e-04 -2.26773820e-02] [ 2.46781178e-02 -5.54920229e-04 9.99695295e-01 -3.02435791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.033133365 meters Centerline goodness : 0.132134 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.30 [[ 9.99687133e-01 3.35606338e-04 -2.50104669e-02 -7.90879907e-01] [-3.20344171e-04 9.99999760e-01 6.14235317e-04 -2.32409609e-02] [ 2.50106670e-02 -6.06031186e-04 9.99687001e-01 -3.02485149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.063133365 meters Centerline goodness : 0.130116 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.30 [[ 9.99688271e-01 3.08237000e-04 -2.49652800e-02 -7.91005315e-01] [-2.88039513e-04 9.99999628e-01 8.12615030e-04 -2.46566735e-02] [ 2.49655212e-02 -8.05170728e-04 9.99687989e-01 -3.02407860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.093133365 meters Centerline goodness : 0.132282 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:-0.30 [[ 9.99703292e-01 -3.49679011e-04 -2.43558341e-02 -7.92884535e-01] [ 3.74616775e-04 9.99999410e-01 1.01933767e-03 -2.91176462e-02] [ 2.43554633e-02 -1.02815932e-03 9.99702833e-01 -3.01525630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12313336499999 meters Centerline goodness : 0.131828 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:-0.30 [[ 9.99700899e-01 -2.94120464e-04 -2.44545667e-02 -7.92741884e-01] [ 3.31789105e-04 9.99998765e-01 1.53630881e-03 -3.20128127e-02] [ 2.44540847e-02 -1.54396306e-03 9.99699762e-01 -3.01273391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15313336499999 meters Centerline goodness : 0.127043 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.03, Z:-0.30 [[ 9.99689891e-01 -2.69529582e-04 -2.49007982e-02 -7.91599130e-01] [ 3.19370331e-04 9.99997954e-01 1.99761713e-03 -3.48385451e-02] [ 2.49002089e-02 -2.00495023e-03 9.99687931e-01 -3.01287840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18313336499999 meters Centerline goodness : 0.130527 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99674547e-01 -2.99772655e-04 -2.55090367e-02 -7.89990131e-01] [ 3.59848250e-04 9.99997173e-01 2.35051326e-03 -3.74275762e-02] [ 2.55082599e-02 -2.35892766e-03 9.99671828e-01 -3.01451941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21313336499999 meters Centerline goodness : 0.129432 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99653470e-01 -4.54345791e-04 -2.63198268e-02 -7.87684167e-01] [ 5.26810106e-04 9.99996090e-01 2.74635303e-03 -4.14810808e-02] [ 2.63184761e-02 -2.75926688e-03 9.99649801e-01 -3.01861410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24313336499999 meters Centerline goodness : 0.128702 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99654010e-01 -3.45002286e-04 -2.63009868e-02 -7.87697829e-01] [ 4.24131996e-04 9.99995401e-01 3.00310219e-03 -4.27501217e-02] [ 2.62998298e-02 -3.01321823e-03 9.99649558e-01 -3.01918121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27313336499999 meters Centerline goodness : 0.131332 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99656326e-01 -2.16698720e-04 -2.62141771e-02 -7.87956831e-01] [ 3.01387284e-04 9.99994749e-01 3.22673198e-03 -4.34972485e-02] [ 2.62133402e-02 -3.23352366e-03 9.99651142e-01 -3.01843513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.303133365 meters Centerline goodness : 0.129866 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99669036e-01 9.09996744e-05 -2.57256654e-02 -7.89390975e-01] [-6.31897972e-07 9.99993830e-01 3.51273418e-03 -4.39970030e-02] [ 2.57258263e-02 -3.51155534e-03 9.99662869e-01 -3.01412894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.333133365 meters Centerline goodness : 0.129354 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99672567e-01 8.89393922e-05 -2.55880944e-02 -7.89852257e-01] [ 7.72383769e-10 9.99993959e-01 3.47582066e-03 -4.39603973e-02] [ 2.55882489e-02 -3.47468258e-03 9.99666528e-01 -3.01222341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.363133365 meters Centerline goodness : 0.127757 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99673942e-01 6.84351448e-05 -2.55343894e-02 -7.90043956e-01] [ 1.96913542e-05 9.99994045e-01 3.45101932e-03 -4.40780111e-02] [ 2.55344735e-02 -3.45039689e-03 9.99667988e-01 -3.01159693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.393133365 meters Centerline goodness : 0.176836 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.04, Z:-0.30 [[ 9.99673717e-01 2.83715296e-05 -2.55432585e-02 -7.89950898e-01] [ 5.88069114e-05 9.99994177e-01 3.41221494e-03 -4.42366906e-02] [ 2.55432065e-02 -3.41260371e-03 9.99667894e-01 -3.01292521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.423133365 meters Centerline goodness : 0.127996 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99672848e-01 1.04475918e-04 -2.55770766e-02 -7.89845028e-01] [-1.12058355e-05 9.99993351e-01 3.64674412e-03 -4.54676244e-02] [ 2.55772875e-02 -3.64526446e-03 9.99666201e-01 -3.01381131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.453133365 meters Centerline goodness : 0.129610 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99674608e-01 1.42783285e-04 -2.55079821e-02 -7.90186756e-01] [-4.45960303e-05 9.99992588e-01 3.84980307e-03 -4.66092592e-02] [ 2.55083428e-02 -3.84741282e-03 9.99667206e-01 -3.01083615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48313336499999 meters Centerline goodness : 0.128520 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99676573e-01 1.89049520e-04 -2.54305735e-02 -7.90668359e-01] [-8.40347936e-05 9.99991466e-01 4.13047279e-03 -4.81953375e-02] [ 2.54311373e-02 -4.12699983e-03 9.99668057e-01 -3.00584612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51313336499999 meters Centerline goodness : 0.127850 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99676945e-01 2.33861190e-04 -2.54155703e-02 -7.90943800e-01] [-1.22141342e-04 9.99990325e-01 4.39718811e-03 -4.97821733e-02] [ 2.54163528e-02 -4.39266328e-03 9.99667301e-01 -3.00137985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54313336499999 meters Centerline goodness : 0.129063 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99677996e-01 4.13065023e-04 -2.53718922e-02 -7.91208223e-01] [-2.84181879e-04 9.99987040e-01 5.08315649e-03 -5.32766052e-02] [ 2.53736630e-02 -5.07430946e-03 9.99665158e-01 -2.99781035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57313336499999 meters Centerline goodness : 0.127139 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99679882e-01 5.77568662e-04 -2.52942540e-02 -7.91461257e-01] [-4.38411730e-04 9.99984742e-01 5.50672348e-03 -5.52231570e-02] [ 2.52970486e-02 -5.49387138e-03 9.99664882e-01 -2.99648783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60313336499999 meters Centerline goodness : 0.125278 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99682734e-01 7.94687223e-04 -2.51753659e-02 -7.91751667e-01] [-6.42650346e-04 9.99981512e-01 6.04662813e-03 -5.80763948e-02] [ 2.51797057e-02 -6.02853079e-03 9.99664763e-01 -2.99559641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63313336499999 meters Centerline goodness : 0.110503 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99682845e-01 8.20657113e-04 -2.51701540e-02 -7.91758970e-01] [-6.67040145e-04 9.99981106e-01 6.11092875e-03 -5.86030323e-02] [ 2.51746934e-02 -6.09220113e-03 9.99664504e-01 -2.99575318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.663133365 meters Centerline goodness : 0.127988 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99680069e-01 8.79595774e-04 -2.52781838e-02 -7.91412417e-01] [-7.23094025e-04 9.99980521e-01 6.19965250e-03 -5.90733417e-02] [ 2.52831446e-02 -6.17939053e-03 9.99661231e-01 -2.99715907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.693133365 meters Centerline goodness : 0.125732 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 9.99677161e-01 1.01454662e-03 -2.53878678e-02 -7.90967339e-01] [-8.52849046e-04 9.99979290e-01 6.37910571e-03 -5.97651815e-02] [ 2.53938139e-02 -6.35539427e-03 9.99657323e-01 -3.00037502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.723133365 meters Centerline goodness : 0.123899 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99967512 0.00129861 -0.02545528 -0.79036411] [-0.00112616 0.99997633 0.00678795 -0.0615059 ] [ 0.02546349 -0.00675708 0.99965292 -0.30077605] [ 0. 0. 0. 1. ]] SLAMing on 84.753133365 meters Centerline goodness : 0.121881 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99967252 0.0013712 -0.02555325 -0.78994665] [-0.0011934 0.99997499 0.00697166 -0.06251968] [ 0.02556217 -0.00693888 0.99964915 -0.30105341] [ 0. 0. 0. 1. ]] SLAMing on 84.783133365 meters Centerline goodness : 0.123921 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966701 0.00146403 -0.02576291 -0.78941646] [-0.00127884 0.99997324 0.00720303 -0.06370759] [ 0.02577277 -0.00716768 0.99964213 -0.30109938] [ 0. 0. 0. 1. ]] SLAMing on 84.813133365 meters Centerline goodness : 0.122188 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966467 0.00158581 -0.02584624 -0.7892543 ] [-0.00139419 0.99997143 0.00742991 -0.06473302] [ 0.02585729 -0.00739138 0.99963832 -0.301027 ] [ 0. 0. 0. 1. ]] SLAMing on 84.843133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 84.87313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 84.90313336499999 meters Centerline goodness : 0.079839 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99968881 0.00198153 -0.02486678 -0.79147526] [-0.00179627 0.99997048 0.00747041 -0.06377991] [ 0.02488085 -0.00742342 0.99966286 -0.30138424] [ 0. 0. 0. 1. ]] SLAMing on 84.93313336499999 meters Centerline goodness : 0.121950 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966959 0.00206386 -0.0256213 -0.78908649] [-0.00188757 0.99997439 0.00690264 -0.05993737] [ 0.02563489 -0.006852 0.99964789 -0.30256164] [ 0. 0. 0. 1. ]] SLAMing on 84.96313336499999 meters Centerline goodness : 0.121950 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966959 0.00206386 -0.0256213 -0.78908649] [-0.00188757 0.99997439 0.00690264 -0.05993737] [ 0.02563489 -0.006852 0.99964789 -0.30256164] [ 0. 0. 0. 1. ]] SLAMing on 84.99313336499999 meters Centerline goodness : 0.074155 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.06, Z:-0.30 [[ 0.99966066 0.00187115 -0.02598202 -0.78799912] [-0.00170689 0.99997843 0.00634279 -0.05729122] [ 0.02599333 -0.00629628 0.99964229 -0.30302692] [ 0. 0. 0. 1. ]] SLAMing on 85.02313336499999 meters Centerline goodness : 0.123121 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99965658 0.001651 -0.02615338 -0.78754059] [-0.00150001 0.9999821 0.00579174 -0.0547605 ] [ 0.02616247 -0.00575052 0.99964116 -0.30323619] [ 0. 0. 0. 1. ]] SLAMing on 85.053133365 meters Centerline goodness : 0.123373 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99965567 0.00149918 -0.02619727 -0.7875619 ] [-0.00135898 0.99998467 0.00536865 -0.05254824] [ 0.02620492 -0.0053312 0.99964238 -0.30317134] [ 0. 0. 0. 1. ]] SLAMing on 85.083133365 meters Centerline goodness : 0.120941 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99966774 0.00136941 -0.0257397 -0.78942822] [-0.00124174 0.99998685 0.00497549 -0.04986106] [ 0.02574618 -0.00494187 0.9996563 -0.30209228] [ 0. 0. 0. 1. ]] SLAMing on 85.113133365 meters Centerline goodness : 0.119909 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99968137 0.00122564 -0.02521206 -0.79112818] [-0.00110295 0.99998749 0.00487933 -0.04964423] [ 0.02521772 -0.00484997 0.99967022 -0.30137284] [ 0. 0. 0. 1. ]] SLAMing on 85.143133365 meters Centerline goodness : 0.121079 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99697077e-01 9.96382964e-04 -2.45919127e-02 -7.93100230e-01] [-8.79833995e-04 9.99988333e-01 4.74968612e-03 -4.95773623e-02] [ 2.45963583e-02 -4.72661053e-03 9.99686290e-01 -3.00577030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.173133365 meters Centerline goodness : 0.125550 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99709381e-01 7.15245709e-04 -2.40964978e-02 -7.94765271e-01] [-6.03511092e-04 9.99989035e-01 4.64391823e-03 -4.94980286e-02] [ 2.40995551e-02 -4.62802612e-03 9.99698851e-01 -2.99743726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.203133365 meters Centerline goodness : 0.125535 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99707676e-01 7.03447476e-04 -2.41674799e-02 -7.94656769e-01] [-5.89483812e-04 9.99988676e-01 4.72237977e-03 -4.99458466e-02] [ 2.41705282e-02 -4.70675297e-03 9.99696770e-01 -2.99635965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23313336499999 meters Centerline goodness : 0.135449 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 9.99705596e-01 6.84140058e-04 -2.42539246e-02 -7.94401782e-01] [-5.66483947e-04 9.99988042e-01 4.85755221e-03 -5.09183372e-02] [ 2.42569578e-02 -4.84238267e-03 9.99694029e-01 -2.99636277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26313336499999 meters Centerline goodness : 0.121666 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:-0.30 [[ 0.99964312 -0.00132231 -0.02668123 -0.83932431] [ 0.00143192 0.99999061 0.00408946 -0.05576968] [ 0.02667558 -0.0041262 0.99963563 -0.29983562] [ 0. 0. 0. 1. ]] SLAMing on 85.29313336499999 meters Centerline goodness : 0.127818 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99673630e-01 4.01647545e-03 -2.52289836e-02 -8.17975759e-01] [-4.00279095e-03 9.99991813e-01 5.92890029e-04 -5.99347846e-02] [ 2.52311583e-02 -4.91710181e-04 9.99681523e-01 -2.99422159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32313336499999 meters Centerline goodness : 0.128678 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99673908e-01 4.14014519e-03 -2.51979709e-02 -8.18189261e-01] [-4.11806763e-03 9.99991090e-01 9.27992901e-04 -6.15559066e-02] [ 2.52015884e-02 -8.23923341e-04 9.99682050e-01 -2.99189523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35313336499999 meters Centerline goodness : 0.157510 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.06, Z:-0.30 [[ 0.99964961 -0.00435633 -0.02610914 -0.8386367 ] [ 0.00441957 0.99998744 0.00236517 -0.06021181] [ 0.02609851 -0.00247974 0.9996563 -0.30035271] [ 0. 0. 0. 1. ]] SLAMing on 85.38313336499999 meters Centerline goodness : 0.128358 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964125 0.00458029 -0.02638931 -0.81715984] [-0.00453926 0.99998839 0.00161457 -0.06324689] [ 0.0263964 -0.00149421 0.99965044 -0.2996503 ] [ 0. 0. 0. 1. ]] SLAMing on 85.413133365 meters Centerline goodness : 0.127535 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964289 0.00455246 -0.02633173 -0.81703751] [-0.00451584 0.99998875 0.00145011 -0.0624669 ] [ 0.02633803 -0.00133068 0.99965221 -0.30012578] [ 0. 0. 0. 1. ]] SLAMing on 85.443133365 meters Centerline goodness : 0.131891 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964497 0.00453592 -0.02625552 -0.81707395] [-0.00450298 0.999989 0.00131354 -0.0617344 ] [ 0.02626119 -0.00119485 0.9996544 -0.30041514] [ 0. 0. 0. 1. ]] SLAMing on 85.473133365 meters Centerline goodness : 0.142195 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 0.99964675 0.0044992 -0.02619395 -0.81717628] [-0.00447111 0.99998937 0.00113052 -0.0607344 ] [ 0.02619876 -0.001013 0.99965624 -0.30052826] [ 0. 0. 0. 1. ]] SLAMing on 85.503133365 meters Centerline goodness : 0.143689 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99648980e-01 4.42493732e-03 -2.61215922e-02 -8.17448120e-01] [-4.40487681e-03 9.99989958e-01 8.25457848e-04 -5.91201278e-02] [ 2.61249825e-02 -7.10105700e-04 9.99658432e-01 -3.00449326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.533133365 meters Centerline goodness : 0.143253 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99645862e-01 4.33632074e-03 -2.62554269e-02 -8.17004340e-01] [-4.32127368e-03 9.99990465e-01 6.29814004e-04 -5.82929476e-02] [ 2.62579077e-02 -5.16134077e-04 9.99655068e-01 -3.00669527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.563133365 meters Centerline goodness : 0.129642 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99640209e-01 4.26971806e-03 -2.64805976e-02 -8.16185882e-01] [-4.25829840e-03 9.99990815e-01 4.87622650e-04 -5.76315590e-02] [ 2.64824364e-02 -3.74684922e-04 9.99649209e-01 -3.01152551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.593133365 meters Centerline goodness : 0.133102 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.06, Z:-0.30 [[ 9.99554495e-01 3.00809456e-03 -2.96944764e-02 -8.61039526e-01] [-2.99944624e-03 9.99995445e-01 3.35782580e-04 -5.96854394e-02] [ 2.96953512e-02 -2.46566002e-04 9.99558965e-01 -3.01251884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62313336499999 meters Centerline goodness : 0.145193 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99594406e-01 2.90423572e-03 -2.83299837e-02 -8.16674828e-01] [-2.92594107e-03 9.99995457e-01 -7.24737395e-04 -5.47879608e-02] [ 2.83277501e-02 8.07335309e-04 9.99598363e-01 -3.00389410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65313336499999 meters Centerline goodness : 0.148044 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99595900e-01 2.87086115e-03 -2.82806598e-02 -8.17182851e-01] [-2.89344652e-03 9.99995527e-01 -7.57725383e-04 -5.46282951e-02] [ 2.82783580e-02 8.39247763e-04 9.99599735e-01 -2.99781463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68313336499999 meters Centerline goodness : 0.133862 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99597832e-01 2.87092655e-03 -2.82122626e-02 -8.17772082e-01] [-2.89167785e-03 9.99995578e-01 -6.94771094e-04 -5.48701427e-02] [ 2.82101432e-02 7.76072455e-04 9.99601713e-01 -2.99111150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71313336499999 meters Centerline goodness : 0.126291 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.06, Z:-0.30 [[ 9.99596660e-01 2.77527209e-03 -2.82633347e-02 -8.17898584e-01] [-2.79744081e-03 9.99995810e-01 -7.44853072e-04 -5.50072769e-02] [ 2.82611491e-02 8.23617648e-04 9.99600235e-01 -2.98684828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74313336499999 meters Centerline goodness : 0.124810 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 9.99590959e-01 2.62668244e-03 -2.84783350e-02 -8.17218352e-01] [-2.65472337e-03 9.99996028e-01 -9.46876402e-04 -5.45475920e-02] [ 2.84757347e-02 1.02209119e-03 9.99593961e-01 -2.98951300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77313336499999 meters Centerline goodness : 0.124469 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.05, Z:-0.30 [[ 0.99958719 0.0025098 -0.02862063 -0.81674165] [-0.00254487 0.99999606 -0.00118887 -0.05357113] [ 0.02861754 0.00126121 0.99958964 -0.29920426] [ 0. 0. 0. 1. ]] SLAMing on 85.803133365 meters Centerline goodness : 0.137102 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:-0.30 [[ 0.99960052 -0.00246376 -0.02815547 -0.79531706] [ 0.002518 0.99999504 0.0018912 -0.04649131] [ 0.02815067 -0.00196134 0.99960177 -0.2984324 ] [ 0. 0. 0. 1. ]] SLAMing on 85.833133365 meters Centerline goodness : 0.136620 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.9996109 -0.00250941 -0.02778031 -0.79661128] [ 0.002556 0.99999539 0.00164173 -0.04487874] [ 0.02777606 -0.0017121 0.9996127 -0.29785135] [ 0. 0. 0. 1. ]] SLAMing on 85.863133365 meters Centerline goodness : 0.122926 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99961789 -0.00260651 -0.02751864 -0.79758952] [ 0.00264579 0.99999553 0.00139078 -0.04362056] [ 0.02751489 -0.00146306 0.99962032 -0.29736541] [ 0. 0. 0. 1. ]] SLAMing on 85.893133365 meters Centerline goodness : 0.143450 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99962041 -0.00274363 -0.02741352 -0.79797617] [ 0.00277572 0.99999551 0.0011327 -0.04260563] [ 0.02741029 -0.00120837 0.99962354 -0.29716759] [ 0. 0. 0. 1. ]] SLAMing on 85.923133365 meters Centerline goodness : 0.136341 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 9.99612434e-01 -2.84070922e-03 -2.76931633e-02 -7.97231264e-01] [ 2.86923425e-03 9.99995393e-01 9.90356322e-04 -4.19314784e-02] [ 2.76902224e-02 -1.06943067e-03 9.99615980e-01 -2.97348094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.953133365 meters Centerline goodness : 0.137206 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99961224 -0.00280947 -0.02770354 -0.79729223] [ 0.00284051 0.99999538 0.0010812 -0.04224107] [ 0.02770038 -0.00115947 0.9996156 -0.29720404] [ 0. 0. 0. 1. ]] SLAMing on 85.98313336499999 meters Centerline goodness : 0.145907 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99650930e-01 5.07393331e-03 -2.59282260e-02 -7.78725698e-01] [-5.08473912e-03 9.99987011e-01 -3.50844858e-04 -4.55956140e-02] [ 2.59261091e-02 4.82560654e-04 9.99663745e-01 -2.95767748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 86.04313336499999 meters Centerline goodness : 0.146682 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.9996711 0.00123228 -0.02561575 -0.77920565] [-0.00133144 0.99999169 -0.00385409 -0.04710704] [ 0.02561079 0.00388693 0.99966443 -0.29611351] [ 0. 0. 0. 1. ]] SLAMing on 86.07313336499999 meters Centerline goodness : 0.118610 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99966351 0.00133278 -0.0259053 -0.77811322] [-0.00142714 0.99999241 -0.00362446 -0.04799896] [ 0.02590027 0.00366021 0.99965783 -0.29673796] [ 0. 0. 0. 1. ]] SLAMing on 86.10313336499999 meters Centerline goodness : 0.147050 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99965759 0.00140391 -0.02612926 -0.77725739] [-0.00149449 0.99999294 -0.00344772 -0.04881382] [ 0.02612423 0.00348559 0.99965263 -0.29721278] [ 0. 0. 0. 1. ]] SLAMing on 86.13313336499999 meters Centerline goodness : 0.121187 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99965547 0.00146051 -0.02620687 -0.77680292] [-0.00154677 0.99999345 -0.00327149 -0.04982507] [ 0.02620192 0.00331089 0.99965119 -0.29760198] [ 0. 0. 0. 1. ]] SLAMing on 86.163133365 meters Centerline goodness : 0.122961 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 0.99965209 0.00157767 -0.02632882 -0.77670988] [-0.00165288 0.99999462 -0.00283512 -0.05245701] [ 0.02632421 0.00287765 0.99964932 -0.29730863] [ 0. 0. 0. 1. ]] SLAMing on 86.193133365 meters Centerline goodness : 0.116076 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:-0.30 [[ 0.99963734 -0.00583697 -0.02628914 -0.75712046] [ 0.00579907 0.99998203 -0.00151786 -0.04900524] [ 0.02629752 0.00136486 0.99965323 -0.2954809 ] [ 0. 0. 0. 1. ]] SLAMing on 86.223133365 meters Centerline goodness : 0.118332 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.06, Z:-0.30 [[ 0.99965877 0.00148809 -0.02607947 -0.77452042] [-0.00153766 0.99999705 -0.00188074 -0.05992957] [ 0.02607659 0.0019202 0.9996581 -0.29799271] [ 0. 0. 0. 1. ]] SLAMing on 86.253133365 meters Centerline goodness : 0.134650 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.06, Z:-0.30 [[ 0.99965359 0.00160266 -0.02627046 -0.77385621] [-0.00164046 0.99999765 -0.00141742 -0.06266064] [ 0.02626813 0.00146002 0.99965387 -0.29827546] [ 0. 0. 0. 1. ]] SLAMing on 86.283133365 meters Centerline goodness : 0.136994 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:-0.30 [[ 9.99654547e-01 1.75578306e-03 -2.62240961e-02 -7.73851985e-01] [-1.77973572e-03 9.99998020e-01 -8.90071395e-04 -6.57234172e-02] [ 2.62224814e-02 9.36435878e-04 9.99655693e-01 -2.98397479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.313133365 meters Centerline goodness : 0.139993 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.07, Z:-0.30 [[ 9.99659046e-01 1.96333815e-03 -2.60372082e-02 -7.74497508e-01] [-1.97066319e-03 9.99998026e-01 -2.55673200e-04 -6.90554935e-02] [ 2.60366548e-02 3.06896595e-04 9.99660942e-01 -2.98054112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.343133365 meters Centerline goodness : 0.134720 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99968085 -0.00598775 -0.02454277 -0.75383193] [ 0.00601806 0.99998122 0.00116099 -0.07295542] [ 0.02453535 -0.00130832 0.99969811 -0.29703529] [ 0. 0. 0. 1. ]] SLAMing on 86.37313336499999 meters Centerline goodness : 0.133098 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.99967856 -0.00574572 -0.02469321 -0.75339076] [ 0.00579388 0.99998145 0.00187919 -0.07680938] [ 0.02468195 -0.00202165 0.99969331 -0.29705869] [ 0. 0. 0. 1. ]] SLAMing on 86.40313336499999 meters Centerline goodness : 0.133171 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.99967451 -0.00556466 -0.0248981 -0.75269062] [ 0.00562852 0.99998105 0.00249533 -0.08046655] [ 0.02488375 -0.00263466 0.99968688 -0.29728992] [ 0. 0. 0. 1. ]] SLAMing on 86.43313336499999 meters Centerline goodness : 0.125702 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99967812 -0.00525637 -0.02481978 -0.75278096] [ 0.00534471 0.99997961 0.0034941 -0.08880636] [ 0.0248009 -0.00362563 0.99968584 -0.29723361] [ 0. 0. 0. 1. ]] SLAMing on 86.46313336499999 meters Centerline goodness : 0.132971 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99968058 -0.00499753 -0.02477436 -0.75293736] [ 0.00510122 0.99997849 0.00412396 -0.09185544] [ 0.02475322 -0.00424902 0.99968456 -0.2971084 ] [ 0. 0. 0. 1. ]] SLAMing on 86.49313336499999 meters Centerline goodness : 0.159810 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99968017 -0.00481474 -0.02482703 -0.75269985] [ 0.00492947 0.99997744 0.00456191 -0.09401299] [ 0.0248045 -0.00468283 0.99968135 -0.29721377] [ 0. 0. 0. 1. ]] SLAMing on 86.52313336499999 meters Centerline goodness : 0.137714 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.10, Z:-0.30 [[ 0.99967886 0.0041599 -0.02499756 -0.73246386] [-0.00406965 0.99998502 0.00366003 -0.10009066] [ 0.02501241 -0.00355712 0.99968081 -0.29529778] [ 0. 0. 0. 1. ]] SLAMing on 86.553133365 meters Centerline goodness : 0.137788 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.10, Z:-0.30 [[ 0.99968459 0.00423946 -0.02475376 -0.7331723 ] [-0.00414884 0.99998451 0.0037111 -0.10033462] [ 0.02476911 -0.00360723 0.99968669 -0.29510444] [ 0. 0. 0. 1. ]] SLAMing on 86.583133365 meters Centerline goodness : 0.122302 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.10, Z:-0.30 [[ 0.99969201 0.00437542 -0.02442824 -0.73396586] [-0.00428483 0.99998375 0.00375944 -0.10025464] [ 0.02444429 -0.00365361 0.99969452 -0.29510626] [ 0. 0. 0. 1. ]] SLAMing on 86.613133365 meters Centerline goodness : 0.153357 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.30 [[ 0.99970217 0.00499942 -0.02388662 -0.73518342] [-0.00490396 0.99997976 0.00405302 -0.09979697] [ 0.0239064 -0.00393467 0.99970646 -0.295354 ] [ 0. 0. 0. 1. ]] SLAMing on 86.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 86.673133365 meters Centerline goodness : 0.107290 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.30 [[ 0.99971705 0.00559463 -0.02311953 -0.73729409] [-0.00550048 0.99997633 0.00413403 -0.09797686] [ 0.02314211 -0.00400569 0.99972416 -0.2951244 ] [ 0. 0. 0. 1. ]] SLAMing on 86.703133365 meters Centerline goodness : 0.092957 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.09, Z:-0.30 [[ 0.99972422 0.00615094 -0.02266369 -0.73837585] [-0.00606162 0.9999736 0.00400768 -0.0946126 ] [ 0.02268774 -0.0038692 0.99973511 -0.2954574 ] [ 0. 0. 0. 1. ]] SLAMing on 86.73313336499999 meters Centerline goodness : 0.142142 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 9.99718712e-01 4.77624331e-05 -2.37169599e-02 -7.20700914e-01] [ 6.96338913e-05 9.99987751e-01 4.94903869e-03 -8.49368891e-02] [ 2.37169058e-02 -4.94929809e-03 9.99706463e-01 -2.93578008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 86.79313336499999 meters Centerline goodness : 0.140749 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99970993 0.00365591 -0.02380505 -0.72071961] [-0.00347368 0.99996438 0.00769188 -0.07867673] [ 0.02383232 -0.00760696 0.99968703 -0.2934646 ] [ 0. 0. 0. 1. ]] SLAMing on 86.82313336499999 meters Centerline goodness : 0.158953 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99971361 0.00349142 -0.02367493 -0.72103587] [-0.00332078 0.99996825 0.0072433 -0.07621737] [ 0.02369946 -0.0071626 0.99969347 -0.29356252] [ 0. 0. 0. 1. ]] SLAMing on 86.85313336499999 meters Centerline goodness : 0.158953 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99971361 0.00349142 -0.02367493 -0.72103587] [-0.00332078 0.99996825 0.0072433 -0.07621737] [ 0.02369946 -0.0071626 0.99969347 -0.29356252] [ 0. 0. 0. 1. ]] SLAMing on 86.88313336499999 meters Centerline goodness : 0.141582 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99971521 0.00331556 -0.02363285 -0.72119498] [-0.0031555 0.99997185 0.00680681 -0.07402197] [ 0.02365476 -0.0067303 0.99969753 -0.2935326 ] [ 0. 0. 0. 1. ]] SLAMing on 86.913133365 meters Centerline goodness : 0.128211 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99971416 0.00309227 -0.02370713 -0.72111059] [-0.00294197 0.99997537 0.00637206 -0.07207121] [ 0.02372625 -0.00630049 0.99969864 -0.29343319] [ 0. 0. 0. 1. ]] SLAMing on 86.943133365 meters Centerline goodness : 0.137148 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.999701 0.00262903 -0.02431042 -0.7197856 ] [-0.0024911 0.99998064 0.00570229 -0.06940426] [ 0.02432494 -0.00564003 0.9996882 -0.29334577] [ 0. 0. 0. 1. ]] SLAMing on 86.973133365 meters Centerline goodness : 0.126152 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969807 0.00252992 -0.02444092 -0.71956542] [-0.00239453 0.99998164 0.00556711 -0.06867393] [ 0.02445455 -0.0055069 0.99968578 -0.29317701] [ 0. 0. 0. 1. ]] SLAMing on 87.003133365 meters Centerline goodness : 0.142605 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969876 0.00247323 -0.02441871 -0.71973371] [-0.00233961 0.99998214 0.00549907 -0.06823005] [ 0.02443187 -0.00544029 0.99968669 -0.29301172] [ 0. 0. 0. 1. ]] SLAMing on 87.033133365 meters Centerline goodness : 0.127790 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969934 0.00236797 -0.02440533 -0.7198417 ] [-0.00223647 0.99998284 0.00541392 -0.06804799] [ 0.02441773 -0.00535771 0.99968749 -0.29285461] [ 0. 0. 0. 1. ]] SLAMing on 87.063133365 meters Centerline goodness : 0.148558 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99970541 -0.00172402 -0.02420991 -0.72015286] [ 0.00175843 0.99999747 0.00140005 -0.06737468] [ 0.02420743 -0.00144221 0.99970592 -0.29309927] [ 0. 0. 0. 1. ]] SLAMing on 87.093133365 meters Centerline goodness : 0.129776 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99969677 -0.00184011 -0.02455565 -0.71924673] [ 0.00187603 0.9999972 0.00143969 -0.0681172 ] [ 0.02455293 -0.00148532 0.99969743 -0.2932119 ] [ 0. 0. 0. 1. ]] SLAMing on 87.12313336499999 meters Centerline goodness : 0.155339 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99968917 -0.00188502 -0.02485971 -0.71832543] [ 0.0019244 0.99999693 0.00156024 -0.06907978] [ 0.02485669 -0.00160759 0.99968973 -0.29350464] [ 0. 0. 0. 1. ]] SLAMing on 87.15313336499999 meters Centerline goodness : 0.121115 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.9996727 -0.00224555 -0.02548448 -0.71635962] [ 0.00228729 0.99999609 0.0016089 -0.0709249 ] [ 0.02548076 -0.00166667 0.99967392 -0.29415456] [ 0. 0. 0. 1. ]] SLAMing on 87.18313336499999 meters Centerline goodness : 0.126502 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99967254 -0.00231992 -0.02548406 -0.71631571] [ 0.00236391 0.99999577 0.0016964 -0.07200507] [ 0.02548002 -0.00175608 0.99967379 -0.29414991] [ 0. 0. 0. 1. ]] SLAMing on 87.21313336499999 meters Centerline goodness : 0.182202 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99967077 -0.0023323 -0.02555224 -0.71619056] [ 0.00237931 0.99999553 0.00180961 -0.07295494] [ 0.0255479 -0.00186981 0.99967185 -0.2940935 ] [ 0. 0. 0. 1. ]] SLAMing on 87.24313336499999 meters Centerline goodness : 0.120109 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.29 [[ 0.99966785 -0.00224451 -0.02567394 -0.71587225] [ 0.00229689 0.99999534 0.00201094 -0.07380406] [ 0.0256693 -0.00206925 0.99966835 -0.29412914] [ 0. 0. 0. 1. ]] SLAMing on 87.27313336499999 meters Centerline goodness : 0.127260 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99967064 -0.0020042 -0.02558493 -0.71620523] [ 0.00206838 0.99999478 0.00248248 -0.07558514] [ 0.02557982 -0.00253458 0.99966957 -0.29387328] [ 0. 0. 0. 1. ]] SLAMing on 87.303133365 meters Centerline goodness : 0.127901 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99967601 -0.00197096 -0.0253768 -0.71699534] [ 0.00203729 0.99999458 0.00258807 -0.07627473] [ 0.02537157 -0.00263893 0.99967461 -0.29337634] [ 0. 0. 0. 1. ]] SLAMing on 87.333133365 meters Centerline goodness : 0.153536 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968651 -0.00192742 -0.02496326 -0.71847773] [ 0.00199556 0.99999435 0.00270525 -0.07703341] [ 0.02495791 -0.00275421 0.99968471 -0.29262483] [ 0. 0. 0. 1. ]] SLAMing on 87.363133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 87.393133365 meters Centerline goodness : 0.134315 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99970142 -0.00180379 -0.02436827 -0.72019219] [ 0.00187743 0.99999374 0.00299918 -0.07865418] [ 0.02436271 -0.00304403 0.99969855 -0.29217459] [ 0. 0. 0. 1. ]] SLAMing on 87.423133365 meters Centerline goodness : 0.132511 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99969471 -0.00175201 -0.024646 -0.7190962 ] [ 0.00182769 0.99999368 0.00304854 -0.07875311] [ 0.0246405 -0.00309265 0.99969159 -0.29289495] [ 0. 0. 0. 1. ]] SLAMing on 87.453133365 meters Centerline goodness : 0.132873 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968831 -0.0015837 -0.02491534 -0.71808756] [ 0.00166791 0.99999297 0.00335911 -0.07980343] [ 0.02490985 -0.00339962 0.99968392 -0.2934746 ] [ 0. 0. 0. 1. ]] SLAMing on 87.48313336499999 meters Centerline goodness : 0.152843 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968908 -0.00154799 -0.02488677 -0.71826785] [ 0.00163636 0.99999243 0.00353088 -0.0808991 ] [ 0.02488111 -0.00357051 0.99968404 -0.29328581] [ 0. 0. 0. 1. ]] SLAMing on 87.51313336499999 meters Centerline goodness : 0.156680 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.29 [[ 0.99968936 -0.00155287 -0.02487516 -0.7184908 ] [ 0.00164556 0.99999178 0.00370611 -0.08225593] [ 0.0248692 -0.00374589 0.9996837 -0.29294512] [ 0. 0. 0. 1. ]] SLAMing on 87.54313336499999 meters Centerline goodness : 0.156910 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99969106 0.00643557 -0.0240077 -0.69946752] [-0.0063838 0.99997713 0.00223257 -0.08697335] [ 0.02402152 -0.00207862 0.99970928 -0.29102427] [ 0. 0. 0. 1. ]] SLAMing on 87.57313336499999 meters Centerline goodness : 0.133057 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99969009 0.00651615 -0.02402621 -0.6994389 ] [-0.00645698 0.99997593 0.0025396 -0.08856877] [ 0.02404218 -0.00238367 0.9997081 -0.29099988] [ 0. 0. 0. 1. ]] SLAMing on 87.60313336499999 meters Centerline goodness : 0.131931 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99968324 0.00672579 -0.02425265 -0.69858677] [-0.00665061 0.99997283 0.00317901 -0.09175385] [ 0.02427337 -0.00301671 0.99970081 -0.29141178] [ 0. 0. 0. 1. ]] SLAMing on 87.63313336499999 meters Centerline goodness : 0.159437 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99968135 0.0067779 -0.02431572 -0.69831007] [-0.0066973 0.99997181 0.00339435 -0.09307626] [ 0.02433804 -0.00323042 0.99969857 -0.29157666] [ 0. 0. 0. 1. ]] SLAMing on 87.663133365 meters Centerline goodness : 0.163288 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99968232 0.00679754 -0.0242702 -0.69835821] [-0.00671587 0.99997152 0.00344472 -0.09346273] [ 0.02429293 -0.00328063 0.9996995 -0.29169102] [ 0. 0. 0. 1. ]] SLAMing on 87.693133365 meters Centerline goodness : 0.131452 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99969912 0.00705988 -0.0234911 -0.70031288] [-0.00698012 0.9999696 0.00347586 -0.09243775] [ 0.02351493 -0.00331085 0.999718 -0.29153985] [ 0. 0. 0. 1. ]] SLAMing on 87.723133365 meters Centerline goodness : 0.132901 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970421 0.00708212 -0.02326678 -0.70086402] [-0.00700749 0.99997004 0.00328729 -0.0910751 ] [ 0.02328936 -0.00312328 0.99972389 -0.29155972] [ 0. 0. 0. 1. ]] SLAMing on 87.753133365 meters Centerline goodness : 0.141678 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970561 0.00702221 -0.02322439 -0.70102373] [-0.00695381 0.99997125 0.00302467 -0.08966277] [ 0.02324496 -0.00286228 0.9997257 -0.29152723] [ 0. 0. 0. 1. ]] SLAMing on 87.783133365 meters Centerline goodness : 0.134675 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970503 0.00690125 -0.0232857 -0.70072944] [-0.00683992 0.99997293 0.00271244 -0.0883536 ] [ 0.02330379 -0.00255236 0.99972517 -0.29182346] [ 0. 0. 0. 1. ]] SLAMing on 87.813133365 meters Centerline goodness : 0.133309 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970314 0.0067452 -0.02341223 -0.70020213] [-0.00669234 0.99997488 0.00233524 -0.08679877] [ 0.02342739 -0.00217786 0.99972317 -0.29225814] [ 0. 0. 0. 1. ]] SLAMing on 87.843133365 meters Centerline goodness : 0.133707 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970544 0.00669689 -0.02332768 -0.70047194] [-0.00664689 0.99997544 0.00222027 -0.08624966] [ 0.02334198 -0.00206456 0.99972541 -0.29219075] [ 0. 0. 0. 1. ]] SLAMing on 87.87313336499999 meters Centerline goodness : 0.137601 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970791 0.00670501 -0.02321951 -0.70082156] [-0.0066561 0.99997547 0.00218297 -0.08583448] [ 0.02323358 -0.00202778 0.99972801 -0.29207357] [ 0. 0. 0. 1. ]] SLAMing on 87.90313336499999 meters Centerline goodness : 0.129031 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970878 0.00670373 -0.02318235 -0.70089186] [-0.00665523 0.9999755 0.00216884 -0.08565078] [ 0.02319632 -0.00201393 0.9997289 -0.29212885] [ 0. 0. 0. 1. ]] SLAMing on 87.93313336499999 meters Centerline goodness : 0.150442 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970155 0.00666067 -0.02350401 -0.69984695] [-0.00660807 0.99997549 0.00231489 -0.08669582] [ 0.02351885 -0.00215888 0.99972106 -0.29250465] [ 0. 0. 0. 1. ]] SLAMing on 87.96313336499999 meters Centerline goodness : 0.121085 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970057 0.00668176 -0.0235398 -0.69977278] [-0.00662569 0.99997503 0.00245886 -0.08766081] [ 0.02355565 -0.00230216 0.99971988 -0.29248347] [ 0. 0. 0. 1. ]] SLAMing on 87.99313336499999 meters Centerline goodness : 0.134160 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99970117 0.00669445 -0.02351074 -0.70002935] [-0.00663476 0.99997457 0.00261605 -0.08872317] [ 0.02352766 -0.00245928 0.99972016 -0.29217279] [ 0. 0. 0. 1. ]] SLAMing on 88.02313336499999 meters Centerline goodness : 0.133632 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.09, Z:-0.29 [[ 0.99973213 -0.00206054 -0.02305272 -0.7215718 ] [ 0.00215463 0.99998945 0.00405745 -0.08788043] [ 0.02304412 -0.00410603 0.99972602 -0.29341173] [ 0. 0. 0. 1. ]] SLAMing on 88.053133365 meters Centerline goodness : 0.133118 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.09, Z:-0.29 [[ 0.99973719 -0.00197492 -0.02283985 -0.72212929] [ 0.00207226 0.99998887 0.00423869 -0.08862635] [ 0.02283122 -0.0042849 0.99973015 -0.29330818] [ 0. 0. 0. 1. ]] SLAMing on 88.083133365 meters Centerline goodness : 0.155263 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 0.99974189 0.00632761 -0.02182014 -0.70316158] [-0.00626851 0.9999765 0.00277549 -0.09235769] [ 0.02183719 -0.002638 0.99975806 -0.29188342] [ 0. 0. 0. 1. ]] SLAMing on 88.113133365 meters Centerline goodness : 0.154255 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.09, Z:-0.29 [[ 9.99769443e-01 3.18001906e-03 -2.12355508e-02 -7.04525736e-01] [-3.18893365e-03 9.99994841e-01 -3.85945468e-04 -9.31808847e-02] [ 2.12342139e-02 4.53575248e-04 9.99774426e-01 -2.92071355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.143133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 88.173133365 meters Centerline goodness : 0.137120 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99709429e-01 2.32806662e-03 -2.39924388e-02 -7.48169963e-01] [-2.32580583e-03 9.99997288e-01 1.22133835e-04 -9.71764362e-02] [ 2.39926580e-02 -6.62965924e-05 9.99712133e-01 -2.93123925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.203133365 meters Centerline goodness : 0.118117 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99704936e-01 2.29436928e-03 -2.41821510e-02 -7.47469577e-01] [-2.29197309e-03 9.99997365e-01 1.26805255e-04 -9.74847835e-02] [ 2.41823782e-02 -7.13430000e-05 9.99707561e-01 -2.93518707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23313336499999 meters Centerline goodness : 0.143620 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99695347e-01 2.19824691e-03 -2.45841439e-02 -7.46624282e-01] [-2.19423566e-03 9.99997575e-01 1.90138766e-04 -9.86265834e-02] [ 2.45845023e-02 -1.36137434e-04 9.99697746e-01 -2.93387973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26313336499999 meters Centerline goodness : 0.165029 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99696804e-01 2.29966667e-03 -2.45155237e-02 -7.46949238e-01] [-2.28929899e-03 9.99997278e-01 4.50960344e-04 -9.97243080e-02] [ 2.45164941e-02 -3.94700251e-04 9.99699348e-01 -2.93152662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29313336499999 meters Centerline goodness : 0.135698 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99697684e-01 2.36273945e-03 -2.44736140e-02 -7.46921319e-01] [-2.34849707e-03 9.99997056e-01 6.10674187e-04 -1.00343672e-01] [ 2.44749848e-02 -5.53013359e-04 9.99700290e-01 -2.93358112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32313336499999 meters Centerline goodness : 0.144598 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99692619e-01 2.25033910e-03 -2.46901682e-02 -7.45793036e-01] [-2.23684937e-03 9.99997334e-01 5.73965158e-04 -1.00690937e-01] [ 2.46913940e-02 -5.18560545e-04 9.99694987e-01 -2.94301127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35313336499999 meters Centerline goodness : 0.122202 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99690004e-01 2.15943391e-03 -2.48038900e-02 -7.45456581e-01] [-2.14631535e-03 9.99997542e-01 5.55501914e-04 -1.01179585e-01] [ 2.48050286e-02 -5.02092740e-04 9.99692182e-01 -2.94400534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38313336499999 meters Centerline goodness : 0.158311 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99686304e-01 2.17504218e-03 -2.49512073e-02 -7.45241668e-01] [-2.15843233e-03 9.99997431e-01 6.92605860e-04 -1.02067028e-01] [ 2.49526497e-02 -6.38533099e-04 9.99688430e-01 -2.94201301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.413133365 meters Centerline goodness : 0.134196 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.29 [[ 9.99679415e-01 2.21397421e-03 -2.52223092e-02 -7.44723868e-01] [-2.19202179e-03 9.99997194e-01 8.97972210e-04 -1.03125810e-01] [ 2.52242265e-02 -8.42396483e-04 9.99681464e-01 -2.93980139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.443133365 meters Centerline goodness : 0.129787 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.10, Z:-0.29 [[ 0.99967232 0.00233911 -0.02549065 -0.74425304] [-0.00230663 0.99999649 0.00130353 -0.1049474 ] [ 0.02549361 -0.00124431 0.99967421 -0.29370029] [ 0. 0. 0. 1. ]] SLAMing on 88.473133365 meters Centerline goodness : 0.134053 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.11, Z:-0.29 [[ 0.99967394 0.00237206 -0.02542417 -0.7444703 ] [-0.00233686 0.99999627 0.00141442 -0.10553519] [ 0.02542743 -0.00135455 0.99967575 -0.29358605] [ 0. 0. 0. 1. ]] SLAMing on 88.503133365 meters Centerline goodness : 0.125365 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.11, Z:-0.29 [[ 0.99967966 0.00239963 -0.02519564 -0.74515577] [-0.00236435 0.99999618 0.00143004 -0.10558112] [ 0.02519898 -0.00137001 0.99968152 -0.29338711] [ 0. 0. 0. 1. ]] SLAMing on 88.533133365 meters Centerline goodness : 0.154311 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 0.9996876 0.00238173 -0.02488036 -0.74608259] [-0.00235045 0.99999641 0.00128614 -0.1047164 ] [ 0.02488333 -0.00122726 0.99968961 -0.29312327] [ 0. 0. 0. 1. ]] SLAMing on 88.563133365 meters Centerline goodness : 0.153478 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99693710e-01 2.33654042e-03 -2.46379152e-02 -7.46576408e-01] [-2.31325648e-03 9.99996851e-01 9.73503796e-04 -1.02955848e-01] [ 2.46401122e-02 -9.16211804e-04 9.99695966e-01 -2.93275197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.593133365 meters Centerline goodness : 0.133455 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99690963e-01 2.66194893e-03 -2.47162466e-02 -7.46119540e-01] [-2.64912969e-03 9.99996339e-01 5.51385397e-04 -9.94222644e-02] [ 2.47176239e-02 -4.85738456e-04 9.99694355e-01 -2.93911179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62313336499999 meters Centerline goodness : 0.175699 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99688620e-01 2.59115067e-03 -2.48183000e-02 -7.45681036e-01] [-2.58864363e-03 9.99996641e-01 1.33142908e-04 -9.71828488e-02] [ 2.48185616e-02 -6.88557156e-05 9.99691970e-01 -2.94335916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65313336499999 meters Centerline goodness : 0.133741 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.10, Z:-0.29 [[ 9.99688526e-01 2.58447908e-03 -2.48228010e-02 -7.45573043e-01] [-2.58876627e-03 9.99996639e-01 -1.40578183e-04 -9.53853446e-02] [ 2.48223543e-02 2.04794827e-04 9.99691857e-01 -2.94567816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68313336499999 meters Centerline goodness : 0.132466 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99689836e-01 2.59769472e-03 -2.47686042e-02 -7.45632648e-01] [-2.60708766e-03 9.99996541e-01 -3.46943375e-04 -9.38804047e-02] [ 2.47676172e-02 4.11409688e-04 9.99693151e-01 -2.94760882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71313336499999 meters Centerline goodness : 0.129785 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99691669e-01 2.53020243e-03 -2.47015045e-02 -7.45694693e-01] [-2.54509347e-03 9.99996598e-01 -5.71419532e-04 -9.26747009e-02] [ 2.46999746e-02 6.34110984e-04 9.99694708e-01 -2.94959361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 88.77313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 88.803133365 meters Centerline goodness : 0.156779 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99696755e-01 2.37482060e-03 -2.45103859e-02 -7.46188511e-01] [-2.39573795e-03 9.99996791e-01 -8.24078245e-04 -9.20166364e-02] [ 2.45083502e-02 8.82548808e-04 9.99699236e-01 -2.94925643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.833133365 meters Centerline goodness : 0.153640 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.29 [[ 9.99697125e-01 2.38653601e-03 -2.44941392e-02 -7.46221727e-01] [-2.40855681e-03 9.99996721e-01 -8.69560442e-04 -9.15144033e-02] [ 2.44919837e-02 9.28292599e-04 9.99699595e-01 -2.94974172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.863133365 meters Centerline goodness : 0.131198 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 9.99697497e-01 2.38884688e-03 -2.44787295e-02 -7.46135660e-01] [-2.41280776e-03 9.99996639e-01 -9.49356101e-04 -9.07658330e-02] [ 2.44763793e-02 1.00813139e-03 9.99699900e-01 -2.95195411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.893133365 meters Centerline goodness : 0.130656 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.99969715 0.00233797 -0.02449772 -0.74595379] [-0.00236667 0.99999655 -0.00114251 -0.08966297] [ 0.02449496 0.00120014 0.99969923 -0.29540768] [ 0. 0. 0. 1. ]] SLAMing on 88.923133365 meters Centerline goodness : 0.131709 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.9997148 0.00237197 -0.0237633 -0.74797727] [-0.00241071 0.99999581 -0.00160158 -0.08669772] [ 0.0237594 0.00165841 0.99971633 -0.29503675] [ 0. 0. 0. 1. ]] SLAMing on 88.953133365 meters Centerline goodness : 0.069717 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.29 [[ 0.99972175 0.00230057 -0.02347599 -0.74879793] [-0.00234865 0.9999952 -0.00202074 -0.08432882] [ 0.02347122 0.00207532 0.99972236 -0.29490923] [ 0. 0. 0. 1. ]] SLAMing on 88.98313336499999 meters Centerline goodness : 0.058423 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.999723 0.00229367 -0.02342371 -0.7488873 ] [-0.00235175 0.99999423 -0.00245218 -0.08147969] [ 0.02341795 0.00250658 0.99972262 -0.29512819] [ 0. 0. 0. 1. ]] SLAMing on 89.01313336499999 meters Centerline goodness : 0.128942 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:-0.30 [[ 0.99972241 0.00232258 -0.02344578 -0.74860752] [-0.00239083 0.99999299 -0.00288335 -0.07820592] [ 0.02343892 0.0029386 0.99972095 -0.2956288 ] [ 0. 0. 0. 1. ]] SLAMing on 89.04313336499999 meters Centerline goodness : 0.131628 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99972393 0.00224325 -0.02338869 -0.74859194] [-0.00232358 0.99999149 -0.0034079 -0.074994 ] [ 0.02338084 0.00346131 0.99972064 -0.29602174] [ 0. 0. 0. 1. ]] SLAMing on 89.07313336499999 meters Centerline goodness : 0.149161 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99972672 0.00212991 -0.02327977 -0.74875576] [-0.00222167 0.99998986 -0.00391606 -0.07209817] [ 0.02327119 0.00396671 0.99972132 -0.29628434] [ 0. 0. 0. 1. ]] SLAMing on 89.10313336499999 meters Centerline goodness : 0.132648 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973204 0.0018523 -0.02307432 -0.74942009] [-0.00196247 0.99998678 -0.00475298 -0.06759613] [ 0.02306521 0.00479698 0.99972245 -0.29623545] [ 0. 0. 0. 1. ]] SLAMing on 89.13313336499999 meters Centerline goodness : 0.132444 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973273 0.00173245 -0.02305368 -0.74966713] [-0.0018485 0.99998572 -0.00501352 -0.06627179] [ 0.02304467 0.0050548 0.99972166 -0.29592786] [ 0. 0. 0. 1. ]] SLAMing on 89.163133365 meters Centerline goodness : 0.129136 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973175 0.00165071 -0.02310184 -0.74963367] [-0.00176932 0.99998535 -0.00511476 -0.06590055] [ 0.02309306 0.00515426 0.99972003 -0.29581115] [ 0. 0. 0. 1. ]] SLAMing on 89.193133365 meters Centerline goodness : 0.127779 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99973046 0.00151749 -0.02316685 -0.74948525] [-0.00163807 0.99998521 -0.00518655 -0.06596345] [ 0.02315863 0.0052231 0.99971816 -0.29577245] [ 0. 0. 0. 1. ]] SLAMing on 89.223133365 meters Centerline goodness : 0.129595 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99972324 0.00112194 -0.02349844 -0.74825328] [-0.00125116 0.99998417 -0.00548507 -0.06582331] [ 0.02349191 0.00551295 0.99970883 -0.29638108] [ 0. 0. 0. 1. ]] SLAMing on 89.253133365 meters Centerline goodness : 0.129865 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99971854 0.00106222 -0.0237005 -0.74769812] [-0.00119418 0.99998386 -0.00555451 -0.06556623] [ 0.02369422 0.00558125 0.99970367 -0.29648934] [ 0. 0. 0. 1. ]] SLAMing on 89.283133365 meters Centerline goodness : 0.125378 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 0.99971601 0.00102972 -0.0238085 -0.74737682] [-0.00116396 0.9999835 -0.00562497 -0.06506253] [ 0.02380232 0.00565108 0.99970071 -0.29660044] [ 0. 0. 0. 1. ]] SLAMing on 89.313133365 meters Centerline goodness : 0.123235 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99971244 0.00102323 -0.02395826 -0.74690756] [-0.00115925 0.99998329 -0.00566402 -0.06466578] [ 0.02395206 0.00569016 0.99969691 -0.29679239] [ 0. 0. 0. 1. ]] SLAMing on 89.343133365 meters Centerline goodness : 0.126622 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99971009 0.00100783 -0.02405652 -0.74654481] [-0.0011458 0.99998297 -0.00572209 -0.06429278] [ 0.02405034 0.00574799 0.99969422 -0.29700531] [ 0. 0. 0. 1. ]] SLAMing on 89.37313336499999 meters Centerline goodness : 0.139047 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99706980e-01 8.64097145e-04 -2.41910712e-02 -7.46011189e-01] [-1.01168603e-03 9.99980948e-01 -6.08939168e-03 -6.26080455e-02] [ 2.41853485e-02 6.11208113e-03 9.99688807e-01 -2.97364868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40313336499999 meters Centerline goodness : 0.135479 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99705927e-01 7.86813947e-04 -2.42371846e-02 -7.45736807e-01] [-9.40280175e-04 9.99979580e-01 -6.32110484e-03 -6.14226579e-02] [ 2.42317161e-02 6.34203572e-03 9.99686252e-01 -2.97674360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43313336499999 meters Centerline goodness : 0.129935 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99705546e-01 7.22940653e-04 -2.42548626e-02 -7.45556477e-01] [-8.82116452e-04 9.99978143e-01 -6.55257714e-03 -6.01073173e-02] [ 2.42495953e-02 6.57204332e-03 9.99684333e-01 -2.97967775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46313336499999 meters Centerline goodness : 0.131967 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99707235e-01 6.50860434e-04 -2.41872106e-02 -7.45619618e-01] [-8.14220687e-04 9.99976922e-01 -6.74475862e-03 -5.90776716e-02] [ 2.41822626e-02 6.76247772e-03 9.99684694e-01 -2.98158416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49313336499999 meters Centerline goodness : 0.133068 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99718997e-01 4.77184958e-04 -2.37002152e-02 -7.47311567e-01] [-6.44687273e-04 9.99974867e-01 -7.06040627e-03 -5.77676574e-02] [ 2.36962504e-02 7.07370150e-03 9.99694178e-01 -2.97334266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52313336499999 meters Centerline goodness : 0.141245 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99729350e-01 4.56903502e-04 -2.32597978e-02 -7.48943423e-01] [-6.21284478e-04 9.99974882e-01 -7.06043548e-03 -5.77225991e-02] [ 2.32559876e-02 7.07297553e-03 9.99704522e-01 -2.96464211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.553133365 meters Centerline goodness : 0.141305 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99733171e-01 4.80405677e-04 -2.30945119e-02 -7.49754687e-01] [-6.41538938e-04 9.99975502e-01 -6.97022086e-03 -5.79621688e-02] [ 2.30905976e-02 6.98317703e-03 9.99708987e-01 -2.95796649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.583133365 meters Centerline goodness : 0.147008 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99722082e-01 5.16479106e-04 -2.35688735e-02 -7.48272931e-01] [-6.74076906e-04 9.99977466e-01 -6.67923735e-03 -5.91684566e-02] [ 2.35648927e-02 6.69326831e-03 9.99699903e-01 -2.96328801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.613133365 meters Centerline goodness : 0.167007 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99717539e-01 5.38021938e-04 -2.37603279e-02 -7.47663445e-01] [-6.92453444e-04 9.99978688e-01 -6.49180351e-03 -6.02290535e-02] [ 2.37563288e-02 6.50642275e-03 9.99696606e-01 -2.96539811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.643133365 meters Centerline goodness : 0.145435 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99717179e-01 5.28874751e-04 -2.37756826e-02 -7.47865012e-01] [-6.78777328e-04 9.99979942e-01 -6.29724143e-03 -6.16308621e-02] [ 2.37718752e-02 6.31159883e-03 9.99697485e-01 -2.96116556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.673133365 meters Centerline goodness : 0.129005 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99719300e-01 5.51795359e-04 -2.36858089e-02 -7.48473125e-01] [-6.95473608e-04 9.99981407e-01 -6.05819669e-03 -6.31365248e-02] [ 2.36820256e-02 6.07296900e-03 9.99701096e-01 -2.95442056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.703133365 meters Centerline goodness : 0.129166 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.29 [[ 9.99723714e-01 6.39279259e-04 -2.34965209e-02 -7.49199776e-01] [-7.75469363e-04 9.99982951e-01 -5.78752713e-03 -6.44926823e-02] [ 2.34924205e-02 5.80414895e-03 9.99707166e-01 -2.94983138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73313336499999 meters Centerline goodness : 0.128406 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 9.99725906e-01 7.80371855e-04 -2.33988081e-02 -7.49421050e-01] [-9.08923481e-04 9.99984551e-01 -5.48380721e-03 -6.57790511e-02] [ 2.33941672e-02 5.50357186e-03 9.99711170e-01 -2.95038984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76313336499999 meters Centerline goodness : 0.130027 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 9.99727929e-01 8.50295049e-04 -2.33097482e-02 -7.49491026e-01] [-9.74839529e-04 9.99985309e-01 -5.33217888e-03 -6.64897917e-02] [ 2.33048719e-02 5.35345141e-03 9.99714071e-01 -2.95237515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79313336499999 meters Centerline goodness : 0.129868 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:-0.30 [[ 9.99722160e-01 8.74095784e-04 -2.35550234e-02 -7.48453899e-01] [-1.00277791e-03 9.99984636e-01 -5.45178604e-03 -6.61273563e-02] [ 2.35498962e-02 5.47389177e-03 9.99707677e-01 -2.95962774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82313336499999 meters Centerline goodness : 0.127845 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99714560e-01 8.76594336e-04 -2.38753209e-02 -7.47343840e-01] [-1.01306142e-03 9.99983217e-01 -5.70432638e-03 -6.46758956e-02] [ 2.38699198e-02 5.72688530e-03 9.99698669e-01 -2.96581323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85313336499999 meters Centerline goodness : 0.125084 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99970457 0.0018651 -0.0242343 -0.74602686] [-0.00199681 0.99998336 -0.00541178 -0.06178301] [ 0.0242238 0.00545858 0.99969166 -0.29755858] [ 0. 0. 0. 1. ]] SLAMing on 89.88313336499999 meters Centerline goodness : 0.124866 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99970136 0.0018947 -0.0243639 -0.74526768] [-0.00203637 0.99998116 -0.00579161 -0.05939548] [ 0.02435247 0.00583949 0.99968638 -0.29841144] [ 0. 0. 0. 1. ]] SLAMing on 89.913133365 meters Centerline goodness : 0.138339 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99965168 -0.00308919 -0.02621028 -0.72348327] [ 0.00299284 0.99998862 -0.00371435 -0.05261329] [ 0.02622145 0.00363462 0.99964955 -0.29804675] [ 0. 0. 0. 1. ]] SLAMing on 89.943133365 meters Centerline goodness : 0.128585 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99964895 -0.00322744 -0.0262974 -0.72295524] [ 0.00311974 0.99998658 -0.00413544 -0.05060915] [ 0.0263104 0.00405195 0.99964561 -0.2986387 ] [ 0. 0. 0. 1. ]] SLAMing on 89.973133365 meters Centerline goodness : 0.138081 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.9996517 -0.00333262 -0.02617959 -0.72317026] [ 0.00321703 0.9999849 -0.00445602 -0.04893204] [ 0.02619405 0.00437025 0.99964732 -0.2988701 ] [ 0. 0. 0. 1. ]] SLAMing on 90.003133365 meters Centerline goodness : 0.138253 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99965542 -0.00338769 -0.02603022 -0.72358897] [ 0.00326779 0.99998386 -0.00464724 -0.04778202] [ 0.02604554 0.00456058 0.99965035 -0.29885527] [ 0. 0. 0. 1. ]] SLAMing on 90.033133365 meters Centerline goodness : 0.130588 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99965004 -0.00364789 -0.02620086 -0.72316396] [ 0.00352229 0.99998209 -0.00483823 -0.04756827] [ 0.02621804 0.00474425 0.99964499 -0.29885571] [ 0. 0. 0. 1. ]] SLAMing on 90.063133365 meters Centerline goodness : 0.138261 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99963704 -0.00379301 -0.02667197 -0.72190007] [ 0.00366631 0.99998177 -0.00479762 -0.04843887] [ 0.02668968 0.00469809 0.99963273 -0.29902917] [ 0. 0. 0. 1. ]] SLAMing on 90.093133365 meters Centerline goodness : 0.140570 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99963026 -0.00379245 -0.02692512 -0.72114944] [ 0.00367105 0.99998288 -0.00455678 -0.04980742] [ 0.02694194 0.00445625 0.99962707 -0.29922124] [ 0. 0. 0. 1. ]] SLAMing on 90.12313336499999 meters Centerline goodness : 0.127635 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99962803 -0.00367474 -0.0270241 -0.72079357] [ 0.00356361 0.999985 -0.00415926 -0.05156373] [ 0.02703898 0.00406141 0.99962613 -0.29935125] [ 0. 0. 0. 1. ]] SLAMing on 90.15313336499999 meters Centerline goodness : 0.129041 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99962866 -0.00362388 -0.02700742 -0.72076633] [ 0.00352073 0.99998633 -0.00386616 -0.05308517] [ 0.02702106 0.00376964 0.99962776 -0.29936873] [ 0. 0. 0. 1. ]] SLAMing on 90.18313336499999 meters Centerline goodness : 0.129294 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.05, Z:-0.30 [[ 0.99963137 -0.00364917 -0.02690375 -0.72110192] [ 0.00355099 0.99998686 -0.00369628 -0.05438661] [ 0.02691688 0.00359938 0.99963119 -0.29914546] [ 0. 0. 0. 1. ]] SLAMing on 90.21313336499999 meters Centerline goodness : 0.127491 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99967078 0.00389616 -0.02536041 -0.70380574] [-0.00403647 0.99997682 -0.00548352 -0.05982773] [ 0.02533846 0.00558408 0.99966333 -0.29664184] [ 0. 0. 0. 1. ]] SLAMing on 90.24313336499999 meters Centerline goodness : 0.144918 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.29 [[ 0.99969741 -0.00325866 -0.02438184 -0.6860116 ] [ 0.00316724 0.99998781 -0.00378689 -0.05517742] [ 0.02439388 0.00370852 0.99969555 -0.29448641] [ 0. 0. 0. 1. ]] SLAMing on 90.27313336499999 meters Centerline goodness : 0.118891 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970527 0.00490319 -0.02377671 -0.70724935] [-0.00500318 0.99997888 -0.00414752 -0.0609305 ] [ 0.02375587 0.00426526 0.99970869 -0.2957396 ] [ 0. 0. 0. 1. ]] SLAMing on 90.303133365 meters Centerline goodness : 0.129580 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970822 0.00489271 -0.02365463 -0.70744488] [-0.00499277 0.99997883 -0.00417304 -0.06091987] [ 0.02363371 0.00428993 0.99971148 -0.29590642] [ 0. 0. 0. 1. ]] SLAMing on 90.333133365 meters Centerline goodness : 0.137512 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.29 [[ 0.9996801 -0.00230211 -0.02518708 -0.68798161] [ 0.0022051 0.99999005 -0.00387867 -0.05615976] [ 0.02519576 0.00382189 0.99967523 -0.29482285] [ 0. 0. 0. 1. ]] SLAMing on 90.363133365 meters Centerline goodness : 0.126060 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99966672 0.00551654 -0.02521947 -0.70733938] [-0.00564066 0.99997231 -0.00485314 -0.06169893] [ 0.02519199 0.00499378 0.99967016 -0.29697842] [ 0. 0. 0. 1. ]] SLAMing on 90.393133365 meters Centerline goodness : 0.127444 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99966577 0.00554809 -0.0252499 -0.70711912] [-0.00567368 0.99997188 -0.00490484 -0.0612313 ] [ 0.02522198 0.00504646 0.99966914 -0.29723024] [ 0. 0. 0. 1. ]] SLAMing on 90.423133365 meters Centerline goodness : 0.129539 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99966742 0.00553302 -0.02518786 -0.70710168] [-0.00566062 0.99997149 -0.00499731 -0.06076779] [ 0.0251595 0.00513823 0.99967024 -0.2975272 ] [ 0. 0. 0. 1. ]] SLAMing on 90.453133365 meters Centerline goodness : 0.129162 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.9996725 0.00551234 -0.02499013 -0.70744504] [-0.00564222 0.99997093 -0.00512971 -0.06013416] [ 0.02496112 0.00526903 0.99967454 -0.29777289] [ 0. 0. 0. 1. ]] SLAMing on 90.48313336499999 meters Centerline goodness : 0.126507 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99969309 0.00557017 -0.02413896 -0.70958099] [-0.00570172 0.99996925 -0.00538425 -0.05828844] [ 0.02410823 0.00552024 0.99969411 -0.2976754 ] [ 0. 0. 0. 1. ]] SLAMing on 90.51313336499999 meters Centerline goodness : 0.124984 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970309 0.00555381 -0.02372539 -0.71065075] [-0.00568656 0.99996853 -0.00553152 -0.05729526] [ 0.02369392 0.00566479 0.99970321 -0.2975886 ] [ 0. 0. 0. 1. ]] SLAMing on 90.54313336499999 meters Centerline goodness : 0.125631 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970807 0.00551374 -0.02352404 -0.71109154] [-0.0056495 0.99996775 -0.00570861 -0.05625507] [ 0.02349181 0.00583984 0.99970697 -0.2977213 ] [ 0. 0. 0. 1. ]] SLAMing on 90.57313336499999 meters Centerline goodness : 0.125424 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.06, Z:-0.30 [[ 0.99970817 0.0054398 -0.0235367 -0.71079688] [-0.00558087 0.99996683 -0.00593212 -0.05513977] [ 0.02350365 0.00606174 0.99970537 -0.2981936 ] [ 0. 0. 0. 1. ]] SLAMing on 90.60313336499999 meters Centerline goodness : 0.169300 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968999 -0.00304912 -0.02471081 -0.72933763] [ 0.00293652 0.99998515 -0.00459184 -0.05173528] [ 0.02472445 0.00451785 0.9996841 -0.30063702] [ 0. 0. 0. 1. ]] SLAMing on 90.63313336499999 meters Centerline goodness : 0.125563 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968554 -0.00306746 -0.024888 -0.72856472] [ 0.00295247 0.9999848 -0.00465587 -0.05146252] [ 0.0249019 0.00458093 0.9996794 -0.30124338] [ 0. 0. 0. 1. ]] SLAMing on 90.663133365 meters Centerline goodness : 0.125563 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968554 -0.00306746 -0.024888 -0.72856472] [ 0.00295247 0.9999848 -0.00465587 -0.05146252] [ 0.0249019 0.00458093 0.9996794 -0.30124338] [ 0. 0. 0. 1. ]] SLAMing on 90.693133365 meters Centerline goodness : 0.125296 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968754 -0.00316675 -0.02479496 -0.72902858] [ 0.00304749 0.99998361 -0.004846 -0.05074718] [ 0.02480989 0.00476893 0.99968081 -0.30091195] [ 0. 0. 0. 1. ]] SLAMing on 90.723133365 meters Centerline goodness : 0.124465 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968897 -0.00319245 -0.02473404 -0.7294614 ] [ 0.00307117 0.99998308 -0.00493969 -0.05020027] [ 0.02474939 0.00486219 0.99968186 -0.3004877 ] [ 0. 0. 0. 1. ]] SLAMing on 90.753133365 meters Centerline goodness : 0.126470 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968792 -0.00321846 -0.02477313 -0.72933171] [ 0.00309385 0.99998238 -0.00506684 -0.0493759 ] [ 0.024789 0.00498861 0.99968026 -0.30058548] [ 0. 0. 0. 1. ]] SLAMing on 90.783133365 meters Centerline goodness : 0.124191 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99968074 -0.00323537 -0.02505891 -0.72833747] [ 0.00310372 0.99998119 -0.00529068 -0.04794582] [ 0.02507555 0.00521122 0.99967198 -0.30112227] [ 0. 0. 0. 1. ]] SLAMing on 90.813133365 meters Centerline goodness : 0.125362 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99967549 -0.00328543 -0.02526122 -0.72740361] [ 0.00314467 0.99997932 -0.00560963 -0.04607388] [ 0.02527913 0.00552837 0.99966515 -0.30192794] [ 0. 0. 0. 1. ]] SLAMing on 90.843133365 meters Centerline goodness : 0.123960 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967451 -0.00336501 -0.02528942 -0.72713452] [ 0.00321631 0.99997731 -0.00591828 -0.04445446] [ 0.02530876 0.00583502 0.99966265 -0.30231002] [ 0. 0. 0. 1. ]] SLAMing on 90.87313336499999 meters Centerline goodness : 0.126448 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99968077 -0.00349684 -0.02502245 -0.72786384] [ 0.00333853 0.99997416 -0.00636589 -0.04216298] [ 0.02504406 0.00628032 0.99966662 -0.30231843] [ 0. 0. 0. 1. ]] SLAMing on 90.90313336499999 meters Centerline goodness : 0.126443 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967957 -0.00356794 -0.02506062 -0.72764665] [ 0.00340417 0.99997259 -0.00657427 -0.04101628] [ 0.02508339 0.00648686 0.99966432 -0.30258656] [ 0. 0. 0. 1. ]] SLAMing on 90.93313336499999 meters Centerline goodness : 0.130563 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967384 -0.00362073 -0.02528035 -0.72692729] [ 0.00345023 0.99997103 -0.00678476 -0.03967631] [ 0.02530419 0.00669533 0.99965738 -0.30295006] [ 0. 0. 0. 1. ]] SLAMing on 90.96313336499999 meters Centerline goodness : 0.127368 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967253 -0.00369131 -0.02532191 -0.72667884] [ 0.00351494 0.99996928 -0.00700608 -0.03832576] [ 0.02534699 0.00691478 0.9996548 -0.30323461] [ 0. 0. 0. 1. ]] SLAMing on 90.99313336499999 meters Centerline goodness : 0.132675 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967456 -0.00377519 -0.0252294 -0.72699253] [ 0.00359399 0.99996745 -0.00722352 -0.0371073 ] [ 0.02525585 0.00713049 0.99965559 -0.30312568] [ 0. 0. 0. 1. ]] SLAMing on 91.02313336499999 meters Centerline goodness : 0.130321 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.04, Z:-0.30 [[ 0.99967996 -0.00387101 -0.02499989 -0.72775558] [ 0.00368573 0.99996543 -0.00745317 -0.03582792] [ 0.02502788 0.00735865 0.99965967 -0.30281964] [ 0. 0. 0. 1. ]] SLAMing on 91.053133365 meters Centerline goodness : 0.129142 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968657 -0.00403797 -0.02470734 -0.72889266] [ 0.00384237 0.99996094 -0.00795911 -0.03288597] [ 0.02473851 0.00786168 0.99966304 -0.30224517] [ 0. 0. 0. 1. ]] SLAMing on 91.083133365 meters Centerline goodness : 0.131067 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968612 -0.00415854 -0.02470583 -0.72895811] [ 0.00395498 0.99995788 -0.0082826 -0.03118804] [ 0.02473923 0.00818229 0.99966045 -0.30220304] [ 0. 0. 0. 1. ]] SLAMing on 91.113133365 meters Centerline goodness : 0.125589 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968543 -0.0042721 -0.02471431 -0.72896915] [ 0.00406007 0.99995458 -0.0086232 -0.02938614] [ 0.02475003 0.00852015 0.99965736 -0.30221791] [ 0. 0. 0. 1. ]] SLAMing on 91.143133365 meters Centerline goodness : 0.129201 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968594 -0.00438069 -0.02467458 -0.72931489] [ 0.00416192 0.99995164 -0.00891046 -0.02789786] [ 0.02471242 0.00880497 0.99965583 -0.30185333] [ 0. 0. 0. 1. ]] SLAMing on 91.173133365 meters Centerline goodness : 0.159342 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.03, Z:-0.30 [[ 0.99968889 -0.00462482 -0.02450986 -0.72988662] [ 0.00439363 0.99994543 -0.00947798 -0.02525114] [ 0.02455236 0.00936735 0.99965466 -0.30165011] [ 0. 0. 0. 1. ]] SLAMing on 91.203133365 meters Centerline goodness : 0.135325 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969746 0.00299078 -0.02441397 -0.74862099] [-0.00325512 0.99993643 -0.01079502 -0.03002104] [ 0.02438013 0.01087122 0.99964365 -0.30373489] [ 0. 0. 0. 1. ]] SLAMing on 91.23313336499999 meters Centerline goodness : 0.126114 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969565 0.00291916 -0.02449673 -0.74835207] [-0.00318736 0.99993534 -0.01091632 -0.02942058] [ 0.02446328 0.01099108 0.99964031 -0.30388015] [ 0. 0. 0. 1. ]] SLAMing on 91.26313336499999 meters Centerline goodness : 0.128884 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969324 0.00290904 -0.02459591 -0.74808164] [-0.00317834 0.99993536 -0.01091681 -0.02939084] [ 0.02456256 0.01099163 0.99963787 -0.30394372] [ 0. 0. 0. 1. ]] SLAMing on 91.29313336499999 meters Centerline goodness : 0.131323 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969188 0.00292276 -0.02464952 -0.74802283] [-0.00318962 0.99993666 -0.0107935 -0.03006841] [ 0.02461641 0.0108688 0.99963789 -0.30383622] [ 0. 0. 0. 1. ]] SLAMing on 91.32313336499999 meters Centerline goodness : 0.132315 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.99969803 0.00260021 -0.02443552 -0.74878868] [-0.00286248 0.99993861 -0.01070461 -0.03191767] [ 0.02440619 0.01077132 0.99964409 -0.30329652] [ 0. 0. 0. 1. ]] SLAMing on 91.35313336499999 meters Centerline goodness : 0.134128 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.03, Z:-0.30 [[ 0.9997034 0.00263757 -0.02421056 -0.74945589] [-0.00288895 0.99994222 -0.01035379 -0.03393616] [ 0.02418185 0.01042067 0.99965326 -0.30304132] [ 0. 0. 0. 1. ]] SLAMing on 91.38313336499999 meters Centerline goodness : 0.134544 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99970783 0.00270778 -0.02401906 -0.75007902] [-0.00294697 0.99994637 -0.0099285 -0.03628267] [ 0.02399089 0.00999638 0.9996622 -0.30272592] [ 0. 0. 0. 1. ]] SLAMing on 91.413133365 meters Centerline goodness : 0.137528 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99971275 0.00271025 -0.02381346 -0.7507268 ] [-0.00293815 0.99995017 -0.00954058 -0.03874479] [ 0.02378641 0.00960781 0.99967089 -0.30241665] [ 0. 0. 0. 1. ]] SLAMing on 91.443133365 meters Centerline goodness : 0.139186 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99971031 0.00264937 -0.0239223 -0.75043466] [-0.00286908 0.99995398 -0.00915458 -0.04162029] [ 0.02389695 0.00922056 0.9996719 -0.30240188] [ 0. 0. 0. 1. ]] SLAMing on 91.473133365 meters Centerline goodness : 0.138967 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.04, Z:-0.30 [[ 0.99970347 0.00264324 -0.02420698 -0.74955695] [-0.00285443 0.99995813 -0.00869386 -0.04479184] [ 0.02418299 0.00876038 0.99966916 -0.3026833 ] [ 0. 0. 0. 1. ]] SLAMing on 91.503133365 meters Centerline goodness : 0.135070 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.05, Z:-0.30 [[ 0.99969492 0.0027297 -0.02454836 -0.74845227] [-0.00293065 0.99996246 -0.00815363 -0.04798455] [ 0.02452518 0.00822309 0.99966539 -0.30311856] [ 0. 0. 0. 1. ]] SLAMing on 91.533133365 meters Centerline goodness : 0.135766 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.05, Z:-0.30 [[ 0.99968888 0.00291916 -0.02477141 -0.74772938] [-0.00310699 0.99996669 -0.00754741 -0.05111453] [ 0.02474855 0.00762202 0.99966465 -0.3033847 ] [ 0. 0. 0. 1. ]] SLAMing on 91.563133365 meters Centerline goodness : 0.130577 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.05, Z:-0.30 [[ 0.99968711 0.00308292 -0.02482275 -0.74752287] [-0.00325928 0.99996971 -0.00706762 -0.05356137] [ 0.02480021 0.00714632 0.99966688 -0.30350973] [ 0. 0. 0. 1. ]] SLAMing on 91.593133365 meters Centerline goodness : 0.133565 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 0.99968693 0.00341856 -0.02478601 -0.74768802] [-0.00357484 0.99997399 -0.00626361 -0.05737058] [ 0.02476395 0.00635026 0.99967316 -0.30336713] [ 0. 0. 0. 1. ]] SLAMing on 91.62313336499999 meters Centerline goodness : 0.131623 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.05, Z:-0.30 [[ 0.99967661 -0.00404196 -0.02510645 -0.72857823] [ 0.00391445 0.9999792 -0.00512557 -0.05409602] [ 0.02512664 0.00502563 0.99967164 -0.30172925] [ 0. 0. 0. 1. ]] SLAMing on 91.65313336499999 meters Centerline goodness : 0.131688 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967365 -0.0039719 -0.02523509 -0.72801719] [ 0.00384809 0.99998033 -0.00495309 -0.05505328] [ 0.02525427 0.00485437 0.99966927 -0.30213444] [ 0. 0. 0. 1. ]] SLAMing on 91.68313336499999 meters Centerline goodness : 0.134105 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967247 -0.00388342 -0.02529578 -0.72765897] [ 0.00376464 0.99998167 -0.00474178 -0.05612639] [ 0.02531373 0.004645 0.99966876 -0.30251236] [ 0. 0. 0. 1. ]] SLAMing on 91.71313336499999 meters Centerline goodness : 0.135449 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967091 -0.00377578 -0.02537341 -0.72735279] [ 0.00366302 0.99998321 -0.00448912 -0.05733144] [ 0.02538993 0.0043947 0.99966796 -0.30271741] [ 0. 0. 0. 1. ]] SLAMing on 91.74313336499999 meters Centerline goodness : 0.131287 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99967038 -0.00364715 -0.02541331 -0.72709757] [ 0.00354333 0.9999852 -0.00412887 -0.05906626] [ 0.02542799 0.00403746 0.9996685 -0.30296116] [ 0. 0. 0. 1. ]] SLAMing on 91.77313336499999 meters Centerline goodness : 0.134699 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:-0.30 [[ 0.99966982 -0.00357492 -0.02544561 -0.72698174] [ 0.00348064 0.99998692 -0.00374819 -0.06113638] [ 0.02545868 0.00365838 0.99966918 -0.30297445] [ 0. 0. 0. 1. ]] SLAMing on 91.803133365 meters Centerline goodness : 0.116047 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.07, Z:-0.30 [[ 0.99966378 -0.00439384 -0.02555433 -0.72661648] [ 0.00429721 0.99998341 -0.00383496 -0.06525423] [ 0.02557076 0.00372386 0.99966608 -0.30298808] [ 0. 0. 0. 1. ]] SLAMing on 91.833133365 meters Centerline goodness : 0.132340 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.07, Z:-0.30 [[ 0.99965446 -0.0044753 -0.02590229 -0.72572911] [ 0.0043872 0.9999844 -0.00345696 -0.06786003] [ 0.02591736 0.00334213 0.9996585 -0.30305426] [ 0. 0. 0. 1. ]] SLAMing on 91.863133365 meters Centerline goodness : 0.137078 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.30 [[ 0.9996463 -0.00443347 -0.02622257 -0.72492179] [ 0.00435631 0.99998601 -0.00299906 -0.0703122 ] [ 0.0262355 0.00288377 0.99965163 -0.30311031] [ 0. 0. 0. 1. ]] SLAMing on 91.893133365 meters Centerline goodness : 0.138736 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.30 [[ 0.99963975 -0.00434796 -0.02648524 -0.72408027] [ 0.00428196 0.99998759 -0.00254831 -0.07261379] [ 0.02649599 0.00243398 0.99964596 -0.30344316] [ 0. 0. 0. 1. ]] SLAMing on 91.923133365 meters Centerline goodness : 0.135967 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.07, Z:-0.30 [[ 0.99963704 -0.00429852 -0.02659541 -0.72383902] [ 0.0042418 0.99998861 -0.00218856 -0.07464831] [ 0.02660452 0.00207495 0.99964388 -0.30336021] [ 0. 0. 0. 1. ]] SLAMing on 91.953133365 meters Centerline goodness : 0.136819 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.08, Z:-0.30 [[ 0.99964042 -0.00428504 -0.02647034 -0.72440808] [ 0.00423707 0.99998928 -0.00186781 -0.07678551] [ 0.02647806 0.00175498 0.99964785 -0.3029592 ] [ 0. 0. 0. 1. ]] SLAMing on 91.98313336499999 meters Centerline goodness : 0.148968 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 0.99964697 -0.00437161 -0.02620732 -0.72545427] [ 0.00433037 0.99998929 -0.00163032 -0.07875053] [ 0.02621417 0.00151625 0.9996552 -0.30238335] [ 0. 0. 0. 1. ]] SLAMing on 92.01313336499999 meters Centerline goodness : 0.140102 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99656207e-01 -4.48952978e-03 -2.58323762e-02 -7.26847485e-01] [ 4.46258537e-03 9.99989437e-01 -1.10060306e-03 -8.24183825e-02] [ 2.58370445e-02 9.84945499e-04 9.99665683e-01 -3.01736780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04313336499999 meters Centerline goodness : 0.122307 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99656502e-01 -4.38102182e-03 -2.58395854e-02 -7.26758419e-01] [ 4.36094318e-03 9.99990144e-01 -8.33350562e-04 -8.36033825e-02] [ 2.58429817e-02 7.20379344e-04 9.99665755e-01 -3.01836180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07313336499999 meters Centerline goodness : 0.138792 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99659340e-01 -4.32517991e-03 -2.57390245e-02 -7.26927485e-01] [ 4.30955562e-03 9.99990494e-01 -6.62467829e-04 -8.44679153e-02] [ 2.57416451e-02 5.51318395e-04 9.99668477e-01 -3.01951500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10313336499999 meters Centerline goodness : 0.135749 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99657620e-01 -4.35622228e-03 -2.58005147e-02 -7.26853700e-01] [ 4.34024330e-03 9.99990353e-01 -6.75295417e-04 -8.47163385e-02] [ 2.58032075e-02 5.63083699e-04 9.99666883e-01 -3.01786813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13313336499999 meters Centerline goodness : 0.137973 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99655837e-01 -4.42100734e-03 -2.58584954e-02 -7.26767051e-01] [ 4.40181812e-03 9.99989993e-01 -7.98960583e-04 -8.43413007e-02] [ 2.58617688e-02 6.84861217e-04 9.99665294e-01 -3.01697120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.163133365 meters Centerline goodness : 0.132749 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99966421 0.00387273 -0.02562169 -0.70746643] [-0.00391648 0.99999096 -0.00165774 -0.08819316] [ 0.02561504 0.00175753 0.99967034 -0.300406 ] [ 0. 0. 0. 1. ]] SLAMing on 92.193133365 meters Centerline goodness : 0.139872 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99655568e-01 -4.34539364e-03 -2.58817049e-02 -7.26474361e-01] [ 4.33943846e-03 9.99990544e-01 -2.86253645e-04 -8.25299240e-02] [ 2.58827040e-02 1.73842985e-04 9.99664972e-01 -3.02478206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.223133365 meters Centerline goodness : 0.138582 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 9.99652037e-01 4.34694044e-03 -2.60174944e-02 -7.07088617e-01] [-4.36772751e-03 9.99990186e-01 -7.42190019e-04 -8.35948577e-02] [ 2.60140128e-02 8.55569090e-04 9.99661212e-01 -3.01573019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.253133365 meters Centerline goodness : 0.123267 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99965085 0.00419426 -0.02608818 -0.7066452 ] [-0.00422403 0.99999049 -0.00108629 -0.08200507] [ 0.02608338 0.0011961 0.99965906 -0.30204269] [ 0. 0. 0. 1. ]] SLAMing on 92.283133365 meters Centerline goodness : 0.140080 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99964615 0.00399058 -0.02629919 -0.70600508] [-0.00403017 0.99999082 -0.00145286 -0.08058275] [ 0.02629315 0.00155834 0.99965306 -0.30226417] [ 0. 0. 0. 1. ]] SLAMing on 92.313133365 meters Centerline goodness : 0.128147 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99964235 0.00380016 -0.02647117 -0.7055819 ] [-0.00384877 0.999991 -0.00178554 -0.07923164] [ 0.02646414 0.00188678 0.99964798 -0.30226702] [ 0. 0. 0. 1. ]] SLAMing on 92.343133365 meters Centerline goodness : 0.140355 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99964506 0.00366832 -0.02638739 -0.70598384] [-0.00372284 0.99999104 -0.00201732 -0.07808511] [ 0.02637975 0.00211484 0.99964976 -0.30196785] [ 0. 0. 0. 1. ]] SLAMing on 92.37313336499999 meters Centerline goodness : 0.145070 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.08, Z:-0.30 [[ 0.99965333 0.00359182 -0.02608295 -0.70699501] [-0.00364949 0.999991 -0.00216366 -0.07717648] [ 0.02607494 0.0022581 0.99965744 -0.30156541] [ 0. 0. 0. 1. ]] SLAMing on 92.40313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 92.43313336499999 meters Centerline goodness : 0.122199 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.07, Z:-0.30 [[ 0.99966514 -0.00559518 -0.02526469 -0.68768961] [ 0.00554138 0.99998223 -0.00219871 -0.06935029] [ 0.02527654 0.00205797 0.99967838 -0.29979425] [ 0. 0. 0. 1. ]] SLAMing on 92.46313336499999 meters Centerline goodness : 0.127388 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.07, Z:-0.30 [[ 0.99965989 -0.00573899 -0.02543936 -0.68716716] [ 0.00567898 0.99998092 -0.00243045 -0.06819332] [ 0.02545282 0.00228515 0.99967341 -0.29998787] [ 0. 0. 0. 1. ]] SLAMing on 92.49313336499999 meters Centerline goodness : 0.303430 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.07, Z:-0.30 [[ 0.99965625 -0.00584395 -0.0255583 -0.68686079] [ 0.00577824 0.99997981 -0.00264432 -0.06696705] [ 0.02557323 0.00249573 0.99966984 -0.3000614 ] [ 0. 0. 0. 1. ]] SLAMing on 92.52313336499999 meters Centerline goodness : 0.275757 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968991 0.00237638 -0.02478789 -0.66706303] [-0.00246622 0.9999905 -0.00359438 -0.06875776] [ 0.02477911 0.0036544 0.99968627 -0.29926655] [ 0. 0. 0. 1. ]] SLAMing on 92.553133365 meters Centerline goodness : 0.086050 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968484 0.00218472 -0.02500886 -0.66631447] [-0.00228206 0.99998993 -0.00386459 -0.06758279] [ 0.02500016 0.00392044 0.99967976 -0.29961684] [ 0. 0. 0. 1. ]] SLAMing on 92.583133365 meters Centerline goodness : 0.086050 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968484 0.00218472 -0.02500886 -0.66631447] [-0.00228206 0.99998993 -0.00386459 -0.06758279] [ 0.02500016 0.00392044 0.99967976 -0.29961684] [ 0. 0. 0. 1. ]] SLAMing on 92.613133365 meters Centerline goodness : 0.085952 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.07, Z:-0.30 [[ 0.99968065 0.00182923 -0.02520416 -0.66553479] [-0.00193963 0.99998863 -0.00435669 -0.06551893] [ 0.02519591 0.00440418 0.99967283 -0.30011502] [ 0. 0. 0. 1. ]] SLAMing on 92.643133365 meters Centerline goodness : 0.098674 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.30 [[ 0.99965854 -0.0064303 -0.0253269 -0.68526893] [ 0.00635065 0.99997464 -0.00322414 -0.05901188] [ 0.02534699 0.0030622 0.99967402 -0.3019083 ] [ 0. 0. 0. 1. ]] SLAMing on 92.673133365 meters Centerline goodness : 0.089760 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.30 [[ 0.99965895 -0.0065352 -0.0252838 -0.68541502] [ 0.00644996 0.99997324 -0.00345128 -0.05745678] [ 0.02530568 0.00328702 0.99967436 -0.30185342] [ 0. 0. 0. 1. ]] SLAMing on 92.703133365 meters Centerline goodness : 0.088729 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.06, Z:-0.30 [[ 0.9996594 -0.00667198 -0.02523049 -0.68558782] [ 0.00657963 0.99997135 -0.00374138 -0.05599661] [ 0.02525473 0.00357409 0.99967466 -0.30176228] [ 0. 0. 0. 1. ]] SLAMing on 92.73313336499999 meters Centerline goodness : 0.087707 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.05, Z:-0.30 [[ 0.99965796 -0.00680392 -0.02525195 -0.68559872] [ 0.0067043 0.99996942 -0.00402755 -0.0546784 ] [ 0.02527858 0.00385688 0.99967301 -0.30165782] [ 0. 0. 0. 1. ]] SLAMing on 92.76313336499999 meters Centerline goodness : 0.087613 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.05, Z:-0.30 [[ 0.99965378 -0.00694426 -0.02537915 -0.68529131] [ 0.00683713 0.99996736 -0.00430557 -0.05345131] [ 0.02540822 0.00413056 0.99966863 -0.3016838 ] [ 0. 0. 0. 1. ]] SLAMing on 92.79313336499999 meters Centerline goodness : 0.088569 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.05, Z:-0.30 [[ 0.99964953 -0.00700143 -0.0255302 -0.68481935] [ 0.00688994 0.99996635 -0.00445269 -0.05259753] [ 0.02556051 0.00427523 0.99966413 -0.30184347] [ 0. 0. 0. 1. ]] SLAMing on 92.82313336499999 meters Centerline goodness : 0.095634 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.05, Z:-0.30 [[ 0.99964521 -0.00703155 -0.02569081 -0.68432448] [ 0.00691712 0.99996577 -0.00454046 -0.0519827 ] [ 0.02572186 0.00436115 0.99965963 -0.30204526] [ 0. 0. 0. 1. ]] SLAMing on 92.85313336499999 meters Centerline goodness : 0.155473 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.05, Z:-0.30 [[ 0.99964465 -0.00710576 -0.02569217 -0.68429371] [ 0.00698948 0.99996493 -0.00461318 -0.05170999] [ 0.02572405 0.00443197 0.99965926 -0.30212595] [ 0. 0. 0. 1. ]] SLAMing on 92.88313336499999 meters Centerline goodness : 0.088929 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 9.99666382e-01 9.89510429e-04 -2.58097951e-02 -7.04265732e-01] [-1.13219166e-03 9.99984156e-01 -5.51415399e-03 -5.60148625e-02] [ 2.58039299e-02 5.54153600e-03 9.99651664e-01 -3.03790489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.913133365 meters Centerline goodness : 0.100044 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 9.99667748e-01 9.98661744e-04 -2.57564671e-02 -7.04268778e-01] [-1.13938213e-03 9.99984503e-01 -5.44940033e-03 -5.63776955e-02] [ 2.57506258e-02 5.47693622e-03 9.99653394e-01 -3.04023291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.943133365 meters Centerline goodness : 0.095762 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99966809 0.00103601 -0.02574177 -0.70430252] [-0.00117387 0.99998505 -0.00534108 -0.05685547] [ 0.02573585 0.00536952 0.99965436 -0.3040639 ] [ 0. 0. 0. 1. ]] SLAMing on 92.973133365 meters Centerline goodness : 0.094214 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99966773 0.00105951 -0.0257547 -0.70418064] [-0.00119512 0.9999855 -0.0052505 -0.05727202] [ 0.02574877 0.00527954 0.9996545 -0.30425627] [ 0. 0. 0. 1. ]] SLAMing on 93.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 93.033133365 meters Centerline goodness : 0.094470 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.30 [[ 0.99964935 0.00108433 -0.02645767 -0.70212434] [-0.00121564 0.99998702 -0.00494733 -0.05902222] [ 0.02645196 0.00497776 0.99963769 -0.30488916] [ 0. 0. 0. 1. ]] SLAMing on 93.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 93.093133365 meters Centerline goodness : 0.180760 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.06, Z:-0.31 [[ 0.99964153 0.00113483 -0.02674928 -0.70127452] [-0.00126078 0.9999882 -0.00469221 -0.06069618] [ 0.02674363 0.00472425 0.99963116 -0.3051481 ] [ 0. 0. 0. 1. ]] SLAMing on 93.12313336499999 meters Centerline goodness : 0.117644 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.31 [[ 9.99576708e-01 9.11331849e-04 -2.90787663e-02 -7.46917376e-01] [-1.04424780e-03 9.99989076e-01 -4.55603519e-03 -6.00452220e-02] [ 2.90742965e-02 4.58447210e-03 9.99566740e-01 -3.05093619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15313336499999 meters Centerline goodness : 0.095522 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99578519e-01 9.41531659e-04 -2.90154887e-02 -7.47183383e-01] [-1.07343857e-03 9.99989160e-01 -4.53084516e-03 -5.99821728e-02] [ 2.90109082e-02 4.56008184e-03 9.99568693e-01 -3.04909888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18313336499999 meters Centerline goodness : 0.088417 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99581285e-01 9.49833362e-04 -2.89197681e-02 -7.47501866e-01] [-1.08188720e-03 9.99989059e-01 -4.55090863e-03 -5.98478405e-02] [ 2.89151291e-02 4.58029102e-03 9.99571376e-01 -3.04781350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21313336499999 meters Centerline goodness : 0.098940 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99580870e-01 9.02820308e-04 -2.89356112e-02 -7.47519140e-01] [-1.03854533e-03 9.99988529e-01 -4.67590253e-03 -5.92896310e-02] [ 2.89310578e-02 4.70399366e-03 9.99570341e-01 -3.04658627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24313336499999 meters Centerline goodness : 0.095950 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99579202e-01 8.81024441e-04 -2.89938520e-02 -7.47456850e-01] [-1.01970032e-03 9.99988111e-01 -4.76850286e-03 -5.87685341e-02] [ 2.89893061e-02 4.79606132e-03 9.99568216e-01 -3.04540720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27313336499999 meters Centerline goodness : 0.094744 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99581227e-01 8.57939251e-04 -2.89246280e-02 -7.47869171e-01] [-1.00387431e-03 9.99986839e-01 -5.03121264e-03 -5.71486953e-02] [ 2.89199309e-02 5.05814239e-03 9.99568933e-01 -3.04125462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.303133365 meters Centerline goodness : 0.312860 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.06, Z:-0.30 [[ 9.99582435e-01 8.17201330e-04 -2.88840569e-02 -7.48014528e-01] [-9.69877761e-04 9.99985631e-01 -5.27222289e-03 -5.57676274e-02] [ 2.88793334e-02 5.29803540e-03 9.99568865e-01 -3.03993564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.333133365 meters Centerline goodness : 0.040341 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99950735 0.00105024 -0.03136809 -0.7935871 ] [-0.00121117 0.9999862 -0.00511184 -0.05258676] [ 0.03136229 0.00514731 0.99949483 -0.3039877 ] [ 0. 0. 0. 1. ]] SLAMing on 93.363133365 meters Centerline goodness : 0.097348 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99950925 0.00101544 -0.03130844 -0.79365142] [-0.00118495 0.99998474 -0.00539601 -0.0508547 ] [ 0.03130249 0.00543046 0.9994952 -0.30411044] [ 0. 0. 0. 1. ]] SLAMing on 93.393133365 meters Centerline goodness : 0.131968 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.05, Z:-0.30 [[ 0.99951544 0.0010313 -0.03110992 -0.79420307] [-0.0012088 0.9999831 -0.00568727 -0.0489215 ] [ 0.03110353 0.00572212 0.99949979 -0.30393796] [ 0. 0. 0. 1. ]] SLAMing on 93.423133365 meters Centerline goodness : 0.095939 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:-0.30 [[ 0.99952469 0.00102479 -0.03081132 -0.79507421] [-0.00121154 0.99998101 -0.00604306 -0.04677105] [ 0.03080454 0.00607752 0.99950695 -0.3036241 ] [ 0. 0. 0. 1. ]] SLAMing on 93.453133365 meters Centerline goodness : 0.087722 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99952876 0.00358663 -0.03048599 -0.79767472] [-0.0037178 0.99998407 -0.00424694 -0.04174984] [ 0.03047027 0.00435827 0.99952617 -0.30163493] [ 0. 0. 0. 1. ]] SLAMing on 93.48313336499999 meters Centerline goodness : 0.181859 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99952895 0.00355184 -0.03048391 -0.79758872] [-0.00369349 0.99998264 -0.0045918 -0.03958762] [ 0.03046707 0.00470223 0.99952471 -0.30179551] [ 0. 0. 0. 1. ]] SLAMing on 93.51313336499999 meters Centerline goodness : 0.089824 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.9995286 0.00350926 -0.03050025 -0.79725787] [-0.00366033 0.9999813 -0.00489849 -0.03769289] [ 0.03048249 0.00500782 0.99952276 -0.30224383] [ 0. 0. 0. 1. ]] SLAMing on 93.54313336499999 meters Centerline goodness : 0.088719 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.04, Z:-0.30 [[ 0.99952966 0.003516 -0.03046466 -0.79720308] [-0.00367285 0.99998028 -0.00509416 -0.03623642] [ 0.03044615 0.00520365 0.99952286 -0.30247924] [ 0. 0. 0. 1. ]] SLAMing on 93.57313336499999 meters Centerline goodness : 0.086947 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.9995525 -0.00379123 -0.02967197 -0.7794118 ] [ 0.00368586 0.99998671 -0.00360491 -0.03094418] [ 0.02968524 0.00349393 0.99955319 -0.30036817] [ 0. 0. 0. 1. ]] SLAMing on 93.60313336499999 meters Centerline goodness : 0.088217 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99956395 -0.00376212 -0.02928745 -0.78072116] [ 0.00365475 0.99998641 -0.0037187 -0.02994803] [ 0.02930105 0.00361004 0.99956411 -0.29977709] [ 0. 0. 0. 1. ]] SLAMing on 93.63313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 93.663133365 meters Centerline goodness : 0.153729 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99957208 -0.00349211 -0.02904258 -0.78141738] [ 0.00337619 0.99998614 -0.00403944 -0.0271555 ] [ 0.02905629 0.00393966 0.99957001 -0.2996254 ] [ 0. 0. 0. 1. ]] SLAMing on 93.693133365 meters Centerline goodness : 0.067553 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99956817 -0.00355591 -0.02916904 -0.78100345] [ 0.00343116 0.99998476 -0.00432595 -0.02559361] [ 0.02918397 0.004224 0.99956513 -0.29976855] [ 0. 0. 0. 1. ]] SLAMing on 93.723133365 meters Centerline goodness : 0.118367 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99956721 -0.00361934 -0.02919419 -0.78085147] [ 0.00348707 0.99998343 -0.00458053 -0.02427942] [ 0.02921028 0.00447675 0.99956326 -0.29996251] [ 0. 0. 0. 1. ]] SLAMing on 93.753133365 meters Centerline goodness : 0.104786 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99956505 -0.00362237 -0.02926747 -0.78058063] [ 0.00348529 0.99998272 -0.00473339 -0.02315769] [ 0.02928411 0.00462933 0.99956041 -0.30011346] [ 0. 0. 0. 1. ]] SLAMing on 93.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 93.813133365 meters Centerline goodness : 0.134105 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99955621 -0.00341994 -0.02959215 -0.77962482] [ 0.00328105 0.99998338 -0.00474075 -0.02205466] [ 0.02960787 0.00464156 0.99955081 -0.30041549] [ 0. 0. 0. 1. ]] SLAMing on 93.843133365 meters Centerline goodness : 0.122216 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.9995482 -0.00348743 -0.02985347 -0.77843751] [ 0.00334323 0.99998251 -0.00487881 -0.02192319] [ 0.02986996 0.0047768 0.99954238 -0.30129968] [ 0. 0. 0. 1. ]] SLAMing on 93.87313336499999 meters Centerline goodness : 0.112355 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99954475 -0.00351636 -0.02996537 -0.77798078] [ 0.00337001 0.99998215 -0.00493333 -0.02187193] [ 0.02998218 0.0048301 0.99953876 -0.30160296] [ 0. 0. 0. 1. ]] SLAMing on 93.90313336499999 meters Centerline goodness : 0.144016 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99954065 -0.00346996 -0.03010718 -0.77769271] [ 0.00332356 0.99998242 -0.00491133 -0.02176337] [ 0.0301237 0.00480901 0.99953461 -0.30157202] [ 0. 0. 0. 1. ]] SLAMing on 93.93313336499999 meters Centerline goodness : 0.126371 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99953556 -0.00335277 -0.03028897 -0.77722884] [ 0.00320706 0.99998306 -0.00485778 -0.02147193] [ 0.03030474 0.00475839 0.99952938 -0.3016233 ] [ 0. 0. 0. 1. ]] SLAMing on 93.96313336499999 meters Centerline goodness : 0.148317 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99953209 -0.00329719 -0.03040947 -0.77687564] [ 0.00315068 0.9999832 -0.00486457 -0.0211731 ] [ 0.030425 0.00476648 0.99952569 -0.30171071] [ 0. 0. 0. 1. ]] SLAMing on 93.99313336499999 meters Centerline goodness : 0.117228 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952928 -0.0032903 -0.03050244 -0.77647073] [ 0.00314134 0.99998291 -0.00493029 -0.02089533] [ 0.03051814 0.00483216 0.99952253 -0.30203061] [ 0. 0. 0. 1. ]] SLAMing on 94.02313336499999 meters Centerline goodness : 0.202718 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952855 -0.00318615 -0.03053724 -0.77627148] [ 0.00303813 0.99998342 -0.00489214 -0.02096511] [ 0.03055232 0.00479705 0.99952166 -0.30224753] [ 0. 0. 0. 1. ]] SLAMing on 94.053133365 meters Centerline goodness : 0.113640 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952979 -0.0030343 -0.030512 -0.77631754] [ 0.00289165 0.99998469 -0.00471802 -0.02138645] [ 0.03052585 0.00462757 0.99952327 -0.30233266] [ 0. 0. 0. 1. ]] SLAMing on 94.083133365 meters Centerline goodness : 0.117092 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.99952871 -0.00291861 -0.03055871 -0.77625678] [ 0.00278152 0.99998588 -0.00452768 -0.02211912] [ 0.03057149 0.00444055 0.99952272 -0.30228055] [ 0. 0. 0. 1. ]] SLAMing on 94.113133365 meters Centerline goodness : 0.112937 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.30 [[ 0.9995305 -0.00281587 -0.03050984 -0.77650878] [ 0.00268616 0.99998718 -0.00429175 -0.0233368 ] [ 0.03052153 0.00420778 0.99952525 -0.30206308] [ 0. 0. 0. 1. ]] SLAMing on 94.143133365 meters Centerline goodness : 0.138604 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99953233 -0.0027173 -0.03045894 -0.77685022] [ 0.00259707 0.99998868 -0.0039862 -0.02512142] [ 0.03046942 0.00390523 0.99952807 -0.30171759] [ 0. 0. 0. 1. ]] SLAMing on 94.173133365 meters Centerline goodness : 0.114231 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99953586 -0.00257695 -0.03035495 -0.77736432] [ 0.00246843 0.99999043 -0.00361206 -0.02719665] [ 0.03036397 0.00353546 0.99953266 -0.30131781] [ 0. 0. 0. 1. ]] SLAMing on 94.203133365 meters Centerline goodness : 0.136792 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99954229 -0.00216445 -0.03017507 -0.77792853] [ 0.00208403 0.99999419 -0.00269623 -0.03136308] [ 0.03018073 0.00263211 0.99954099 -0.30109515] [ 0. 0. 0. 1. ]] SLAMing on 94.23313336499999 meters Centerline goodness : 0.111138 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99954637 -0.00196305 -0.03005334 -0.77808189] [ 0.00189533 0.9999956 -0.00228149 -0.03319819] [ 0.03005769 0.00222349 0.99954569 -0.30128983] [ 0. 0. 0. 1. ]] SLAMing on 94.26313336499999 meters Centerline goodness : 0.140465 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99954859 -0.00180265 -0.02998933 -0.77822967] [ 0.00174517 0.99999659 -0.00194265 -0.03485134] [ 0.02999273 0.00188944 0.99954833 -0.30129126] [ 0. 0. 0. 1. ]] SLAMing on 94.29313336499999 meters Centerline goodness : 0.134627 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99955081 -0.00167138 -0.02992304 -0.77838596] [ 0.00162118 0.99999724 -0.00170186 -0.03601681] [ 0.0299258 0.00165258 0.99955076 -0.30130777] [ 0. 0. 0. 1. ]] SLAMing on 94.32313336499999 meters Centerline goodness : 0.151117 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99955025 -0.00153245 -0.02994901 -0.77827819] [ 0.0014872 0.99999772 -0.00153295 -0.03673074] [ 0.02995129 0.00148772 0.99955025 -0.30142144] [ 0. 0. 0. 1. ]] SLAMing on 94.35313336499999 meters Centerline goodness : 0.142120 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99955375 -0.00138163 -0.02983939 -0.77846898] [ 0.00134223 0.9999982 -0.00134036 -0.03739447] [ 0.02984119 0.00129971 0.99955381 -0.30157429] [ 0. 0. 0. 1. ]] SLAMing on 94.38313336499999 meters Centerline goodness : 0.151863 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 0.99956124 -0.00120839 -0.02959505 -0.77910821] [ 0.00117667 0.99999871 -0.00108898 -0.03835751] [ 0.02959633 0.00105368 0.99956138 -0.30149287] [ 0. 0. 0. 1. ]] SLAMing on 94.413133365 meters Centerline goodness : 0.133656 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99565315e-01 -9.89721114e-04 -2.94652462e-02 -7.79600879e-01] [ 9.73259284e-04 9.99999362e-01 -5.73022859e-04 -4.11042180e-02] [ 2.94657946e-02 5.44096450e-04 9.99565641e-01 -3.01238079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.443133365 meters Centerline goodness : 0.138332 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99557746e-01 -8.99183598e-04 -2.97237936e-02 -7.78848498e-01] [ 8.91466073e-04 9.99999565e-01 -2.72892081e-04 -4.28302249e-02] [ 2.97240260e-02 2.46273640e-04 9.99558113e-01 -3.01450208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.473133365 meters Centerline goodness : 0.138332 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99557746e-01 -8.99183598e-04 -2.97237936e-02 -7.78848498e-01] [ 8.91466073e-04 9.99999565e-01 -2.72892081e-04 -4.28302249e-02] [ 2.97240260e-02 2.46273640e-04 9.99558113e-01 -3.01450208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.503133365 meters Centerline goodness : 0.121217 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.04, Z:-0.30 [[ 9.99551832e-01 -7.78221383e-04 -2.99253982e-02 -7.78004620e-01] [ 7.80487606e-04 9.99999693e-01 6.40483415e-05 -4.45589717e-02] [ 2.99253391e-02 -8.73760395e-05 9.99552133e-01 -3.02009844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.533133365 meters Centerline goodness : 0.151495 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.05, Z:-0.30 [[ 9.99521444e-01 6.81398472e-03 -3.01736954e-02 -7.96897066e-01] [-6.84540447e-03 9.99976130e-01 -9.38118431e-04 -5.17675412e-02] [ 3.01665829e-02 1.14422064e-03 9.99544230e-01 -3.04236222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.563133365 meters Centerline goodness : 0.101421 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99563674e-01 -8.43537236e-04 -2.95254104e-02 -7.77861332e-01] [ 8.53297045e-04 9.99999585e-01 3.17958100e-04 -4.88078284e-02] [ 2.95251300e-02 -3.43013313e-04 9.99563979e-01 -3.02659494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.593133365 meters Centerline goodness : 0.131319 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99570300e-01 -6.87713178e-04 -2.93042908e-02 -7.78665597e-01] [ 7.10737169e-04 9.99999447e-01 7.75277856e-04 -5.12444732e-02] [ 2.93037415e-02 -7.95772368e-04 9.99570236e-01 -3.02171507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62313336499999 meters Centerline goodness : 0.120255 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.05, Z:-0.30 [[ 9.99570851e-01 -5.87451805e-04 -2.92877061e-02 -7.78797228e-01] [ 6.17889191e-04 9.99999278e-01 1.03021531e-03 -5.25319693e-02] [ 2.92870798e-02 -1.04786975e-03 9.99570492e-01 -3.02020053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65313336499999 meters Centerline goodness : 0.131895 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99557738e-01 6.95767647e-03 -2.89122521e-02 -7.97998024e-01] [-6.95908247e-03 9.99975784e-01 5.19935086e-05 -5.92654253e-02] [ 2.89119137e-02 1.49232233e-04 9.99581952e-01 -3.04099628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68313336499999 meters Centerline goodness : 0.121711 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99559103e-01 7.01726337e-03 -2.88506058e-02 -7.98119854e-01] [-7.01435119e-03 9.99975379e-01 2.02145422e-04 -6.00661765e-02] [ 2.88513140e-02 3.11983946e-07 9.99583714e-01 -3.04145163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71313336499999 meters Centerline goodness : 0.137996 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99560585e-01 7.04203119e-03 -2.87931572e-02 -7.98166108e-01] [-7.03672210e-03 9.99975201e-01 2.85710063e-04 -6.06512317e-02] [ 2.87944552e-02 -8.29750723e-05 9.99585350e-01 -3.04329211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74313336499999 meters Centerline goodness : 0.131161 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.30 [[ 9.99561597e-01 7.01670836e-03 -2.87642121e-02 -7.97976042e-01] [-7.01289218e-03 9.99975382e-01 2.33551573e-04 -6.06082387e-02] [ 2.87651427e-02 -3.17288655e-05 9.99586197e-01 -3.04763161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77313336499999 meters Centerline goodness : 0.130115 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.31 [[ 9.99563453e-01 6.99204203e-03 -2.87056572e-02 -7.97876964e-01] [-6.98976862e-03 9.99975555e-01 1.79541217e-04 -6.04705401e-02] [ 2.87062109e-02 2.11830634e-05 9.99587892e-01 -3.05159884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.803133365 meters Centerline goodness : 0.129384 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.06, Z:-0.31 [[ 9.99564529e-01 6.98834332e-03 -2.86690846e-02 -7.97904768e-01] [-6.98678770e-03 9.99975580e-01 1.54435032e-04 -6.04085514e-02] [ 2.86694638e-02 4.59370281e-05 9.99588945e-01 -3.05300702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.833133365 meters Centerline goodness : 0.135694 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99605355e-01 -5.08646425e-04 -2.80869355e-02 -7.79035565e-01] [ 5.50227295e-04 9.99998764e-01 1.47272579e-03 -5.68060618e-02] [ 2.80861517e-02 -1.48759879e-03 9.99604399e-01 -3.03226340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.863133365 meters Centerline goodness : 0.138959 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99602660e-01 -4.64345583e-04 -2.81834422e-02 -7.78881523e-01] [ 5.09526729e-04 9.99998597e-01 1.59594923e-03 -5.74453403e-02] [ 2.81826615e-02 -1.60967531e-03 9.99601494e-01 -3.03110710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.893133365 meters Centerline goodness : 0.135752 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99599990e-01 -4.48913507e-04 -2.82782451e-02 -7.78665427e-01] [ 4.97866586e-04 9.99998390e-01 1.72410453e-03 -5.83306365e-02] [ 2.82774256e-02 -1.73749366e-03 9.99598604e-01 -3.03075022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.923133365 meters Centerline goodness : 0.129218 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99597629e-01 -4.04060377e-04 -2.83622256e-02 -7.78504221e-01] [ 4.57658792e-04 9.99998122e-01 1.88331574e-03 -5.92948594e-02] [ 2.83614113e-02 -1.89553817e-03 9.99595937e-01 -3.02998656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.953133365 meters Centerline goodness : 0.129233 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99595283e-01 -3.84259492e-04 -2.84450657e-02 -7.78224192e-01] [ 4.41153076e-04 9.99997915e-01 1.99387282e-03 -6.00139568e-02] [ 2.84442402e-02 -2.00561449e-03 9.99593369e-01 -3.03103481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98313336499999 meters Centerline goodness : 0.137122 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99591341e-01 -3.14474768e-04 -2.85841332e-02 -7.77769195e-01] [ 3.77050445e-04 9.99997544e-01 2.18381168e-03 -6.09766136e-02] [ 2.85833763e-02 -2.19369691e-03 9.99589005e-01 -3.03288139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01313336499999 meters Centerline goodness : 0.136204 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.06, Z:-0.30 [[ 9.99583508e-01 -1.41687833e-04 -2.88581166e-02 -7.76820854e-01] [ 2.18912965e-04 9.99996404e-01 2.67288633e-03 -6.34768931e-02] [ 2.88576341e-02 -2.67809051e-03 9.99579944e-01 -3.03708714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04313336499999 meters Centerline goodness : 0.129427 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99586100e-01 -4.47585795e-05 -2.87685161e-02 -7.77232795e-01] [ 1.30654049e-04 9.99995540e-01 2.98387275e-03 -6.51893366e-02] [ 2.87682542e-02 -2.98639645e-03 9.99581647e-01 -3.03372551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07313336499999 meters Centerline goodness : 0.135466 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99587407e-01 5.12909535e-05 -2.87230518e-02 -7.77565368e-01] [ 4.38469518e-05 9.99994516e-01 3.31160957e-03 -6.70218284e-02] [ 2.87230641e-02 -3.31150264e-03 9.99581922e-01 -3.02986375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10313336499999 meters Centerline goodness : 0.137939 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99584177e-01 1.60937022e-04 -2.88348341e-02 -7.77392246e-01] [-5.66786054e-05 9.99993459e-01 3.61649147e-03 -6.86294245e-02] [ 2.88352275e-02 -3.61335333e-03 9.99577647e-01 -3.02816771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13313336499999 meters Centerline goodness : 0.142701 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99582631e-01 2.78604033e-04 -2.88874819e-02 -7.77214539e-01] [-1.64872165e-04 9.99992227e-01 3.93937124e-03 -7.02878170e-02] [ 2.88883549e-02 -3.93296432e-03 9.99574907e-01 -3.02888350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.163133365 meters Centerline goodness : 0.139172 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.07, Z:-0.30 [[ 9.99583914e-01 4.13280725e-04 -2.88414210e-02 -7.77167840e-01] [-2.89965454e-04 9.99990800e-01 4.27968232e-03 -7.19865239e-02] [ 2.88429244e-02 -4.26953859e-03 9.99574838e-01 -3.03119446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.193133365 meters Centerline goodness : 0.133520 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99960915 0.00751354 -0.02692739 -0.75650059] [-0.00746173 0.99997011 0.00202412 -0.07689427] [ 0.02694179 -0.0018224 0.99963534 -0.3028751 ] [ 0. 0. 0. 1. ]] SLAMing on 95.223133365 meters Centerline goodness : 0.131674 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99961283 0.00765514 -0.02675032 -0.75709212] [-0.00759481 0.99996838 0.00235594 -0.07851277] [ 0.02676751 -0.00215187 0.99963937 -0.30263425] [ 0. 0. 0. 1. ]] SLAMing on 95.253133365 meters Centerline goodness : 0.135129 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99961518 0.00781024 -0.0266175 -0.75751124] [-0.00774071 0.99996636 0.00271441 -0.08017245] [ 0.02663781 -0.00250732 0.99964201 -0.30249421] [ 0. 0. 0. 1. ]] SLAMing on 95.283133365 meters Centerline goodness : 0.132698 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.08, Z:-0.30 [[ 0.99961524 0.00794848 -0.02657449 -0.75760439] [-0.00787065 0.99996443 0.0030319 -0.08174246] [ 0.02659765 -0.00282158 0.99964224 -0.30247806] [ 0. 0. 0. 1. ]] SLAMing on 95.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 95.343133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 95.37313336499999 meters Centerline goodness : 0.131999 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.09, Z:-0.30 [[ 0.9995906 0.00659768 -0.02784063 -0.752486 ] [-0.00654169 0.99997639 0.00210168 -0.08844114] [ 0.02785384 -0.0019187 0.99961017 -0.30467468] [ 0. 0. 0. 1. ]] SLAMing on 95.40313336499999 meters Centerline goodness : 0.131468 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99606712e-01 -4.47938613e-04 -2.80396393e-02 -7.33849011e-01] [ 5.38734468e-04 9.99994636e-01 3.23065422e-03 -8.41148366e-02] [ 2.80380418e-02 -3.24448956e-03 9.99601591e-01 -3.03012579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43313336499999 meters Centerline goodness : 0.124087 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.08, Z:-0.30 [[ 9.99611964e-01 -3.64763992e-04 -2.78529665e-02 -7.34330995e-01] [ 4.58541556e-04 9.99994248e-01 3.36056598e-03 -8.47996639e-02] [ 2.78515804e-02 -3.37203370e-03 9.99606382e-01 -3.02952580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46313336499999 meters Centerline goodness : 0.130578 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99961452 0.00795548 -0.02659913 -0.71478659] [-0.00791143 0.99996715 0.0017611 -0.08805106] [ 0.02661227 -0.00154999 0.99964463 -0.30154951] [ 0. 0. 0. 1. ]] SLAMing on 95.49313336499999 meters Centerline goodness : 0.138264 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99961526 0.00802949 -0.02654911 -0.71481131] [-0.00798183 0.99996634 0.00190034 -0.08877721] [ 0.02656347 -0.0016877 0.9996457 -0.30172794] [ 0. 0. 0. 1. ]] SLAMing on 95.52313336499999 meters Centerline goodness : 0.132512 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99961199 0.00813772 -0.02663913 -0.71426231] [-0.008086 0.99996521 0.0020487 -0.08925897] [ 0.02665488 -0.00183251 0.99964302 -0.30230884] [ 0. 0. 0. 1. ]] SLAMing on 95.553133365 meters Centerline goodness : 0.159274 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99960008 0.00835877 -0.02701513 -0.71273601] [-0.00829808 0.99996279 0.00235787 -0.09040462] [ 0.02703383 -0.00213275 0.99963224 -0.3033329 ] [ 0. 0. 0. 1. ]] SLAMing on 95.583133365 meters Centerline goodness : 0.160091 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 0.99959487 0.00841223 -0.02719077 -0.71216291] [-0.00834576 0.9999619 0.00255737 -0.09164211] [ 0.02721125 -0.00232941 0.99962699 -0.30359691] [ 0. 0. 0. 1. ]] SLAMing on 95.613133365 meters Centerline goodness : 0.082202 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 9.99622420e-01 5.31012456e-03 -2.69596003e-02 -7.12569673e-01] [-5.32501915e-03 9.99985706e-01 -4.80714332e-04 -9.22148929e-02] [ 2.69566623e-02 6.24093211e-04 9.99636408e-01 -3.03890501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.643133365 meters Centerline goodness : 0.162869 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.09, Z:-0.30 [[ 9.99623080e-01 5.42918628e-03 -2.69113819e-02 -7.12917123e-01] [-5.43275086e-03 9.99985241e-01 -5.93428505e-05 -9.44525235e-02] [ 2.69106625e-02 2.05523316e-04 9.99637821e-01 -3.03479779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.673133365 meters Centerline goodness : 0.134615 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.10, Z:-0.30 [[ 9.99626643e-01 5.59520650e-03 -2.67444880e-02 -7.13548002e-01] [-5.58495869e-03 9.99984299e-01 4.57856736e-04 -9.71599997e-02] [ 2.67466299e-02 -3.08318932e-04 9.99642197e-01 -3.03115333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.703133365 meters Centerline goodness : 0.138354 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.10, Z:-0.30 [[ 9.99628376e-01 5.72693777e-03 -2.66516709e-02 -7.13867696e-01] [-5.70287194e-03 9.99983259e-01 9.78898480e-04 -9.99506114e-02] [ 2.66568309e-02 -8.26543632e-04 9.99644302e-01 -3.02866983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73313336499999 meters Centerline goodness : 0.136888 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.10, Z:-0.30 [[ 0.99964903 0.00202015 -0.02641467 -0.71423268] [-0.00207652 0.99999562 -0.00210685 -0.10391249] [ 0.02641029 0.00216097 0.99964885 -0.30312827] [ 0. 0. 0. 1. ]] SLAMing on 95.76313336499999 meters Centerline goodness : 0.151870 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.11, Z:-0.30 [[ 0.99964637 0.00217712 -0.02650274 -0.71397237] [-0.00222246 0.99999612 -0.00168129 -0.10601929] [ 0.02649898 0.00173959 0.99964733 -0.30318161] [ 0. 0. 0. 1. ]] SLAMing on 95.79313336499999 meters Centerline goodness : 0.141518 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.11, Z:-0.30 [[ 0.9996485 0.00234866 -0.02640743 -0.71424955] [-0.00238449 0.99999628 -0.0013255 -0.10751352] [ 0.02640422 0.001388 0.99965038 -0.30309652] [ 0. 0. 0. 1. ]] SLAMing on 95.82313336499999 meters Centerline goodness : 0.150078 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.10, Z:-0.30 [[ 9.99656422e-01 -4.76479342e-03 -2.57746800e-02 -6.95058555e-01] [ 4.76836522e-03 9.99988628e-01 7.71175536e-05 -1.04045208e-01] [ 2.57740194e-02 -1.99994145e-04 9.99667775e-01 -3.01558839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85313336499999 meters Centerline goodness : 0.158723 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.11, Z:-0.30 [[ 9.99659308e-01 -4.66835131e-03 -2.56802381e-02 -6.95322257e-01] [ 4.67817545e-03 9.99989005e-01 3.22491144e-04 -1.05314517e-01] [ 2.56784502e-02 -4.42517933e-04 9.99670156e-01 -3.01468200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88313336499999 meters Centerline goodness : 0.138185 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.11, Z:-0.30 [[ 9.99656226e-01 -4.57210743e-03 -2.58171521e-02 -6.95067485e-01] [ 4.59242210e-03 9.99989190e-01 7.27630297e-04 -1.08239581e-01] [ 2.58135462e-02 -8.45943416e-04 9.99666417e-01 -3.01291956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.913133365 meters Centerline goodness : 0.090941 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.11, Z:-0.30 [[ 0.99965681 -0.00438708 -0.02582649 -0.69497684] [ 0.00441852 0.99998956 0.00116049 -0.11021625] [ 0.02582113 -0.00127421 0.99966577 -0.30136786] [ 0. 0. 0. 1. ]] SLAMing on 95.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 95.973133365 meters Centerline goodness : 0.071164 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.12, Z:-0.30 [[ 0.99966646 -0.00401411 -0.02551173 -0.69583111] [ 0.00407259 0.9999892 0.00224085 -0.11526235] [ 0.02550246 -0.002344 0.99967201 -0.30108942] [ 0. 0. 0. 1. ]] SLAMing on 96.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 96.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 96.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 96.093133365 meters Centerline goodness : 0.117262 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.30 [[ 9.99636455e-01 -9.60648989e-03 -2.51927333e-02 -6.95571467e-01] [ 9.59912652e-03 9.99953842e-01 -4.13201305e-04 -1.37233669e-01] [ 2.51955398e-02 1.71222854e-04 9.99682527e-01 -3.01431452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12313336499999 meters Centerline goodness : 0.092413 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.15, Z:-0.30 [[ 0.99965283 -0.00154844 -0.02630262 -0.67544239] [ 0.00151022 0.99999777 -0.00147317 -0.14511211] [ 0.02630484 0.00143293 0.99965294 -0.29951664] [ 0. 0. 0. 1. ]] SLAMing on 96.15313336499999 meters Centerline goodness : 0.150777 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.15, Z:-0.30 [[ 9.99646964e-01 -1.33872092e-03 -2.65359124e-02 -6.74723300e-01] [ 1.31623830e-03 9.99998760e-01 -8.64701306e-04 -1.48405513e-01] [ 2.65370371e-02 8.29468451e-04 9.99647487e-01 -2.99722623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 96.21313336499999 meters Centerline goodness : 0.147637 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.15, Z:-0.30 [[ 9.99642364e-01 -9.99050044e-04 -2.67235036e-02 -6.74310858e-01] [ 1.00049684e-03 9.99999499e-01 4.07686870e-05 -1.53608929e-01] [ 2.67234494e-02 -6.74908875e-05 9.99642863e-01 -2.99600758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24313336499999 meters Centerline goodness : 0.147818 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.16, Z:-0.30 [[ 9.99642723e-01 -7.31488047e-04 -2.67187366e-02 -6.73985360e-01] [ 7.48364640e-04 9.99999527e-01 6.21644887e-04 -1.56455770e-01] [ 2.67182692e-02 -6.41418145e-04 9.99642798e-01 -3.00094597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27313336499999 meters Centerline goodness : 0.146919 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.16, Z:-0.30 [[ 9.99638618e-01 -6.86421308e-04 -2.68730831e-02 -6.73350598e-01] [ 7.07266984e-04 9.99999456e-01 7.66211153e-04 -1.57361888e-01] [ 2.68725426e-02 -7.84940702e-04 9.99638560e-01 -3.00496759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.303133365 meters Centerline goodness : 0.120586 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.16, Z:-0.30 [[ 9.99624944e-01 7.94797862e-03 -2.62068712e-02 -6.53573115e-01] [-7.96604408e-03 9.99968099e-01 -5.85010450e-04 -1.60915815e-01] [ 2.62013855e-02 7.93556130e-04 9.99656370e-01 -2.99416234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.333133365 meters Centerline goodness : 0.146607 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.16, Z:-0.30 [[ 9.99633147e-01 7.87928698e-03 -2.59130820e-02 -6.54399879e-01] [-7.89601368e-03 9.99968678e-01 -5.43232073e-04 -1.61245140e-01] [ 2.59079901e-02 7.47642837e-04 9.99664052e-01 -2.99283657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.363133365 meters Centerline goodness : 0.147229 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.16, Z:-0.30 [[ 9.99644389e-01 7.75833604e-03 -2.55128095e-02 -6.55660656e-01] [-7.77507700e-03 9.99969618e-01 -5.57044754e-04 -1.61367437e-01] [ 2.55077127e-02 7.55210721e-04 9.99674340e-01 -2.98978729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.393133365 meters Centerline goodness : 0.147229 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.16, Z:-0.30 [[ 9.99644389e-01 7.75833604e-03 -2.55128095e-02 -6.55660656e-01] [-7.77507700e-03 9.99969618e-01 -5.57044754e-04 -1.61367437e-01] [ 2.55077127e-02 7.55210721e-04 9.99674340e-01 -2.98978729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.423133365 meters Centerline goodness : 0.147856 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99970042 0.0052844 -0.02389855 -0.66079868] [-0.00533518 0.99998364 -0.0020616 -0.16563106] [ 0.02388726 0.00218849 0.99971226 -0.29837609] [ 0. 0. 0. 1. ]] SLAMing on 96.453133365 meters Centerline goodness : 0.120877 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99970787 0.00510441 -0.02362454 -0.66151293] [-0.0051521 0.99998481 -0.00195863 -0.1662174 ] [ 0.02361419 0.00207977 0.99971898 -0.29862056] [ 0. 0. 0. 1. ]] SLAMing on 96.48313336499999 meters Centerline goodness : 0.149207 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99971662 0.00500038 -0.02327382 -0.6623461 ] [-0.0050411 0.99998586 -0.00169161 -0.16726752] [ 0.02326503 0.00180845 0.9997277 -0.29898356] [ 0. 0. 0. 1. ]] SLAMing on 96.51313336499999 meters Centerline goodness : 0.152586 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 0.99971838 0.00495521 -0.023208 -0.66262013] [-0.00499323 0.99998628 -0.00158054 -0.16793303] [ 0.02319985 0.00169598 0.99972941 -0.29881016] [ 0. 0. 0. 1. ]] SLAMing on 96.54313336499999 meters Centerline goodness : 0.142951 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.17, Z:-0.30 [[ 9.99713103e-01 -4.52273317e-03 -2.35214069e-02 -6.83218901e-01] [ 4.50977482e-03 9.99989649e-01 -6.03933617e-04 -1.65363779e-01] [ 2.35238949e-02 4.97684101e-04 9.99723151e-01 -3.00104331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57313336499999 meters Centerline goodness : 0.126138 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.17, Z:-0.30 [[ 9.99708772e-01 -6.64635472e-03 -2.31990669e-02 -6.48883526e-01] [ 6.65089980e-03 9.99977875e-01 1.18763041e-04 -1.65652315e-01] [ 2.31977642e-02 -2.73023123e-04 9.99730858e-01 -2.99541205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60313336499999 meters Centerline goodness : 0.156225 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 9.99713862e-01 2.86492009e-03 -2.37484151e-02 -6.63792002e-01] [-2.88810691e-03 9.99995386e-01 -9.42110963e-04 -1.70946598e-01] [ 2.37456065e-02 1.01042935e-03 9.99717523e-01 -3.01412512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63313336499999 meters Centerline goodness : 0.128125 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.17, Z:-0.30 [[ 9.99714982e-01 2.82804270e-03 -2.37056399e-02 -6.63684912e-01] [-2.85153327e-03 9.99995476e-01 -9.57182504e-04 -1.71048469e-01] [ 2.37028257e-02 1.02450711e-03 9.99718524e-01 -3.01770945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.663133365 meters Centerline goodness : 0.148327 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.17, Z:-0.30 [[ 9.99661836e-01 -2.97500559e-03 -2.58333813e-02 -6.47600391e-01] [ 2.97454506e-03 9.99995574e-01 -5.62548128e-05 -1.66624265e-01] [ 2.58334343e-02 -2.06067673e-05 9.99666261e-01 -2.98508934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.693133365 meters Centerline goodness : 0.143838 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.17, Z:-0.30 [[ 9.99669379e-01 -3.11456700e-03 -2.55231637e-02 -6.48573078e-01] [ 3.11127465e-03 9.99995146e-01 -1.68704806e-04 -1.66397262e-01] [ 2.55235652e-02 8.92394560e-05 9.99674217e-01 -2.98238457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.723133365 meters Centerline goodness : 0.110440 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.16, Z:-0.30 [[ 9.99725529e-01 -1.90301886e-03 -2.33504949e-02 -6.04576556e-01] [ 1.89575400e-03 9.99998148e-01 -3.33254745e-04 -1.64765510e-01] [ 2.33510858e-02 2.88896482e-04 9.99727284e-01 -2.97855850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.753133365 meters Centerline goodness : 0.135870 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99722225e-01 -1.87561956e-03 -2.34937328e-02 -6.03990456e-01] [ 1.87182953e-03 9.99998231e-01 -1.83311181e-04 -1.65564654e-01] [ 2.34940350e-02 1.39283999e-04 9.99723967e-01 -2.98281354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.783133365 meters Centerline goodness : 0.058852 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99716188e-01 -1.89922879e-03 -2.37473611e-02 -6.03154563e-01] [ 1.89946580e-03 9.99998196e-01 -1.25763682e-05 -1.66799298e-01] [ 2.37473421e-02 -3.25345013e-05 9.99717992e-01 -2.98729349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.813133365 meters Centerline goodness : 0.152919 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99711813e-01 -1.96359523e-03 -2.39255982e-02 -6.02670054e-01] [ 1.96896471e-03 9.99998041e-01 2.00868142e-04 -1.68493849e-01] [ 2.39251569e-02 -2.47918913e-04 9.99713722e-01 -2.98786995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.843133365 meters Centerline goodness : 0.102541 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.17, Z:-0.30 [[ 9.99711278e-01 -1.99081628e-03 -2.39457062e-02 -6.02989848e-01] [ 2.00398974e-03 9.99997854e-01 5.26154496e-04 -1.70742673e-01] [ 2.39446073e-02 -5.73989533e-04 9.99713122e-01 -2.98230140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87313336499999 meters Centerline goodness : 0.125046 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.17, Z:-0.30 [[ 0.99974228 0.00398405 -0.02234947 -0.58207717] [-0.00404442 0.99998829 -0.00265668 -0.17473159] [ 0.02233863 0.00274638 0.99974669 -0.29807755] [ 0. 0. 0. 1. ]] SLAMing on 96.90313336499999 meters Centerline goodness : 0.156547 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.18, Z:-0.30 [[ 9.99762680e-01 6.83438021e-04 -2.17742099e-02 -5.83709174e-01] [-7.95168244e-04 9.99986561e-01 -5.12306529e-03 -1.80027650e-01] [ 2.17704160e-02 5.13916365e-03 9.99749788e-01 -2.97762732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93313336499999 meters Centerline goodness : 0.150704 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.18, Z:-0.30 [[ 9.99762521e-01 7.27152150e-04 -2.17801026e-02 -5.83746649e-01] [-8.27137155e-04 9.99989160e-01 -4.58200133e-03 -1.83190079e-01] [ 2.17765347e-02 4.59892833e-03 9.99752286e-01 -2.97757260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96313336499999 meters Centerline goodness : 0.381637 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.19, Z:-0.30 [[ 9.99761179e-01 7.35990373e-04 -2.18413380e-02 -5.83543227e-01] [-8.25760758e-04 9.99991248e-01 -4.10137954e-03 -1.86258584e-01] [ 2.18381283e-02 4.11843576e-03 9.99753037e-01 -2.97902509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99313336499999 meters Centerline goodness : 0.169055 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.19, Z:-0.30 [[ 9.99757777e-01 8.81231800e-04 -2.19911553e-02 -5.83246681e-01] [-9.59262202e-04 9.99993281e-01 -3.53796637e-03 -1.89222847e-01] [ 2.19878897e-02 3.55820467e-03 9.99751905e-01 -2.97867180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02313336499999 meters Centerline goodness : 0.155244 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.19, Z:-0.30 [[ 0.99973723 -0.00663897 -0.02194086 -0.56250759] [ 0.00658695 0.99997532 -0.00244235 -0.18856818] [ 0.02195654 0.00229719 0.99975629 -0.29659289] [ 0. 0. 0. 1. ]] SLAMing on 97.053133365 meters Centerline goodness : 0.134245 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.20, Z:-0.29 [[ 0.9997522 0.00169211 -0.02219611 -0.54371496] [-0.00177185 0.99999205 -0.0035732 -0.19826797] [ 0.02218989 0.00361164 0.99974725 -0.29439964] [ 0. 0. 0. 1. ]] SLAMing on 97.083133365 meters Centerline goodness : 0.387792 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.20, Z:-0.29 [[ 0.99975123 0.00179155 -0.02223201 -0.54373059] [-0.00186538 0.99999281 -0.00330069 -0.19983243] [ 0.02222593 0.00334134 0.99974739 -0.29420446] [ 0. 0. 0. 1. ]] SLAMing on 97.113133365 meters Centerline goodness : 0.147774 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99973566 -0.00533282 -0.0223645 -0.52411711] [ 0.00528109 0.99998324 -0.00237141 -0.19736863] [ 0.02237677 0.00225267 0.99974707 -0.29256508] [ 0. 0. 0. 1. ]] SLAMing on 97.143133365 meters Centerline goodness : 0.147897 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99973478 -0.00522344 -0.02242974 -0.52376488] [ 0.00517522 0.99998417 -0.00220755 -0.19804949] [ 0.02244091 0.00209088 0.99974598 -0.29286764] [ 0. 0. 0. 1. ]] SLAMing on 97.173133365 meters Centerline goodness : 0.344323 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99973223 -0.00511341 -0.02256799 -0.5231766 ] [ 0.00506708 0.99998494 -0.00210982 -0.19817071] [ 0.02257844 0.00199491 0.99974308 -0.29327642] [ 0. 0. 0. 1. ]] SLAMing on 97.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 97.23313336499999 meters Centerline goodness : 0.143111 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99971175 -0.00461041 -0.02356205 -0.51999224] [ 0.00456914 0.99998793 -0.00180501 -0.19844095] [ 0.02357008 0.00169683 0.99972075 -0.29458627] [ 0. 0. 0. 1. ]] SLAMing on 97.26313336499999 meters Centerline goodness : 0.125540 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99971076 -0.00459631 -0.02360663 -0.519698 ] [ 0.00455434 0.99998795 -0.00183128 -0.19819415] [ 0.02361476 0.00172324 0.99971965 -0.29491458] [ 0. 0. 0. 1. ]] SLAMing on 97.29313336499999 meters Centerline goodness : 0.159678 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99971116 -0.00454796 -0.02359896 -0.51971513] [ 0.00450717 0.99998826 -0.00178159 -0.1982539 ] [ 0.02360678 0.00167471 0.99971992 -0.29495807] [ 0. 0. 0. 1. ]] SLAMing on 97.32313336499999 meters Centerline goodness : 0.126806 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.30 [[ 0.99971206 -0.00451383 -0.02356735 -0.5197371 ] [ 0.00447472 0.99998852 -0.00171234 -0.19852953] [ 0.02357481 0.00160639 0.99972078 -0.29505152] [ 0. 0. 0. 1. ]] SLAMing on 97.35313336499999 meters Centerline goodness : 0.171596 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.20, Z:-0.29 [[ 0.99972811 0.00323201 -0.02309263 -0.49993453] [-0.00331985 0.9999874 -0.00376657 -0.20362282] [ 0.02308016 0.00384221 0.99972623 -0.29412695] [ 0. 0. 0. 1. ]] SLAMing on 97.38313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 97.413133365 meters Centerline goodness : 0.140054 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99972816 0.00328476 -0.02308279 -0.50006956] [-0.00336299 0.99998873 -0.00335117 -0.20599328] [ 0.02307152 0.00342788 0.99972794 -0.29401359] [ 0. 0. 0. 1. ]] SLAMing on 97.443133365 meters Centerline goodness : 0.127404 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.20, Z:-0.29 [[ 0.99970357 -0.0056136 -0.02369105 -0.5202436 ] [ 0.00557382 0.99998294 -0.0017447 -0.20362907] [ 0.02370044 0.00161213 0.99971781 -0.29498882] [ 0. 0. 0. 1. ]] SLAMing on 97.473133365 meters Centerline goodness : 0.128781 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99971979 0.00310776 -0.02346675 -0.5018807 ] [-0.00317541 0.99999091 -0.0028463 -0.20953177] [ 0.02345769 0.00292002 0.99972057 -0.29308458] [ 0. 0. 0. 1. ]] SLAMing on 97.503133365 meters Centerline goodness : 0.146356 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99971597 0.00311439 -0.02362806 -0.50150172] [-0.0031794 0.99999126 -0.00271454 -0.21047009] [ 0.0236194 0.00278889 0.99971713 -0.29304673] [ 0. 0. 0. 1. ]] SLAMing on 97.533133365 meters Centerline goodness : 0.161089 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.21, Z:-0.29 [[ 0.99970824 0.00321014 -0.0239403 -0.50077113] [-0.00327084 0.99999153 -0.00249641 -0.21163825] [ 0.02393209 0.00257399 0.99971027 -0.29299963] [ 0. 0. 0. 1. ]] SLAMing on 97.563133365 meters Centerline goodness : 0.146248 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.21, Z:-0.29 [[ 9.99690725e-01 -2.86048021e-03 -2.47036640e-02 -4.83533010e-01] [ 2.83993363e-03 9.99995592e-01 -8.66765875e-04 -2.07189914e-01] [ 2.47060345e-02 7.96341040e-04 9.99694442e-01 -2.90140111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.593133365 meters Centerline goodness : 0.180737 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.21, Z:-0.29 [[ 9.99696308e-01 -2.73678903e-03 -2.44908618e-02 -4.84246623e-01] [ 2.71754119e-03 9.99995972e-01 -8.19167407e-04 -2.06800451e-01] [ 2.44930050e-02 7.52363707e-04 9.99699718e-01 -2.89804674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62313336499999 meters Centerline goodness : 0.199282 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99702492e-01 -2.66729834e-03 -2.42448558e-02 -4.85128617e-01] [ 2.64840408e-03 9.99996164e-01 -8.11386595e-04 -2.06421686e-01] [ 2.42469270e-02 7.46935026e-04 9.99705721e-01 -2.89365181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65313336499999 meters Centerline goodness : 0.125779 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99704069e-01 -2.61208831e-03 -2.41857821e-02 -4.85522496e-01] [ 2.59470248e-03 9.99996352e-01 -7.50199154e-04 -2.06539766e-01] [ 2.41876535e-02 6.87222238e-04 9.99707200e-01 -2.88996488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68313336499999 meters Centerline goodness : 0.168802 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99702098e-01 -2.56938295e-03 -2.42716588e-02 -4.85327719e-01] [ 2.55698334e-03 9.99996584e-01 -5.41889456e-04 -2.07726886e-01] [ 2.42729682e-02 4.79665798e-04 9.99705253e-01 -2.89002041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71313336499999 meters Centerline goodness : 0.182759 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99699974e-01 -2.55691589e-03 -2.43602926e-02 -4.85272554e-01] [ 2.54874690e-03 9.99996685e-01 -3.66383126e-04 -2.08847859e-01] [ 2.43611486e-02 3.04184982e-04 9.99703177e-01 -2.88781904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74313336499999 meters Centerline goodness : 0.175163 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.21, Z:-0.29 [[ 9.99703264e-01 -2.53264569e-03 -2.42274498e-02 -4.85777729e-01] [ 2.53021203e-03 9.99996790e-01 -1.31104942e-04 -2.10277112e-01] [ 2.42277041e-02 6.97654537e-05 9.99706464e-01 -2.88527119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77313336499999 meters Centerline goodness : 0.072325 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.21, Z:-0.29 [[ 0.99972331 0.00419742 -0.02314482 -0.46493499] [-0.00426816 0.99998637 -0.00300796 -0.21386875] [ 0.02313188 0.00310592 0.9997276 -0.28823836] [ 0. 0. 0. 1. ]] SLAMing on 97.803133365 meters Centerline goodness : 0.180633 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.22, Z:-0.29 [[ 0.99971923 0.00424207 -0.02331253 -0.46461404] [-0.00430564 0.99998715 -0.00267704 -0.21579225] [ 0.02330088 0.00277667 0.99972464 -0.28818745] [ 0. 0. 0. 1. ]] SLAMing on 97.833133365 meters Centerline goodness : 0.118360 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.22, Z:-0.29 [[ 0.99971371 0.00426405 -0.02354399 -0.46405021] [-0.00432237 0.99998771 -0.00242654 -0.21730402] [ 0.02353335 0.00252761 0.99971986 -0.28825691] [ 0. 0. 0. 1. ]] SLAMing on 97.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 97.893133365 meters Centerline goodness : 0.145130 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.22, Z:-0.29 [[ 0.99972594 -0.00375986 -0.02310624 -0.4431429 ] [ 0.00371831 0.99999139 -0.00184097 -0.21779016] [ 0.02311297 0.00175455 0.99973132 -0.28659576] [ 0. 0. 0. 1. ]] SLAMing on 97.923133365 meters Centerline goodness : 0.155917 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.29 [[ 0.99974477 0.00473853 -0.02208958 -0.42411085] [-0.00481293 0.99998292 -0.00331608 -0.22191758] [ 0.02207349 0.00342155 0.9997505 -0.28544761] [ 0. 0. 0. 1. ]] SLAMing on 97.953133365 meters Centerline goodness : 0.184647 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.22, Z:-0.29 [[ 0.99972678 -0.00399965 -0.0230297 -0.44234501] [ 0.00395966 0.99999057 -0.00178208 -0.21720562] [ 0.02303661 0.00169041 0.99973319 -0.28703482] [ 0. 0. 0. 1. ]] SLAMing on 97.98313336499999 meters Centerline goodness : 0.125187 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.29 [[ 0.99973192 0.00499025 -0.02260947 -0.4220616 ] [-0.00505272 0.99998357 -0.00270681 -0.22116494] [ 0.02259559 0.00282032 0.99974071 -0.28660032] [ 0. 0. 0. 1. ]] SLAMing on 98.01313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.04313336499999 meters Centerline goodness : 0.124745 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.22, Z:-0.29 [[ 0.99972775 0.0050336 -0.0227834 -0.42159881] [-0.00509375 0.99998369 -0.00258302 -0.22172336] [ 0.02277002 0.00269837 0.99973709 -0.28666534] [ 0. 0. 0. 1. ]] SLAMing on 98.07313336499999 meters Centerline goodness : 0.130597 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 0.99972964 -0.00173334 -0.02318692 -0.4025471 ] [ 0.00170346 0.99999769 -0.00130841 -0.21792067] [ 0.02318914 0.00126856 0.99973029 -0.28446485] [ 0. 0. 0. 1. ]] SLAMing on 98.10313336499999 meters Centerline goodness : 0.126960 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 0.99972781 -0.00166642 -0.02327081 -0.40222104] [ 0.00163971 0.99999797 -0.0011668 -0.2184431 ] [ 0.02327271 0.00112832 0.99972852 -0.28467137] [ 0. 0. 0. 1. ]] SLAMing on 98.13313336499999 meters Centerline goodness : 0.157015 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99727311e-01 -1.61178349e-03 -2.32960347e-02 -4.02130855e-01] [ 1.58893345e-03 9.99998238e-01 -9.99332582e-04 -2.19337347e-01] [ 2.32976044e-02 9.62044227e-04 9.99728111e-01 -2.84753588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.163133365 meters Centerline goodness : 0.189953 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99728543e-01 -1.57426834e-03 -2.32457074e-02 -4.02191593e-01] [ 1.55898374e-03 9.99998557e-01 -6.75631259e-04 -2.21506706e-01] [ 2.32467375e-02 6.39208173e-04 9.99729554e-01 -2.84851191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.223133365 meters Centerline goodness : 0.189575 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99724969e-01 -1.46892251e-03 -2.34057246e-02 -4.01981127e-01] [ 1.46025453e-03 9.99998859e-01 -3.87423213e-04 -2.22731479e-01] [ 2.34062670e-02 3.53138344e-04 9.99725973e-01 -2.84619750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.253133365 meters Centerline goodness : 0.167889 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99721450e-01 -1.39970604e-03 -2.35597913e-02 -4.01601547e-01] [ 1.39377704e-03 9.99998993e-01 -2.68076436e-04 -2.22990764e-01] [ 2.35601428e-02 2.35164668e-04 9.99722394e-01 -2.84651086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.283133365 meters Centerline goodness : 0.167889 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99721450e-01 -1.39970604e-03 -2.35597913e-02 -4.01601547e-01] [ 1.39377704e-03 9.99998993e-01 -2.68076436e-04 -2.22990764e-01] [ 2.35601428e-02 2.35164668e-04 9.99722394e-01 -2.84651086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.343133365 meters Centerline goodness : 0.156188 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99715227e-01 -1.42809041e-03 -2.38207131e-02 -4.00873270e-01] [ 1.42051948e-03 9.99998935e-01 -3.34747941e-04 -2.22574675e-01] [ 2.38211658e-02 3.00814827e-04 9.99716191e-01 -2.84768926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37313336499999 meters Centerline goodness : 0.125493 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99719495e-01 -1.51248072e-03 -2.36356347e-02 -4.01768299e-01] [ 1.49872475e-03 9.99998697e-01 -5.99704798e-04 -2.21221028e-01] [ 2.36365110e-02 5.64113267e-04 9.99720459e-01 -2.84029614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.43313336499999 meters Centerline goodness : 0.169418 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 9.99722773e-01 -1.56052401e-03 -2.34934297e-02 -4.02124723e-01] [ 1.53922536e-03 9.99998388e-01 -9.24635017e-04 -2.18964546e-01] [ 2.34948347e-02 8.88217000e-04 9.99723564e-01 -2.83981854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46313336499999 meters Centerline goodness : 0.135371 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.22, Z:-0.28 [[ 0.99972039 -0.00169438 -0.02358552 -0.40185 ] [ 0.00166578 0.99999785 -0.0012323 -0.21755141] [ 0.02358756 0.00119267 0.99972106 -0.28400532] [ 0. 0. 0. 1. ]] SLAMing on 98.49313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.52313336499999 meters Centerline goodness : 0.133854 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.21, Z:-0.28 [[ 0.99972328 -0.00194214 -0.02344319 -0.40251385] [ 0.00189783 0.99999637 -0.00191225 -0.21413335] [ 0.02344682 0.00186723 0.99972334 -0.28349166] [ 0. 0. 0. 1. ]] SLAMing on 98.553133365 meters Centerline goodness : 0.138090 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.21, Z:-0.28 [[ 9.99742107e-01 -3.17013762e-04 -2.27072445e-02 -4.05949302e-01] [ 2.94412936e-04 9.99999458e-01 -9.98649648e-04 -2.07302504e-01] [ 2.27075488e-02 9.91706797e-04 9.99741659e-01 -2.81651053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.583133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.613133365 meters Centerline goodness : 0.160695 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.20, Z:-0.28 [[ 9.99729592e-01 -8.14937786e-04 -2.32395810e-02 -4.04126680e-01] [ 7.62065374e-04 9.99997102e-01 -2.28386730e-03 -1.99823717e-01] [ 2.32413748e-02 2.26553965e-03 9.99727316e-01 -2.82369406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.643133365 meters Centerline goodness : 0.160533 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.20, Z:-0.28 [[ 9.99726224e-01 -1.02554536e-03 -2.33757292e-02 -4.03572746e-01] [ 9.59282964e-04 9.99995491e-01 -2.84570363e-03 -1.96921671e-01] [ 2.33785422e-02 2.82250061e-03 9.99722700e-01 -2.82736410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.673133365 meters Centerline goodness : 0.129409 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.28 [[ 0.99972721 -0.00118917 -0.02332579 -0.40375393] [ 0.0011117 0.99999382 -0.00333401 -0.19422175] [ 0.02332961 0.00330717 0.99972236 -0.28265349] [ 0. 0. 0. 1. ]] SLAMing on 98.703133365 meters Centerline goodness : 0.128561 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.28 [[ 0.9997279 -0.00860729 -0.02168025 -0.38540352] [ 0.00854849 0.99995953 -0.00280337 -0.18449142] [ 0.0217035 0.00261727 0.99976103 -0.28039902] [ 0. 0. 0. 1. ]] SLAMing on 98.73313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 98.76313336499999 meters Centerline goodness : 0.140234 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.28 [[ 0.99972488 -0.00900004 -0.02166005 -0.38542831] [ 0.00892219 0.9999534 -0.00368793 -0.18002187] [ 0.02169223 0.00349366 0.99975859 -0.28045758] [ 0. 0. 0. 1. ]] SLAMing on 98.79313336499999 meters Centerline goodness : 0.137023 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.18, Z:-0.28 [[ 0.99973843 -0.00634822 -0.02197201 -0.38477739] [ 0.00632426 0.99997933 -0.00115986 -0.17774938] [ 0.02197891 0.0010206 0.99975791 -0.28054554] [ 0. 0. 0. 1. ]] SLAMing on 98.82313336499999 meters Centerline goodness : 0.109880 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.18, Z:-0.28 [[ 0.99977246 0.00221572 -0.02121613 -0.36430253] [-0.00227076 0.99999412 -0.00257031 -0.17648541] [ 0.02121031 0.0026179 0.99977161 -0.28042488] [ 0. 0. 0. 1. ]] SLAMing on 98.85313336499999 meters Centerline goodness : 0.137837 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.17, Z:-0.28 [[ 0.99977054 0.00207186 -0.02132069 -0.36402997] [-0.00213668 0.99999316 -0.00301823 -0.17409804] [ 0.02131429 0.0030631 0.99976813 -0.28041135] [ 0. 0. 0. 1. ]] SLAMing on 98.88313336499999 meters Centerline goodness : 0.131539 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.17, Z:-0.28 [[ 0.99976939 0.00198659 -0.02138263 -0.36380276] [-0.00206122 0.99999186 -0.00346879 -0.17142979] [ 0.02137557 0.00351206 0.99976535 -0.28043342] [ 0. 0. 0. 1. ]] SLAMing on 98.913133365 meters Centerline goodness : 0.130934 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.17, Z:-0.28 [[ 0.9997762 0.00380371 -0.0208105 -0.36630683] [-0.00384917 0.99999029 -0.00214494 -0.16641576] [ 0.02080214 0.00222457 0.99978114 -0.27923542] [ 0. 0. 0. 1. ]] SLAMing on 98.943133365 meters Centerline goodness : 0.132143 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.16, Z:-0.28 [[ 0.99977619 0.00380987 -0.02080974 -0.36616662] [-0.00386687 0.99998888 -0.00269925 -0.16295232] [ 0.02079922 0.00277911 0.99977981 -0.27935356] [ 0. 0. 0. 1. ]] SLAMing on 98.973133365 meters Centerline goodness : 0.127989 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.16, Z:-0.28 [[ 9.99753456e-01 7.15167542e-03 -2.10209788e-02 -3.65902207e-01] [-7.16493196e-03 9.99974177e-01 -5.55385345e-04 -1.55323975e-01] [ 2.10164640e-02 7.05862301e-04 9.99778881e-01 -2.78875970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.003133365 meters Centerline goodness : 0.100789 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.15, Z:-0.28 [[ 9.99757372e-01 7.45184231e-03 -2.07284187e-02 -3.66492894e-01] [-7.47273098e-03 9.99971646e-01 -9.30455342e-04 -1.51850383e-01] [ 2.07208974e-02 1.08512748e-03 9.99784710e-01 -2.78931685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.033133365 meters Centerline goodness : 0.098823 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.15, Z:-0.28 [[ 0.99976007 0.0077052 -0.02050433 -0.36705071] [-0.00773418 0.9999692 -0.00133437 -0.14839295] [ 0.02049341 0.00149264 0.99978887 -0.27882228] [ 0. 0. 0. 1. ]] SLAMing on 99.063133365 meters Centerline goodness : 0.101053 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.14, Z:-0.28 [[ 0.9997598 0.00791554 -0.02043721 -0.36714004] [-0.00795357 0.99996679 -0.00177999 -0.1447242 ] [ 0.02042244 0.00194211 0.99978955 -0.27889055] [ 0. 0. 0. 1. ]] SLAMing on 99.093133365 meters Centerline goodness : 0.055348 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.14, Z:-0.28 [[ 0.99976182 0.0080038 -0.02030364 -0.36742974] [-0.00805147 0.99996502 -0.00226697 -0.14134933] [ 0.02028479 0.00242991 0.99979129 -0.27886696] [ 0. 0. 0. 1. ]] SLAMing on 99.12313336499999 meters Centerline goodness : 0.195903 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.13, Z:-0.28 [[ 9.99813062e-01 3.79776784e-04 -1.93312244e-02 -3.86105338e-01] [-3.97396895e-04 9.99999509e-01 -9.07651205e-04 -1.32680076e-01] [ 1.93308702e-02 9.15163699e-04 9.99812722e-01 -2.81326738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.18313336499999 meters Centerline goodness : 0.125370 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 0.99981101 0.00394795 -0.01903595 -0.38686124] [-0.00392111 0.99999126 0.0014476 -0.12448098] [ 0.0190415 -0.00137269 0.99981775 -0.2812685 ] [ 0. 0. 0. 1. ]] SLAMing on 99.21313336499999 meters Centerline goodness : 0.219260 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 9.99811115e-01 3.83027165e-03 -1.90541989e-02 -3.86623169e-01] [-3.81369727e-03 9.99992317e-01 9.06115414e-04 -1.21508480e-01] [ 1.90575232e-02 -8.33277317e-04 9.99818042e-01 -2.81564021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24313336499999 meters Centerline goodness : 0.120494 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 9.99807068e-01 3.75464451e-03 -1.92802953e-02 -3.86021272e-01] [-3.74802780e-03 9.99992904e-01 3.79308590e-04 -1.19036907e-01] [ 1.92815827e-02 -3.06972326e-04 9.99814046e-01 -2.81539823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27313336499999 meters Centerline goodness : 0.080346 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.12, Z:-0.28 [[ 9.99801717e-01 3.63573044e-03 -1.95782757e-02 -3.85164927e-01] [-3.64344712e-03 9.99993298e-01 -3.58489676e-04 -1.15473510e-01] [ 1.95768412e-02 4.29751006e-04 9.99808263e-01 -2.81644429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.303133365 meters Centerline goodness : 0.127819 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99800577e-01 3.57181729e-03 -1.96481044e-02 -3.85019338e-01] [-3.58377804e-03 9.99993414e-01 -5.73571285e-04 -1.14591681e-01] [ 1.96459263e-02 6.43871347e-04 9.99806793e-01 -2.81614523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.333133365 meters Centerline goodness : 0.131440 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99800940e-01 3.45285474e-03 -1.96508932e-02 -3.84981028e-01] [-3.46989329e-03 9.99993633e-01 -8.33031620e-04 -1.13547030e-01] [ 1.96478918e-02 9.01052299e-04 9.99806556e-01 -2.81685040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.363133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.393133365 meters Centerline goodness : 0.103840 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 0.99980515 0.00315982 -0.01948551 -0.38549638] [-0.00318575 0.99999408 -0.00129958 -0.1119318 ] [ 0.01948129 0.00136141 0.99980929 -0.2816138 ] [ 0. 0. 0. 1. ]] SLAMing on 99.423133365 meters Centerline goodness : 0.130026 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.11, Z:-0.28 [[ 9.99807169e-01 -4.58956710e-03 -1.90934918e-02 -3.67665698e-01] [ 4.59306084e-03 9.99989442e-01 1.39131574e-04 -1.05385351e-01] [ 1.90926517e-02 -2.26802315e-04 9.99817693e-01 -2.80294854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.453133365 meters Centerline goodness : 0.159766 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99827201e-01 3.86513380e-03 -1.81832125e-02 -3.85751179e-01] [-3.87210662e-03 9.99992443e-01 -3.48284648e-04 -1.13567610e-01] [ 1.81817289e-02 4.18631803e-04 9.99834611e-01 -2.82558717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48313336499999 meters Centerline goodness : 0.119327 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99826961e-01 3.87543879e-03 -1.81942276e-02 -3.85740970e-01] [-3.88124605e-03 9.99992428e-01 -2.83880894e-04 -1.13941306e-01] [ 1.81929897e-02 3.54448045e-04 9.99834431e-01 -2.82539882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.54313336499999 meters Centerline goodness : 0.138132 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.11, Z:-0.28 [[ 9.99823445e-01 3.84652061e-03 -1.83924531e-02 -3.85469352e-01] [-3.85317918e-03 9.99992523e-01 -3.26603486e-04 -1.13975006e-01] [ 1.83910593e-02 3.97415240e-04 9.99830791e-01 -2.82171601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.60313336499999 meters Centerline goodness : 0.149930 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99807772e-01 4.36239897e-03 -1.91151404e-02 -3.83653840e-01] [-4.36398674e-03 9.99990477e-01 -4.13513686e-05 -1.13684839e-01] [ 1.91147780e-02 1.24761639e-04 9.99817288e-01 -2.82403267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.663133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.693133365 meters Centerline goodness : 0.116640 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99789413e-01 4.56776021e-03 -2.00066253e-02 -3.81139631e-01] [-4.57599619e-03 9.99989463e-01 -3.65902337e-04 -1.12014896e-01] [ 2.00047432e-02 4.57375524e-04 9.99799780e-01 -2.82631315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.783133365 meters Centerline goodness : 0.126596 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99807706e-01 4.93725940e-03 -1.89782760e-02 -3.84307343e-01] [-4.94051897e-03 9.99987788e-01 -1.24870673e-04 -1.11838793e-01] [ 1.89774277e-02 2.18609194e-04 9.99819889e-01 -2.81391209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.813133365 meters Centerline goodness : 0.130494 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.11, Z:-0.28 [[ 9.99809088e-01 4.92240981e-03 -1.89091937e-02 -3.84352829e-01] [-4.92663623e-03 9.99987848e-01 -1.76934037e-04 -1.11466577e-01] [ 1.89080930e-02 2.70058977e-04 9.99821190e-01 -2.81571192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.843133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.87313336499999 meters Centerline goodness : 0.127756 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:-0.28 [[ 9.99827475e-01 6.42991905e-03 -1.74263213e-02 -3.39626067e-01] [-6.43673955e-03 9.99979228e-01 -3.35329272e-04 -1.06987385e-01] [ 1.74238032e-02 4.47440111e-04 9.99848094e-01 -2.81921897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 99.93313336499999 meters Centerline goodness : 0.149474 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.10, Z:-0.28 [[ 9.99839501e-01 6.94448360e-03 -1.65150095e-02 -3.41758609e-01] [-6.95131738e-03 9.99975776e-01 -3.56423005e-04 -1.04189283e-01] [ 1.65121342e-02 4.71166872e-04 9.99863554e-01 -2.81950033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96313336499999 meters Centerline goodness : 0.134997 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.10, Z:-0.28 [[ 9.99840202e-01 6.80219404e-03 -1.65317915e-02 -3.41648257e-01] [-6.81410817e-03 9.99976563e-01 -6.64457274e-04 -1.02900465e-01] [ 1.65268843e-02 7.77000511e-04 9.99863120e-01 -2.82070725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.02313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.083133365 meters Centerline goodness : 0.053217 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.10, Z:-0.28 [[ 9.99836205e-01 6.86598532e-03 -1.67458004e-02 -3.41060257e-01] [-6.87248888e-03 9.99976329e-01 -3.30853019e-04 -1.04988970e-01] [ 1.67431324e-02 4.45884153e-04 9.99859725e-01 -2.82182659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.113133365 meters Centerline goodness : 0.202763 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.11, Z:-0.28 [[ 9.99834128e-01 6.93706246e-03 -1.68402655e-02 -3.41071835e-01] [-6.93669087e-03 9.99975938e-01 8.04777062e-05 -1.07377427e-01] [ 1.68404186e-02 3.63513590e-05 9.99858189e-01 -2.81805438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.143133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.173133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.23313336499999 meters Centerline goodness : 0.140116 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.12, Z:-0.28 [[ 0.99984183 0.00403226 -0.01732221 -0.34021344] [-0.00406449 0.99999007 -0.00182582 -0.11610198] [ 0.01731468 0.00189594 0.99984829 -0.28111602] [ 0. 0. 0. 1. ]] SLAMing on 100.26313336499999 meters Centerline goodness : 0.056138 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99864533e-01 -3.01537146e-03 -1.61809276e-02 -3.22089874e-01] [ 3.01253274e-03 9.99995442e-01 -1.99807808e-04 -1.09803024e-01] [ 1.61814564e-02 1.51035167e-04 9.99869060e-01 -2.80124969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29313336499999 meters Centerline goodness : 0.140203 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99873212e-01 -2.21288303e-03 -1.57690797e-02 -3.23094264e-01] [ 2.21761696e-03 9.99997501e-01 2.82723754e-04 -1.09962805e-01] [ 1.57684147e-02 -3.17657686e-04 9.99875620e-01 -2.80212201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32313336499999 meters Centerline goodness : 0.124468 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99870092e-01 -2.06846719e-03 -1.59850174e-02 -3.22317702e-01] [ 2.07065194e-03 9.99997849e-01 1.20125043e-04 -1.08658230e-01] [ 1.59847345e-02 -1.53208845e-04 9.99872224e-01 -2.80738699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35313336499999 meters Centerline goodness : 0.131066 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99867736e-01 -1.94300128e-03 -1.61473072e-02 -3.21711735e-01] [ 1.94269467e-03 9.99998112e-01 -3.46736789e-05 -1.07323525e-01] [ 1.61473441e-02 3.29980508e-06 9.99869623e-01 -2.81212071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38313336499999 meters Centerline goodness : 0.125360 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99866216e-01 -1.83953187e-03 -1.62531675e-02 -3.21369749e-01] [ 1.83704640e-03 9.99998299e-01 -1.67850542e-04 -1.06121818e-01] [ 1.62534486e-02 1.37970263e-04 9.99867894e-01 -2.81459392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.413133365 meters Centerline goodness : 0.132801 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99870993e-01 -1.81546407e-03 -1.59593451e-02 -3.22098195e-01] [ 1.81113809e-03 9.99998319e-01 -2.85511171e-04 -1.05266430e-01] [ 1.59598366e-02 2.56569761e-04 9.99872601e-01 -2.81485582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.443133365 meters Centerline goodness : 0.126116 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.10, Z:-0.28 [[ 9.99874109e-01 -1.80503524e-03 -1.57641152e-02 -3.22645030e-01] [ 1.80000100e-03 9.99998324e-01 -3.33531199e-04 -1.04852981e-01] [ 1.57646908e-02 3.05113788e-04 9.99875683e-01 -2.81386899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.473133365 meters Centerline goodness : 0.121533 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99987977 0.00652016 -0.01406907 -0.30415152] [-0.0065496 0.99997646 -0.00204709 -0.10673597] [ 0.0140554 0.00213899 0.99989893 -0.27983266] [ 0. 0. 0. 1. ]] SLAMing on 100.503133365 meters Centerline goodness : 0.180047 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99987951 0.0064916 -0.01410037 -0.30415318] [-0.00652079 0.99997669 -0.00202542 -0.10700025] [ 0.01408689 0.00211712 0.99989853 -0.27971534] [ 0. 0. 0. 1. ]] SLAMing on 100.533133365 meters Centerline goodness : 0.162164 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.10, Z:-0.28 [[ 9.99886312e-01 -2.59909410e-03 -1.48528473e-02 -3.25282770e-01] [ 2.58539518e-03 9.99996215e-01 -9.41436668e-04 -1.04563234e-01] [ 1.48552380e-02 9.02929158e-04 9.99889247e-01 -2.80348862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.563133365 meters Centerline goodness : 0.118879 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.11, Z:-0.28 [[ 0.99989349 0.00575026 -0.01341422 -0.30623527] [-0.00577949 0.99998101 -0.00214174 -0.10698449] [ 0.01340165 0.00221904 0.99990773 -0.2795642 ] [ 0. 0. 0. 1. ]] SLAMing on 100.59313336499999 meters Centerline goodness : 0.229105 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.10, Z:-0.28 [[ 9.99906001e-01 -2.93405718e-03 -1.33933040e-02 -3.26362447e-01] [ 2.92686346e-03 9.99995562e-01 -5.56682500e-04 -1.04534864e-01] [ 1.33948779e-02 5.17429800e-04 9.99910151e-01 -2.81127479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.65313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.68313336499999 meters Centerline goodness : 0.123368 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.11, Z:-0.28 [[ 9.99900463e-01 -3.28962656e-03 -1.37201397e-02 -3.25347982e-01] [ 3.28259823e-03 9.99994469e-01 -5.34752026e-04 -1.05940644e-01] [ 1.37218230e-02 4.89661092e-04 9.99905731e-01 -2.81422329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71313336499999 meters Centerline goodness : 0.137190 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99896759e-01 -3.31316146e-03 -1.39819229e-02 -3.24649055e-01] [ 3.30614085e-03 9.99994397e-01 -5.25205059e-04 -1.06199837e-01] [ 1.39835846e-02 4.78924630e-04 9.99902110e-01 -2.81553815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74313336499999 meters Centerline goodness : 0.128258 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99895625e-01 -3.30772985e-03 -1.40640379e-02 -3.24435921e-01] [ 3.30122909e-03 9.99994433e-01 -4.85415928e-04 -1.06505299e-01] [ 1.40655653e-02 4.38936652e-04 9.99900979e-01 -2.81589503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77313336499999 meters Centerline goodness : 0.131432 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 9.99898213e-01 -3.25374829e-03 -1.38916324e-02 -3.24908266e-01] [ 3.24871762e-03 9.99994649e-01 -3.84687610e-04 -1.06876383e-01] [ 1.38928097e-02 3.39518463e-04 9.99903433e-01 -2.81507181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.803133365 meters Centerline goodness : 0.111849 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.11, Z:-0.28 [[ 9.99899866e-01 -3.23290473e-03 -1.37770402e-02 -3.25252668e-01] [ 3.22801798e-03 9.99994719e-01 -3.76925060e-04 -1.06825640e-01] [ 1.37781860e-02 3.32414783e-04 9.99905021e-01 -2.81388487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.833133365 meters Centerline goodness : 0.136725 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.11, Z:-0.28 [[ 0.99990258 0.00524567 -0.01293516 -0.30599558] [-0.00527026 0.99998437 -0.00186821 -0.10979527] [ 0.01292516 0.0019362 0.99991459 -0.28012687] [ 0. 0. 0. 1. ]] SLAMing on 100.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 100.893133365 meters Centerline goodness : 0.117779 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99989721 0.00517685 -0.01337085 -0.30464303] [-0.00520202 0.99998476 -0.00184865 -0.11090681] [ 0.01336108 0.00191801 0.9999089 -0.2805673 ] [ 0. 0. 0. 1. ]] SLAMing on 100.923133365 meters Centerline goodness : 0.163439 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.9998947 0.00519418 -0.01355055 -0.30411019] [-0.00521824 0.99998487 -0.00174115 -0.11169284] [ 0.0135413 0.00181168 0.99990667 -0.28074997] [ 0. 0. 0. 1. ]] SLAMing on 100.953133365 meters Centerline goodness : 0.130324 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99989379 0.005258 -0.01359245 -0.30414571] [-0.0052794 0.99998488 -0.00153937 -0.11276254] [ 0.01358415 0.00161097 0.99990643 -0.28053437] [ 0. 0. 0. 1. ]] SLAMing on 100.98313336499999 meters Centerline goodness : 0.125798 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 0.99989516 0.00538379 -0.01344211 -0.30494093] [-0.00540128 0.99998461 -0.00126525 -0.11388768] [ 0.01343509 0.00133772 0.99990885 -0.2798424 ] [ 0. 0. 0. 1. ]] SLAMing on 101.01313336499999 meters Centerline goodness : 0.119722 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.12, Z:-0.28 [[ 9.99896849e-01 5.55325728e-03 -1.32458817e-02 -3.05778724e-01] [-5.56529885e-03 9.99984133e-01 -8.72392786e-04 -1.15599271e-01] [ 1.32408269e-02 9.46020088e-04 9.99911889e-01 -2.79240750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04313336499999 meters Centerline goodness : 0.126217 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99907688e-01 -1.78702237e-03 -1.34692648e-02 -2.86090496e-01] [ 1.78413289e-03 9.99998383e-01 -2.26536497e-04 -1.10654766e-01] [ 1.34696478e-02 2.02484627e-04 9.99909260e-01 -2.78249486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07313336499999 meters Centerline goodness : 0.148431 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99906899e-01 -1.77635330e-03 -1.35291533e-02 -2.85756424e-01] [ 1.77331151e-03 9.99998400e-01 -2.36824963e-04 -1.10548815e-01] [ 1.35295523e-02 2.12811511e-04 9.99908449e-01 -2.78592933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 101.13313336499999 meters Centerline goodness : 0.118460 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99917601e-01 -1.58686095e-03 -1.27386323e-02 -2.87881050e-01] [ 1.58563883e-03 9.99998737e-01 -1.06037727e-04 -1.10181597e-01] [ 1.27387844e-02 8.58301193e-05 9.99918855e-01 -2.78265657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.163133365 meters Centerline goodness : 0.122399 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99927196e-01 -1.62720516e-03 -1.19563555e-02 -2.90687854e-01] [ 1.62633272e-03 9.99998674e-01 -8.26909857e-05 -1.10423941e-01] [ 1.19564742e-02 6.32399533e-05 9.99928517e-01 -2.76755513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 101.223133365 meters Centerline goodness : 0.126074 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99910725e-01 -2.02590486e-03 -1.32075117e-02 -2.87127090e-01] [ 2.02051181e-03 9.99997870e-01 -4.21663351e-04 -1.09818188e-01] [ 1.32083378e-02 3.94939774e-04 9.99912688e-01 -2.77829189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.253133365 meters Centerline goodness : 0.144130 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99903578e-01 -2.06576384e-03 -1.37320056e-02 -2.85606523e-01] [ 2.06127767e-03 9.99997817e-01 -3.40840110e-04 -1.10269792e-01] [ 1.37326797e-02 3.12501768e-04 9.99905653e-01 -2.78257124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.283133365 meters Centerline goodness : 0.124812 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.11, Z:-0.28 [[ 9.99904274e-01 -2.05657920e-03 -1.36825919e-02 -2.85861137e-01] [ 2.05526107e-03 9.99997882e-01 -1.10396548e-04 -1.11492574e-01] [ 1.36827900e-02 8.22646811e-05 9.99906383e-01 -2.78030690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 101.34313336499999 meters Centerline goodness : 0.235711 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:-0.28 [[ 0.99991798 -0.00714945 -0.0106267 -0.29586319] [ 0.00712036 0.9999708 -0.00277329 -0.12181041] [ 0.01064622 0.0026974 0.99993969 -0.27577303] [ 0. 0. 0. 1. ]] SLAMing on 101.37313336499999 meters Centerline goodness : 0.119304 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:-0.28 [[ 0.99991892 -0.00702774 -0.01061912 -0.29603137] [ 0.00700353 0.99997279 -0.00231523 -0.12405901] [ 0.01063511 0.00224067 0.99994094 -0.27556862] [ 0. 0. 0. 1. ]] SLAMing on 101.40313336499999 meters Centerline goodness : 0.123401 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 0.99991987 -0.00697931 -0.01056095 -0.29617463] [ 0.00696035 0.9999741 -0.00183062 -0.1260825 ] [ 0.01057346 0.00175697 0.99994256 -0.27582872] [ 0. 0. 0. 1. ]] SLAMing on 101.43313336499999 meters Centerline goodness : 0.119753 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 0.99992006 -0.00692722 -0.0105776 -0.29592485] [ 0.00691135 0.99997494 -0.00153614 -0.12736824] [ 0.01058797 0.00146291 0.99994288 -0.27623413] [ 0. 0. 0. 1. ]] SLAMing on 101.46313336499999 meters Centerline goodness : 0.107109 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 0.99992044 -0.00698209 -0.0105053 -0.29636654] [ 0.00696914 0.99997491 -0.00126892 -0.1293131 ] [ 0.01051389 0.0011956 0.99994401 -0.27591027] [ 0. 0. 0. 1. ]] SLAMing on 101.49313336499999 meters Centerline goodness : 0.091939 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 9.99922478e-01 -6.92761705e-03 -1.03463320e-02 -2.97002246e-01] [ 6.91882564e-03 9.99975673e-01 -8.85264752e-04 -1.30929071e-01] [ 1.03522131e-02 8.13611657e-04 9.99946083e-01 -2.75692893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52313336499999 meters Centerline goodness : 0.112256 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 9.99922217e-01 -6.78343600e-03 -1.04663351e-02 -2.96823002e-01] [ 6.77883387e-03 9.99976911e-01 -4.75121350e-04 -1.32875849e-01] [ 1.04693164e-02 4.04134847e-04 9.99945114e-01 -2.75537821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.553133365 meters Centerline goodness : 0.202753 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.13, Z:-0.28 [[ 9.99922814e-01 -6.70653051e-03 -1.04588485e-02 -2.96732838e-01] [ 6.70620033e-03 9.99977511e-01 -6.66395237e-05 -1.34571223e-01] [ 1.04590602e-02 -3.50475315e-06 9.99945303e-01 -2.75894236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.583133365 meters Centerline goodness : 0.128100 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.28 [[ 9.99923077e-01 -6.73735306e-03 -1.04138226e-02 -2.96921200e-01] [ 6.73888582e-03 9.99977287e-01 1.12102356e-04 -1.35597373e-01] [ 1.04128308e-02 -1.82271294e-04 9.99945768e-01 -2.75906122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.613133365 meters Centerline goodness : 0.236737 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.27 [[ 9.99932372e-01 -7.17500305e-03 -9.15260469e-03 -3.00782280e-01] [ 7.17642495e-03 9.99974242e-01 1.22521144e-04 -1.36345618e-01] [ 9.15148984e-03 -1.88195839e-04 9.99958107e-01 -2.74819408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.643133365 meters Centerline goodness : 0.109287 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.27 [[ 9.99937526e-01 -7.25022244e-03 -8.50751946e-03 -3.02590832e-01] [ 7.25268064e-03 9.99973666e-01 2.58127599e-04 -1.36593466e-01] [ 8.50542393e-03 -3.19813794e-04 9.99963777e-01 -2.74608380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.673133365 meters Centerline goodness : 0.134074 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.14, Z:-0.27 [[ 9.99940830e-01 -7.30015927e-03 -8.06494769e-03 -3.03589773e-01] [ 7.30375180e-03 9.99973241e-01 4.16086332e-04 -1.37004202e-01] [ 8.06169439e-03 -4.74966089e-04 9.99967391e-01 -2.74853141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.703133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 101.73313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 101.76313336499999 meters Centerline goodness : 0.125761 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:-0.27 [[ 9.99939457e-01 -8.13399364e-03 -7.41089135e-03 -3.05496439e-01] [ 8.13407591e-03 9.99966918e-01 -1.90399819e-05 -1.36943553e-01] [ 7.41080105e-03 -4.12419236e-05 9.99972539e-01 -2.74895352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 101.82313336499999 meters Centerline goodness : 0.124968 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.14, Z:-0.27 [[ 9.99935345e-01 -8.93018602e-03 -7.03966858e-03 -3.07373524e-01] [ 8.93213640e-03 9.99960077e-01 2.45663373e-04 -1.39423548e-01] [ 7.03719372e-03 -3.08526769e-04 9.99975191e-01 -2.74808413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 101.88313336499999 meters Centerline goodness : 0.109268 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:-0.28 [[ 0.99996438 -0.0014506 -0.00831444 -0.3212404 ] [ 0.00143501 0.9999972 -0.00188048 -0.14771441] [ 0.00831715 0.00186848 0.99996367 -0.27739154] [ 0. 0. 0. 1. ]] SLAMing on 101.913133365 meters Centerline goodness : 0.190511 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:-0.28 [[ 0.999966 -0.00151717 -0.00810554 -0.32153318] [ 0.00150146 0.99999698 -0.00194359 -0.14730263] [ 0.00810846 0.00193135 0.99996526 -0.27776628] [ 0. 0. 0. 1. ]] SLAMing on 101.943133365 meters Centerline goodness : 0.103259 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.15, Z:-0.28 [[ 0.99996695 -0.00160206 -0.00797092 -0.32185659] [ 0.00158451 0.99999631 -0.0022085 -0.14583288] [ 0.00797443 0.00219579 0.99996579 -0.27775513] [ 0. 0. 0. 1. ]] SLAMing on 101.973133365 meters Centerline goodness : 0.122099 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996801 -0.0017017 -0.00781616 -0.32239468] [ 0.00168193 0.99999537 -0.00253547 -0.14408448] [ 0.00782044 0.00252225 0.99996624 -0.27749882] [ 0. 0. 0. 1. ]] SLAMing on 102.003133365 meters Centerline goodness : 0.169899 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996841 -0.00183386 -0.00773351 -0.32265599] [ 0.00181106 0.999994 -0.00295412 -0.14192526] [ 0.00773888 0.00294002 0.99996573 -0.27737715] [ 0. 0. 0. 1. ]] SLAMing on 102.033133365 meters Centerline goodness : 0.123172 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996947 -0.00193538 -0.00757014 -0.32303535] [ 0.00190998 0.99999253 -0.00336086 -0.13968218] [ 0.00757659 0.0033463 0.9999657 -0.27741507] [ 0. 0. 0. 1. ]] SLAMing on 102.063133365 meters Centerline goodness : 0.100657 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996976 -0.00206837 -0.00749705 -0.32301731] [ 0.00203987 0.99999068 -0.00380605 -0.13733299] [ 0.00750485 0.00379064 0.99996465 -0.27776546] [ 0. 0. 0. 1. ]] SLAMing on 102.09313336499999 meters Centerline goodness : 0.100657 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.14, Z:-0.28 [[ 0.99996976 -0.00206837 -0.00749705 -0.32301731] [ 0.00203987 0.99999068 -0.00380605 -0.13733299] [ 0.00750485 0.00379064 0.99996465 -0.27776546] [ 0. 0. 0. 1. ]] SLAMing on 102.12313336499999 meters Centerline goodness : 0.126231 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:-0.28 [[ 0.99997058 -0.0024049 -0.00728398 -0.32329475] [ 0.00237058 0.99998606 -0.00471712 -0.13276841] [ 0.00729522 0.00469972 0.99996235 -0.27813069] [ 0. 0. 0. 1. ]] SLAMing on 102.15313336499999 meters Centerline goodness : 0.124000 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:-0.28 [[ 0.99997121 -0.00257118 -0.00713935 -0.32377635] [ 0.00253483 0.9999838 -0.00509581 -0.1309467 ] [ 0.00715234 0.00507757 0.99996153 -0.27795454] [ 0. 0. 0. 1. ]] SLAMing on 102.18313336499999 meters Centerline goodness : 0.126432 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.13, Z:-0.28 [[ 0.99997215 -0.00270309 -0.00695696 -0.32435573] [ 0.00266575 0.99998203 -0.00537008 -0.12961636] [ 0.00697135 0.00535139 0.99996138 -0.27776279] [ 0. 0. 0. 1. ]] SLAMing on 102.21313336499999 meters Centerline goodness : 0.108279 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.13, Z:-0.28 [[ 0.99997322 -0.00314467 -0.00660899 -0.32550571] [ 0.0031067 0.99997865 -0.0057481 -0.12822507] [ 0.00662693 0.00572741 0.99996164 -0.27732656] [ 0. 0. 0. 1. ]] SLAMing on 102.24313336499999 meters Centerline goodness : 0.106947 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.13, Z:-0.28 [[ 0.99997314 -0.00327215 -0.00655885 -0.3256467 ] [ 0.00323424 0.99997806 -0.00578132 -0.1281163 ] [ 0.00657762 0.00575995 0.99996178 -0.27738687] [ 0. 0. 0. 1. ]] SLAMing on 102.27313336499999 meters Centerline goodness : 0.112369 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.13, Z:-0.28 [[ 0.9999728 -0.0033799 -0.00655602 -0.32547105] [ 0.00334146 0.99997722 -0.00586494 -0.12772087] [ 0.0065757 0.00584288 0.99996131 -0.27774252] [ 0. 0. 0. 1. ]] SLAMing on 102.303133365 meters Centerline goodness : 0.112206 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:-0.28 [[ 0.99998115 -0.00308984 -0.00530666 -0.28098467] [ 0.00305543 0.99997433 -0.0064803 -0.12668947] [ 0.00532655 0.00646396 0.99996492 -0.27827415] [ 0. 0. 0. 1. ]] SLAMing on 102.333133365 meters Centerline goodness : 0.199572 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:-0.28 [[ 0.9999789 -0.00324189 -0.00562851 -0.27975744] [ 0.00320453 0.99997286 -0.00663407 -0.12609719] [ 0.00564987 0.00661589 0.99996215 -0.27907252] [ 0. 0. 0. 1. ]] SLAMing on 102.363133365 meters Centerline goodness : 0.143988 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.13, Z:-0.28 [[ 0.99997614 -0.00340264 -0.00601174 -0.27834728] [ 0.00336154 0.99997101 -0.00683216 -0.1254337 ] [ 0.00603481 0.00681179 0.99995859 -0.27990397] [ 0. 0. 0. 1. ]] SLAMing on 102.393133365 meters Centerline goodness : 0.119267 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.12, Z:-0.28 [[ 0.99989943 -0.01238744 -0.00690464 -0.29754685] [ 0.01234577 0.99990552 -0.00604469 -0.11906898] [ 0.00697886 0.00595884 0.99995789 -0.28115347] [ 0. 0. 0. 1. ]] SLAMing on 102.423133365 meters Centerline goodness : 0.111321 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996957 -0.00424662 -0.00654432 -0.31877254] [ 0.00420243 0.99996838 -0.0067515 -0.12147508] [ 0.00657278 0.00672379 0.99995579 -0.28217944] [ 0. 0. 0. 1. ]] SLAMing on 102.453133365 meters Centerline goodness : 0.118308 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99997007 -0.00431905 -0.00641836 -0.31903874] [ 0.00427438 0.99996666 -0.00695742 -0.12021346] [ 0.0064482 0.00692978 0.9999552 -0.28220967] [ 0. 0. 0. 1. ]] SLAMing on 102.48313336499999 meters Centerline goodness : 0.118409 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996968 -0.00450474 -0.00635246 -0.31874956] [ 0.00445754 0.9999625 -0.00742517 -0.11807095] [ 0.00638568 0.00739663 0.99995226 -0.28292064] [ 0. 0. 0. 1. ]] SLAMing on 102.51313336499999 meters Centerline goodness : 0.120392 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996917 -0.00453454 -0.00641024 -0.31840029] [ 0.00448632 0.99996169 -0.00751621 -0.11753241] [ 0.00644408 0.00748722 0.99995121 -0.28328996] [ 0. 0. 0. 1. ]] SLAMing on 102.54313336499999 meters Centerline goodness : 0.173734 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99996914 -0.00451294 -0.00642987 -0.31828053] [ 0.00446434 0.99996151 -0.00755262 -0.11690757] [ 0.0064637 0.00752368 0.99995081 -0.2834179 ] [ 0. 0. 0. 1. ]] SLAMing on 102.57313336499999 meters Centerline goodness : 0.117227 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.9999699 -0.00451965 -0.00630728 -0.31859013] [ 0.00447124 0.9999606 -0.00766824 -0.11618675] [ 0.00634169 0.00763981 0.99995071 -0.28340034] [ 0. 0. 0. 1. ]] SLAMing on 102.60313336499999 meters Centerline goodness : 0.190510 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.12, Z:-0.28 [[ 0.99997018 -0.00455152 -0.00623815 -0.3187896 ] [ 0.00450279 0.99995942 -0.00780245 -0.11547771] [ 0.00627341 0.00777413 0.9999501 -0.28334329] [ 0. 0. 0. 1. ]] SLAMing on 102.63313336499999 meters Centerline goodness : 0.182528 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.9999704 -0.00457323 -0.00618715 -0.31883058] [ 0.00452379 0.99995793 -0.00797995 -0.11442547] [ 0.00622339 0.00795173 0.99994902 -0.28350021] [ 0. 0. 0. 1. ]] SLAMing on 102.663133365 meters Centerline goodness : 0.130489 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997561 -0.00123923 -0.0068728 -0.31667093] [ 0.00120693 0.99998822 -0.0047015 -0.11390241] [ 0.00687855 0.00469309 0.99996533 -0.28436266] [ 0. 0. 0. 1. ]] SLAMing on 102.693133365 meters Centerline goodness : 0.122397 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.9999751 -0.00125214 -0.0069456 -0.31622105] [ 0.00121845 0.99998749 -0.00485217 -0.11293769] [ 0.00695159 0.00484358 0.99996411 -0.28482271] [ 0. 0. 0. 1. ]] SLAMing on 102.723133365 meters Centerline goodness : 0.121133 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.29 [[ 0.99997511 -0.00127043 -0.00694007 -0.31608057] [ 0.00123579 0.99998677 -0.00499341 -0.11213272] [ 0.00694633 0.00498471 0.99996345 -0.28506837] [ 0. 0. 0. 1. ]] SLAMing on 102.753133365 meters Centerline goodness : 0.121257 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997632 -0.00127992 -0.00676122 -0.31663414] [ 0.00124524 0.99998606 -0.00513137 -0.11132149] [ 0.00676769 0.00512282 0.99996398 -0.28487935] [ 0. 0. 0. 1. ]] SLAMing on 102.783133365 meters Centerline goodness : 0.131345 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997792 -0.00129405 -0.00651805 -0.3173241 ] [ 0.00125937 0.99998505 -0.00532108 -0.11011942] [ 0.00652484 0.00531275 0.9999646 -0.28472467] [ 0. 0. 0. 1. ]] SLAMing on 102.813133365 meters Centerline goodness : 0.154901 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.28 [[ 0.99997865 0.00178125 -0.00628747 -0.31826489] [-0.00179549 0.99999584 -0.00225914 -0.10928317] [ 0.00628342 0.00227039 0.99997768 -0.28421661] [ 0. 0. 0. 1. ]] SLAMing on 102.84313336499999 meters Centerline goodness : 0.147401 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99973772e-01 -3.40517143e-03 -6.39215993e-03 -2.96126368e-01] [ 3.40957262e-03 9.99993958e-01 6.77758098e-04 -1.05498155e-01] [ 6.38981342e-03 -6.99534856e-04 9.99979340e-01 -2.84019355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87313336499999 meters Centerline goodness : 0.139903 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99973145e-01 -3.48395073e-03 -6.44759045e-03 -2.95769053e-01] [ 3.48758333e-03 9.99993766e-01 5.52247623e-04 -1.05057078e-01] [ 6.44562626e-03 -5.74719301e-04 9.99979062e-01 -2.84435858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90313336499999 meters Centerline goodness : 0.134239 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99973387e-01 -3.51355035e-03 -6.39372573e-03 -2.95687817e-01] [ 3.51699309e-03 9.99993676e-01 5.27291984e-04 -1.05018886e-01] [ 6.39183263e-03 -5.49764641e-04 9.99979421e-01 -2.84809194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93313336499999 meters Centerline goodness : 0.129868 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.11, Z:-0.28 [[ 9.99975673e-01 -3.47599621e-03 -6.04733911e-03 -2.96536143e-01] [ 3.47960971e-03 9.99993774e-01 5.87116862e-04 -1.05031885e-01] [ 6.04526064e-03 -6.08144959e-04 9.99981542e-01 -2.84840935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96313336499999 meters Centerline goodness : 0.124083 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:-0.29 [[ 9.99976081e-01 -3.50523375e-03 -5.96236625e-03 -2.96620950e-01] [ 3.50829651e-03 9.99993719e-01 5.03300917e-04 -1.04485205e-01] [ 5.96056461e-03 -5.24206628e-04 9.99982098e-01 -2.85077178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99313336499999 meters Centerline goodness : 0.134167 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.11, Z:-0.28 [[ 9.99973875e-01 4.93106346e-03 -5.28521842e-03 -2.76839394e-01] [-4.93431512e-03 9.99987645e-01 -6.02373824e-04 -1.07623324e-01] [ 5.28218278e-03 6.28437020e-04 9.99985852e-01 -2.84470156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02313336499999 meters Centerline goodness : 0.122545 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.11, Z:-0.28 [[ 9.99973138e-01 4.84826214e-03 -5.49713451e-03 -2.76011161e-01] [-4.85293079e-03 9.99987875e-01 -8.36266770e-04 -1.06423807e-01] [ 5.49301341e-03 8.62921519e-04 9.99984541e-01 -2.84997962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.053133365 meters Centerline goodness : 0.137343 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:-0.29 [[ 0.99997189 0.00473937 -0.00580988 -0.27481272] [-0.00474622 0.99998806 -0.00116587 -0.10475686] [ 0.00580429 0.00119341 0.99998244 -0.2857804 ] [ 0. 0. 0. 1. ]] SLAMing on 103.083133365 meters Centerline goodness : 0.122871 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:-0.29 [[ 0.99997038 0.00456372 -0.00619841 -0.27329444] [-0.00457377 0.99998825 -0.00160723 -0.10267014] [ 0.006191 0.00163553 0.9999795 -0.28675628] [ 0. 0. 0. 1. ]] SLAMing on 103.113133365 meters Centerline goodness : 0.140060 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.10, Z:-0.29 [[ 0.99996904 0.0043982 -0.00652462 -0.27200041] [-0.00441173 0.99998814 -0.00206097 -0.10039579] [ 0.00651548 0.00208969 0.99997659 -0.28764527] [ 0. 0. 0. 1. ]] SLAMing on 103.143133365 meters Centerline goodness : 0.143876 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.09, Z:-0.29 [[ 9.99964577e-01 -3.70879595e-03 -7.55576345e-03 -2.89568509e-01] [ 3.70267734e-03 9.99992806e-01 -8.23621195e-04 -9.01449008e-02] [ 7.55876373e-03 7.95615466e-04 9.99971116e-01 -2.90422917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.173133365 meters Centerline goodness : 0.128479 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.09, Z:-0.29 [[ 0.99996315 -0.00388111 -0.00765732 -0.28918225] [ 0.00387169 0.99999173 -0.00124418 -0.08787345] [ 0.00766209 0.00121448 0.99996991 -0.29078391] [ 0. 0. 0. 1. ]] SLAMing on 103.203133365 meters Centerline goodness : 0.126186 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.09, Z:-0.29 [[ 0.99996295 -0.00410952 -0.00756411 -0.28923206] [ 0.00409662 0.99999013 -0.00171932 -0.0856891 ] [ 0.0075711 0.00168826 0.99996991 -0.29110025] [ 0. 0. 0. 1. ]] SLAMing on 103.23313336499999 meters Centerline goodness : 0.146252 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996212 -0.00434372 -0.00754255 -0.28913946] [ 0.00432769 0.99998835 -0.00214001 -0.0839252 ] [ 0.00755176 0.00210728 0.99996926 -0.29139771] [ 0. 0. 0. 1. ]] SLAMing on 103.26313336499999 meters Centerline goodness : 0.145924 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996117 -0.00456837 -0.0075352 -0.28905982] [ 0.0045498 0.99998658 -0.00247934 -0.0823713 ] [ 0.00754642 0.00244496 0.99996854 -0.29163872] [ 0. 0. 0. 1. ]] SLAMing on 103.29313336499999 meters Centerline goodness : 0.162813 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996062 -0.00471457 -0.00751912 -0.28881275] [ 0.0046941 0.99998523 -0.0027384 -0.08111643] [ 0.00753192 0.00270299 0.99996798 -0.29213078] [ 0. 0. 0. 1. ]] SLAMing on 103.32313336499999 meters Centerline goodness : 0.040344 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.9999599 -0.0050566 -0.00739157 -0.28869242] [ 0.00503353 0.99998241 -0.00313649 -0.07973809] [ 0.0074073 0.00309916 0.99996776 -0.29290749] [ 0. 0. 0. 1. ]] SLAMing on 103.35313336499999 meters Centerline goodness : 0.153675 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996026 -0.00516362 -0.00726804 -0.28894153] [ 0.00514033 0.99998161 -0.00321972 -0.07964437] [ 0.00728454 0.00318223 0.9999684 -0.29303751] [ 0. 0. 0. 1. ]] SLAMing on 103.38313336499999 meters Centerline goodness : 0.094479 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.08, Z:-0.29 [[ 0.99996197 -0.00522841 -0.0069801 -0.28969701] [ 0.00520671 0.99998157 -0.00312365 -0.08016572] [ 0.0069963 0.00308719 0.99997076 -0.29305521] [ 0. 0. 0. 1. ]] SLAMing on 103.413133365 meters Centerline goodness : 0.161209 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.08, Z:-0.29 [[ 0.99996914 0.00296908 -0.00727376 -0.30967146] [-0.00299676 0.9999883 -0.00379763 -0.08277104] [ 0.0072624 0.00381931 0.99996633 -0.29469383] [ 0. 0. 0. 1. ]] SLAMing on 103.443133365 meters Centerline goodness : 0.226690 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.08, Z:-0.30 [[ 0.99996813 0.00291344 -0.00743334 -0.30892841] [-0.00294235 0.99998814 -0.00388155 -0.08244954] [ 0.00742194 0.0039033 0.99996484 -0.29527935] [ 0. 0. 0. 1. ]] SLAMing on 103.473133365 meters Centerline goodness : 0.236830 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.08, Z:-0.30 [[ 0.99996698 0.00283861 -0.00761413 -0.30821574] [-0.00286953 0.99998767 -0.00405313 -0.08170318] [ 0.00760253 0.00407485 0.9999628 -0.29573142] [ 0. 0. 0. 1. ]] SLAMing on 103.503133365 meters Centerline goodness : 0.100020 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.08, Z:-0.30 [[ 0.99994191 0.00292687 -0.01037363 -0.35232103] [-0.00296343 0.99998945 -0.00351078 -0.07902912] [ 0.01036325 0.00354132 0.99994003 -0.29562097] [ 0. 0. 0. 1. ]] SLAMing on 103.533133365 meters Centerline goodness : 0.198978 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.08, Z:-0.29 [[ 9.99934384e-01 -2.52231090e-03 -1.11743207e-02 -3.31435397e-01] [ 2.51465746e-03 9.99996594e-01 -6.98911154e-04 -7.55509270e-02] [ 1.11760455e-02 6.70765705e-04 9.99937321e-01 -2.94580867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.563133365 meters Centerline goodness : 0.236730 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993707 0.00106929 -0.01116756 -0.33064894] [-0.0010417 0.99999639 0.0024762 -0.07316405] [ 0.01117017 -0.00246441 0.99993457 -0.29564674] [ 0. 0. 0. 1. ]] SLAMing on 103.59313336499999 meters Centerline goodness : 0.132094 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993628 0.00106252 -0.0112389 -0.33040295] [-0.00103851 0.99999717 0.00214215 -0.07111231] [ 0.01124115 -0.00213034 0.99993455 -0.29576724] [ 0. 0. 0. 1. ]] SLAMing on 103.62313336499999 meters Centerline goodness : 0.097447 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.999936 0.00103658 -0.01126616 -0.33025215] [-0.00101536 0.9999977 0.0018891 -0.06958386] [ 0.01126809 -0.00187754 0.99993475 -0.29590852] [ 0. 0. 0. 1. ]] SLAMing on 103.65313336499999 meters Centerline goodness : 0.096165 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993565 0.00103789 -0.01129664 -0.33019756] [-0.00101804 0.99999793 0.00176281 -0.06871115] [ 0.01129845 -0.00175119 0.99993464 -0.29590352] [ 0. 0. 0. 1. ]] SLAMing on 103.68313336499999 meters Centerline goodness : 0.221069 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:-0.30 [[ 0.99993815 0.00118317 -0.011059 -0.33089379] [-0.00116135 0.99999737 0.00197916 -0.06921798] [ 0.01106131 -0.00196619 0.99993689 -0.29577711] [ 0. 0. 0. 1. ]] SLAMing on 103.71313336499999 meters Centerline goodness : 0.140204 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.07, Z:-0.30 [[ 0.9999068 -0.00747369 -0.01142535 -0.35073641] [ 0.00750846 0.9999673 0.00300406 -0.06620779] [ 0.01140252 -0.00308957 0.99993022 -0.29700672] [ 0. 0. 0. 1. ]] SLAMing on 103.74313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 103.77313336499999 meters Centerline goodness : 0.146413 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.07, Z:-0.30 [[ 0.99990201 -0.00755079 -0.01178807 -0.34949314] [ 0.00759182 0.99996526 0.0034405 -0.06950142] [ 0.01176168 -0.00352966 0.9999246 -0.29775161] [ 0. 0. 0. 1. ]] SLAMing on 103.803133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 103.833133365 meters Centerline goodness : 0.144758 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.07, Z:-0.30 [[ 0.99989972 -0.00732745 -0.01211891 -0.34832387] [ 0.00737876 0.99996398 0.00419482 -0.07314742] [ 0.01208773 -0.00428382 0.99991776 -0.29849881] [ 0. 0. 0. 1. ]] SLAMing on 103.863133365 meters Centerline goodness : 0.174792 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.08, Z:-0.30 [[ 0.99990029 -0.00717511 -0.01216252 -0.34835403] [ 0.00723254 0.99996287 0.00468452 -0.07579355] [ 0.01212845 -0.00477202 0.99991506 -0.29835188] [ 0. 0. 0. 1. ]] SLAMing on 103.893133365 meters Centerline goodness : 0.161883 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.08, Z:-0.30 [[ 0.99990128 -0.00706141 -0.01214809 -0.34841655] [ 0.00712145 0.99996261 0.0049058 -0.07674079] [ 0.01211299 -0.00499183 0.99991417 -0.29836657] [ 0. 0. 0. 1. ]] SLAMing on 103.923133365 meters Centerline goodness : 0.122715 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992642 0.0013454 -0.01205581 -0.36988248] [-0.0012889 0.99998816 0.00469339 -0.08102127] [ 0.01206198 -0.00467751 0.99991631 -0.29926917] [ 0. 0. 0. 1. ]] SLAMing on 103.953133365 meters Centerline goodness : 0.134691 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992626 0.00148344 -0.01205266 -0.36997391] [-0.0014249 0.99998716 0.00486405 -0.08122452] [ 0.01205972 -0.00484652 0.99991553 -0.29919453] [ 0. 0. 0. 1. ]] SLAMing on 103.98313336499999 meters Centerline goodness : 0.135828 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992456 0.0015202 -0.01218837 -0.36950382] [-0.00146041 0.99998687 0.00491266 -0.08132025] [ 0.01219567 -0.00489449 0.99991365 -0.29945585] [ 0. 0. 0. 1. ]] SLAMing on 104.01313336499999 meters Centerline goodness : 0.135828 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99992456 0.0015202 -0.01218837 -0.36950382] [-0.00146041 0.99998687 0.00491266 -0.08132025] [ 0.01219567 -0.00489449 0.99991365 -0.29945585] [ 0. 0. 0. 1. ]] SLAMing on 104.04313336499999 meters Centerline goodness : 0.144949 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99991751 0.00141127 -0.01276665 -0.36768972] [-0.00134733 0.99998652 0.00501541 -0.08251509] [ 0.01277355 -0.00499779 0.99990592 -0.30024121] [ 0. 0. 0. 1. ]] SLAMing on 104.07313336499999 meters Centerline goodness : 0.145039 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99991808 0.00146768 -0.01271504 -0.36764892] [-0.00140155 0.99998546 0.00520819 -0.08336205] [ 0.0127225 -0.00518995 0.9999056 -0.30061248] [ 0. 0. 0. 1. ]] SLAMing on 104.10313336499999 meters Centerline goodness : 0.139013 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.08, Z:-0.30 [[ 0.99991745 0.00151709 -0.01275898 -0.367408 ] [-0.00144762 0.99998409 0.00545177 -0.08444954] [ 0.01276705 -0.00543285 0.99990374 -0.30090551] [ 0. 0. 0. 1. ]] SLAMing on 104.13313336499999 meters Centerline goodness : 0.145258 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:-0.30 [[ 0.99987949 -0.00704106 -0.01383584 -0.38728309] [ 0.0071355 0.9999515 0.00678825 -0.08128211] [ 0.01378737 -0.00688616 0.99988124 -0.30215321] [ 0. 0. 0. 1. ]] SLAMing on 104.163133365 meters Centerline goodness : 0.108656 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:-0.30 [[ 0.99987214 -0.00714397 -0.01430587 -0.38602322] [ 0.00724521 0.99994899 0.00703704 -0.08339442] [ 0.01425487 -0.00713979 0.9998729 -0.30246503] [ 0. 0. 0. 1. ]] SLAMing on 104.193133365 meters Centerline goodness : 0.179014 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.08, Z:-0.30 [[ 0.99986849 -0.00711293 -0.01457411 -0.38520357] [ 0.00721943 0.99994753 0.00726762 -0.08471787] [ 0.01452165 -0.00737188 0.99986738 -0.30284543] [ 0. 0. 0. 1. ]] SLAMing on 104.223133365 meters Centerline goodness : 0.158706 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:-0.30 [[ 9.99879535e-01 9.22125562e-04 -1.54940666e-02 -4.04856183e-01] [-8.18224244e-04 9.99977147e-01 6.71087935e-03 -8.98410194e-02] [ 1.54999008e-02 -6.69739330e-03 9.99857439e-01 -3.04325262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.253133365 meters Centerline goodness : 0.129918 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:-0.30 [[ 9.99878464e-01 9.70620151e-04 -1.55600511e-02 -4.04543034e-01] [-8.62382291e-04 9.99975398e-01 6.96133905e-03 -9.11533597e-02] [ 1.55664251e-02 -6.94707428e-03 9.99854702e-01 -3.04651237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.283133365 meters Centerline goodness : 0.129350 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.09, Z:-0.30 [[ 9.99879798e-01 9.97732553e-04 -1.54723560e-02 -4.04647675e-01] [-8.86480423e-04 9.99973719e-01 7.19557288e-03 -9.25855941e-02] [ 1.54791287e-02 -7.18099201e-03 9.99854404e-01 -3.04843341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 104.34313336499999 meters Centerline goodness : 0.233442 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99860423e-01 5.38876433e-04 -1.66986366e-02 -4.01011442e-01] [-4.15589835e-04 9.99972640e-01 7.38562456e-03 -9.61084730e-02] [ 1.67021597e-02 -7.37765391e-03 9.99833290e-01 -3.06104801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37313336499999 meters Centerline goodness : 0.165368 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99856291e-01 6.27669349e-04 -1.69411913e-02 -4.00132903e-01] [-4.97896264e-04 9.99970512e-01 7.66334114e-03 -9.73379920e-02] [ 1.69455018e-02 -7.65380489e-03 9.99827120e-01 -3.06657682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40313336499999 meters Centerline goodness : 0.102560 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99854020e-01 7.12948527e-04 -1.70713244e-02 -3.99579755e-01] [-5.77939909e-04 9.99968532e-01 7.91213072e-03 -9.84835520e-02] [ 1.70764282e-02 -7.90110951e-03 9.99822968e-01 -3.07098909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43313336499999 meters Centerline goodness : 0.099744 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99853695e-01 7.57073176e-04 -1.70884760e-02 -3.99520857e-01] [-6.17994966e-04 9.99966658e-01 8.14252734e-03 -9.97490019e-02] [ 1.70940707e-02 -8.13077545e-03 9.99820826e-01 -3.07174597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46313336499999 meters Centerline goodness : 0.143644 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99856083e-01 8.11023978e-04 -1.69456730e-02 -4.00002327e-01] [-6.69486987e-04 9.99964861e-01 8.35640121e-03 -1.01026300e-01] [ 1.69518548e-02 -8.34385367e-03 9.99821491e-01 -3.07021336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49313336499999 meters Centerline goodness : 0.129099 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.10, Z:-0.31 [[ 9.99859030e-01 8.91040532e-04 -1.67667958e-02 -4.00739192e-01] [-7.46616900e-04 9.99962586e-01 8.61795822e-03 -1.02367657e-01] [ 1.67738474e-02 -8.60422497e-03 9.99822287e-01 -3.06577926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 104.553133365 meters Centerline goodness : 0.097230 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.11, Z:-0.31 [[ 9.99861929e-01 1.10285212e-03 -1.65803048e-02 -4.01479516e-01] [-9.42505353e-04 9.99952746e-01 9.67562343e-03 -1.08263381e-01] [ 1.65901921e-02 -9.65866048e-03 9.99815721e-01 -3.06302369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.583133365 meters Centerline goodness : 0.093033 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.11, Z:-0.31 [[ 9.99820221e-01 -4.52074071e-04 -1.89557575e-02 -4.46611299e-01] [ 6.31652496e-04 9.99954972e-01 9.46863898e-03 -1.09907211e-01] [ 1.89506234e-02 -9.47891017e-03 9.99775487e-01 -3.06042837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.613133365 meters Centerline goodness : 0.129531 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.11, Z:-0.31 [[ 9.99818005e-01 -3.51680593e-04 -1.90744116e-02 -4.46330417e-01] [ 5.42252346e-04 9.99949985e-01 9.98671202e-03 -1.12939197e-01] [ 1.90699454e-02 -9.99523763e-03 9.99768189e-01 -3.06135165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.643133365 meters Centerline goodness : 0.151778 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.12, Z:-0.31 [[ 9.99810483e-01 -9.79408652e-05 -1.94676219e-02 -4.45373206e-01] [ 3.13854620e-04 9.99938475e-01 1.10881699e-02 -1.19239167e-01] [ 1.94653382e-02 -1.10921785e-02 9.99749001e-01 -3.06303912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.673133365 meters Centerline goodness : 0.155290 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.13, Z:-0.31 [[ 0.99980588 0.00705942 -0.0183946 -0.46442182] [-0.00687205 0.99992407 0.01022906 -0.12603575] [ 0.01846542 -0.01010066 0.99977848 -0.3086059 ] [ 0. 0. 0. 1. ]] SLAMing on 104.703133365 meters Centerline goodness : 0.158234 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.13, Z:-0.31 [[ 0.99980414 0.00716135 -0.01844983 -0.46441149] [-0.00696787 0.99992029 0.01052952 -0.12769962] [ 0.01852376 -0.0103989 0.99977434 -0.30843953] [ 0. 0. 0. 1. ]] SLAMing on 104.73313336499999 meters Centerline goodness : 0.160326 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.12, Z:-0.31 [[ 0.99981744 -0.00142705 -0.01905388 -0.48401759] [ 0.00164961 0.99993054 0.01167014 -0.12337005] [ 0.0190359 -0.01169944 0.99975035 -0.30905062] [ 0. 0. 0. 1. ]] SLAMing on 104.76313336499999 meters Centerline goodness : 0.133576 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.12, Z:-0.31 [[ 0.99981627 -0.00125125 -0.01912739 -0.48386391] [ 0.00147982 0.99992762 0.01194033 -0.12436031] [ 0.01911107 -0.01196644 0.99974575 -0.3090142 ] [ 0. 0. 0. 1. ]] SLAMing on 104.79313336499999 meters Centerline goodness : 0.149844 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.13, Z:-0.31 [[ 9.99810962e-01 -9.02647725e-04 -1.94223131e-02 -4.82762041e-01] [ 1.14359157e-03 9.99922488e-01 1.23979894e-02 -1.26040510e-01] [ 1.94096166e-02 -1.24178569e-02 9.99734497e-01 -3.09634528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82313336499999 meters Centerline goodness : 0.153328 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.13, Z:-0.31 [[ 9.99810069e-01 -7.97179676e-04 -1.94728269e-02 -4.82554154e-01] [ 1.04113176e-03 9.99921068e-01 1.25208970e-02 -1.26478071e-01] [ 1.94613085e-02 -1.25387927e-02 9.99731982e-01 -3.09741297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85313336499999 meters Centerline goodness : 0.145263 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.99978117 0.0072679 -0.01961618 -0.5035802 ] [-0.00703551 0.99990456 0.01188986 -0.13063814] [ 0.01970073 -0.01174925 0.99973688 -0.31093391] [ 0. 0. 0. 1. ]] SLAMing on 104.88313336499999 meters Centerline goodness : 0.122078 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.9997795 0.00737704 -0.01966062 -0.50348398] [-0.00714177 0.99990237 0.01200993 -0.13093209] [ 0.0197473 -0.01186687 0.99973458 -0.31091754] [ 0. 0. 0. 1. ]] SLAMing on 104.913133365 meters Centerline goodness : 0.110480 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.99977521 0.00754524 -0.01981405 -0.50296558] [-0.00730279 0.99989793 0.01228028 -0.13179876] [ 0.01990469 -0.01213282 0.99972826 -0.31117997] [ 0. 0. 0. 1. ]] SLAMing on 104.943133365 meters Centerline goodness : 0.144771 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.13, Z:-0.31 [[ 0.9997688 0.00768866 -0.02008073 -0.5021272 ] [-0.00743664 0.99989302 0.01259518 -0.13318254] [ 0.02017542 -0.01244294 0.99971902 -0.31151442] [ 0. 0. 0. 1. ]] SLAMing on 104.973133365 meters Centerline goodness : 0.145565 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.14, Z:-0.31 [[ 0.99976557 0.00786794 -0.02017194 -0.50228202] [-0.00760278 0.99988413 0.01318813 -0.13661648] [ 0.02027337 -0.01303168 0.99970954 -0.3109603 ] [ 0. 0. 0. 1. ]] SLAMing on 105.003133365 meters Centerline goodness : 0.155675 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 0.99980283 -0.00104999 -0.01982935 -0.52236538] [ 0.00132819 0.99990081 0.0140218 -0.13242631] [ 0.01981266 -0.01404538 0.99970505 -0.31184493] [ 0. 0. 0. 1. ]] SLAMing on 105.033133365 meters Centerline goodness : 0.129439 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99807251e-01 -9.40501068e-04 -1.96106203e-02 -5.23168411e-01] [ 1.21769657e-03 9.99899456e-01 1.41278220e-02 -1.32537901e-01] [ 1.95953614e-02 -1.41489787e-02 9.99707871e-01 -3.11441794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.063133365 meters Centerline goodness : 0.131059 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99812008e-01 -8.89452786e-04 -1.93689912e-02 -5.23839794e-01] [ 1.16292416e-03 9.99899740e-01 1.41123473e-02 -1.32112194e-01] [ 1.93544970e-02 -1.41322190e-02 9.99712801e-01 -3.11320223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09313336499999 meters Centerline goodness : 0.142568 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99813075e-01 -8.67781049e-04 -1.93148031e-02 -5.23949639e-01] [ 1.13963978e-03 9.99900383e-01 1.40685953e-02 -1.31558537e-01] [ 1.93006705e-02 -1.40879774e-02 9.99714466e-01 -3.11376100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12313336499999 meters Centerline goodness : 0.117450 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99811373e-01 -8.85531995e-04 -1.94019201e-02 -5.23640003e-01] [ 1.15694728e-03 9.99901573e-01 1.39823383e-02 -1.31029358e-01] [ 1.93876287e-02 -1.40021479e-02 9.99713989e-01 -3.11551880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15313336499999 meters Centerline goodness : 0.130697 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.13, Z:-0.31 [[ 9.99807338e-01 -9.43848150e-04 -1.96060209e-02 -5.23011360e-01] [ 1.21790176e-03 9.99901662e-01 1.39707991e-02 -1.31141763e-01] [ 1.95909066e-02 -1.39919857e-02 9.99710168e-01 -3.11870622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18313336499999 meters Centerline goodness : 0.151411 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.13, Z:-0.31 [[ 0.99976618 -0.00226533 -0.02150464 -0.56952098] [ 0.00257364 0.99989415 0.01431991 -0.13064809] [ 0.02146992 -0.01437191 0.99966619 -0.31073058] [ 0. 0. 0. 1. ]] SLAMing on 105.21313336499999 meters Centerline goodness : 0.110456 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.13, Z:-0.31 [[ 0.99980273 0.00383501 -0.01948841 -0.54849807] [-0.00361389 0.99992884 0.01136887 -0.13353652] [ 0.01953062 -0.0112962 0.99974544 -0.31111009] [ 0. 0. 0. 1. ]] SLAMing on 105.24313336499999 meters Centerline goodness : 0.108738 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.13, Z:-0.31 [[ 0.99979905 -0.00528434 -0.01933742 -0.56905921] [ 0.00552251 0.9999093 0.01228384 -0.12964276] [ 0.01927075 -0.01238817 0.99973755 -0.31199386] [ 0. 0. 0. 1. ]] SLAMing on 105.27313336499999 meters Centerline goodness : 0.111641 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.13, Z:-0.31 [[ 0.99983433 0.0014622 -0.01814329 -0.54942416] [-0.00128357 0.99995064 0.0098529 -0.13355307] [ 0.0181568 -0.00982798 0.99978685 -0.31166678] [ 0. 0. 0. 1. ]] SLAMing on 105.303133365 meters Centerline goodness : 0.148431 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.13, Z:-0.31 [[ 9.99805289e-01 -1.39796362e-04 -1.97323122e-02 -5.96615404e-01] [ 3.39909897e-04 9.99948547e-01 1.01384238e-02 -1.32986029e-01] [ 1.97298796e-02 -1.01431570e-02 9.99753894e-01 -3.10486057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.333133365 meters Centerline goodness : 0.160500 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.13, Z:-0.31 [[ 9.99809317e-01 -1.92297546e-04 -1.95267412e-02 -5.97320692e-01] [ 3.93806191e-04 9.99946708e-01 1.03163041e-02 -1.34119135e-01] [ 1.95237168e-02 -1.03220267e-02 9.99756110e-01 -3.10225341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.363133365 meters Centerline goodness : 0.110536 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.13, Z:-0.31 [[ 0.99982074 -0.00507064 -0.01824223 -0.6325614 ] [ 0.00526915 0.99992725 0.01085058 -0.13306807] [ 0.01818588 -0.01094476 0.99977472 -0.31233766] [ 0. 0. 0. 1. ]] SLAMing on 105.393133365 meters Centerline goodness : 0.147359 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.14, Z:-0.31 [[ 0.99981585 -0.00514561 -0.01848771 -0.63196579] [ 0.005354 0.9999225 0.01123984 -0.13554224] [ 0.01842845 -0.01133675 0.99976591 -0.31246101] [ 0. 0. 0. 1. ]] SLAMing on 105.423133365 meters Centerline goodness : 0.111552 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.14, Z:-0.31 [[ 0.99980919 -0.00568238 -0.01868966 -0.63135907] [ 0.00590061 0.99991482 0.01164232 -0.14015027] [ 0.01862191 -0.01175038 0.99975755 -0.31281261] [ 0. 0. 0. 1. ]] SLAMing on 105.453133365 meters Centerline goodness : 0.160481 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99984119 0.00130978 -0.01777311 -0.65053592] [-0.00111702 0.9999405 0.01085135 -0.14643922] [ 0.01778627 -0.01082977 0.99978316 -0.31500193] [ 0. 0. 0. 1. ]] SLAMing on 105.48313336499999 meters Centerline goodness : 0.170394 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99983644 0.00140906 -0.0180308 -0.64988111] [-0.0012058 0.99993566 0.01127896 -0.14866104] [ 0.01804554 -0.01125537 0.99977381 -0.31513987] [ 0. 0. 0. 1. ]] SLAMing on 105.51313336499999 meters Centerline goodness : 0.118890 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99983093 0.00150556 -0.01832608 -0.64889363] [-0.0012936 0.9999322 0.01157253 -0.15017872] [ 0.01834226 -0.01154686 0.99976509 -0.31557856] [ 0. 0. 0. 1. ]] SLAMing on 105.54313336499999 meters Centerline goodness : 0.162659 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99982686 0.00152949 -0.01854493 -0.64812545] [-0.00131354 0.99993126 0.01165108 -0.15074429] [ 0.01856147 -0.0116247 0.99976014 -0.31591679] [ 0. 0. 0. 1. ]] SLAMing on 105.57313336499999 meters Centerline goodness : 0.177155 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99982629 0.00164643 -0.01856562 -0.64809756] [-0.00142899 0.9999303 0.01171947 -0.15078991] [ 0.01858362 -0.01169091 0.99975896 -0.31583954] [ 0. 0. 0. 1. ]] SLAMing on 105.60313336499999 meters Centerline goodness : 0.141103 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99982991 0.00181557 -0.01835351 -0.64875681] [-0.00160038 0.99992989 0.01173298 -0.15022856] [ 0.01837353 -0.01170161 0.99976271 -0.31552903] [ 0. 0. 0. 1. ]] SLAMing on 105.63313336499999 meters Centerline goodness : 0.155869 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.31 [[ 0.9998387 0.00234966 -0.01780587 -0.65039421] [-0.00213999 0.99992826 0.01178558 -0.14889153] [ 0.01783229 -0.01174558 0.999772 -0.31488767] [ 0. 0. 0. 1. ]] SLAMing on 105.663133365 meters Centerline goodness : 0.150281 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.31 [[ 0.99984181 0.00230895 -0.01763588 -0.65076279] [-0.00210617 0.99993156 0.01150817 -0.14748561] [ 0.01766124 -0.01146921 0.99977824 -0.31488046] [ 0. 0. 0. 1. ]] SLAMing on 105.693133365 meters Centerline goodness : 0.108303 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.15, Z:-0.32 [[ 0.99984216 0.00225954 -0.01762226 -0.65062589] [-0.002062 0.99993493 0.01121936 -0.14603626] [ 0.01764646 -0.01118125 0.99978177 -0.31510115] [ 0. 0. 0. 1. ]] SLAMing on 105.723133365 meters Centerline goodness : 0.141935 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984368 0.00223595 -0.01753873 -0.65059088] [-0.00204297 0.99993727 0.0110128 -0.1448043 ] [ 0.01756225 -0.01097525 0.99978553 -0.3154482 ] [ 0. 0. 0. 1. ]] SLAMing on 105.753133365 meters Centerline goodness : 0.114943 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.9998464 0.00218705 -0.01738968 -0.65094777] [-0.0019991 0.99993949 0.01081798 -0.14369418] [ 0.01741229 -0.01078155 0.99979026 -0.31545667] [ 0. 0. 0. 1. ]] SLAMing on 105.783133365 meters Centerline goodness : 0.129842 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984953 0.00215732 -0.01721226 -0.65157713] [-0.0019741 0.99994129 0.01065485 -0.14271906] [ 0.01723424 -0.01061927 0.99979509 -0.31514266] [ 0. 0. 0. 1. ]] SLAMing on 105.813133365 meters Centerline goodness : 0.143651 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.31 [[ 0.99985061 0.0020998 -0.01715644 -0.65197494] [-0.00192001 0.99994315 0.01048896 -0.14181509] [ 0.01717749 -0.01045445 0.9997978 -0.31469014] [ 0. 0. 0. 1. ]] SLAMing on 105.84313336499999 meters Centerline goodness : 0.129151 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.31 [[ 0.99984943 0.00202551 -0.01723384 -0.65172054] [-0.00184748 0.99994484 0.01033987 -0.14110343] [ 0.01725384 -0.01030647 0.99979802 -0.31483854] [ 0. 0. 0. 1. ]] SLAMing on 105.87313336499999 meters Centerline goodness : 0.153749 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984862 0.00182544 -0.01730338 -0.65122832] [-0.00165301 0.99994889 0.00997402 -0.13962617] [ 0.0173207 -0.00994391 0.99980054 -0.31535439] [ 0. 0. 0. 1. ]] SLAMing on 105.90313336499999 meters Centerline goodness : 0.153749 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 0.99984862 0.00182544 -0.01730338 -0.65122832] [-0.00165301 0.99994889 0.00997402 -0.13962617] [ 0.0173207 -0.00994391 0.99980054 -0.31535439] [ 0. 0. 0. 1. ]] SLAMing on 105.93313336499999 meters Centerline goodness : 0.112664 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.13, Z:-0.32 [[ 0.9998172 -0.00685624 -0.01784806 -0.67072042] [ 0.00705455 0.99991382 0.0110719 -0.13337614] [ 0.01777061 -0.01119579 0.99977941 -0.31652697] [ 0. 0. 0. 1. ]] SLAMing on 105.96313336499999 meters Centerline goodness : 0.115938 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.13, Z:-0.32 [[ 0.99981767 -0.00690917 -0.01780126 -0.67085937] [ 0.00710447 0.99991501 0.01093116 -0.13254815] [ 0.01772422 -0.01105563 0.99978179 -0.31652422] [ 0. 0. 0. 1. ]] SLAMing on 105.99313336499999 meters Centerline goodness : 0.151107 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.31 [[ 0.99984262 0.00123226 -0.01769794 -0.65272524] [-0.00106484 0.99995462 0.00946655 -0.13667341] [ 0.0177088 -0.00944622 0.99979856 -0.31497668] [ 0. 0. 0. 1. ]] SLAMing on 106.02313336499999 meters Centerline goodness : 0.154998 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.14, Z:-0.32 [[ 9.99842531e-01 1.16575555e-03 -1.77074864e-02 -6.52678799e-01] [-9.98892720e-04 9.99955045e-01 9.42921646e-03 -1.36630064e-01] [ 1.77176825e-02 -9.41004377e-03 9.99798747e-01 -3.15075605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.053133365 meters Centerline goodness : 0.148526 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.31 [[ 9.99800036e-01 -5.43162780e-04 -1.99898330e-02 -6.98196357e-01] [ 7.29118004e-04 9.99956522e-01 9.29637791e-03 -1.35155419e-01] [ 1.99839145e-02 -9.30909391e-03 9.99756962e-01 -3.14492752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.083133365 meters Centerline goodness : 0.117972 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.31 [[ 9.99798576e-01 -7.28741432e-04 -2.00568164e-02 -6.98037683e-01] [ 9.16084343e-04 9.99956027e-01 9.33300836e-03 -1.35989145e-01] [ 2.00491331e-02 -9.34950221e-03 9.99755280e-01 -3.14613514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.113133365 meters Centerline goodness : 0.155050 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.14, Z:-0.32 [[ 9.99791005e-01 -8.45942608e-04 -2.04262418e-02 -6.96983742e-01] [ 1.04081847e-03 9.99954030e-01 9.53172021e-03 -1.37403368e-01] [ 2.04172396e-02 -9.55098814e-03 9.99745925e-01 -3.15035301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.143133365 meters Centerline goodness : 0.126531 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.14, Z:-0.32 [[ 0.99976778 -0.00131616 -0.02150935 -0.69347325] [ 0.00152929 0.99994987 0.00989507 -0.14112178] [ 0.02149525 -0.00992567 0.99971968 -0.31677329] [ 0. 0. 0. 1. ]] SLAMing on 106.173133365 meters Centerline goodness : 0.113121 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.14, Z:-0.32 [[ 0.99976605 -0.001312 -0.02158979 -0.69324662] [ 0.00153331 0.99994642 0.01023738 -0.14294971] [ 0.0215752 -0.01026809 0.9997145 -0.31695525] [ 0. 0. 0. 1. ]] SLAMing on 106.203133365 meters Centerline goodness : 0.139599 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.15, Z:-0.32 [[ 0.99977662 0.006099 -0.02023632 -0.71391528] [-0.00590759 0.99993738 0.00950467 -0.14710844] [ 0.02029302 -0.009383 0.99975005 -0.31846157] [ 0. 0. 0. 1. ]] SLAMing on 106.23313336499999 meters Centerline goodness : 0.170132 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.15, Z:-0.32 [[ 0.99977906 0.00606174 -0.02012657 -0.7144722 ] [-0.00587554 0.99993952 0.00929745 -0.14606399] [ 0.02018171 -0.00917715 0.99975421 -0.31784965] [ 0. 0. 0. 1. ]] SLAMing on 106.26313336499999 meters Centerline goodness : 0.096079 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.14, Z:-0.32 [[ 0.99978204 0.00599206 -0.01999941 -0.7148251 ] [-0.00581799 0.99994479 0.00875088 -0.14317554] [ 0.02005074 -0.00863261 0.99976169 -0.31758637] [ 0. 0. 0. 1. ]] SLAMing on 106.29313336499999 meters Centerline goodness : 0.163370 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.14, Z:-0.32 [[ 0.999784 0.0060136 -0.01989456 -0.71493928] [-0.00585304 0.99994991 0.00811878 -0.13951665] [ 0.01994238 -0.00800058 0.99976912 -0.31763446] [ 0. 0. 0. 1. ]] SLAMing on 106.32313336499999 meters Centerline goodness : 0.133888 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.13, Z:-0.32 [[ 0.99983376 0.00158574 -0.01816399 -0.73489012] [-0.00138383 0.99993717 0.01112349 -0.1258016 ] [ 0.01818049 -0.0110965 0.99977314 -0.31867182] [ 0. 0. 0. 1. ]] SLAMing on 106.35313336499999 meters Centerline goodness : 0.147872 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.12, Z:-0.32 [[ 0.99983579 0.00161966 -0.01804887 -0.73502869] [-0.00142858 0.99994286 0.01059451 -0.12227995] [ 0.01806499 -0.01056698 0.99978097 -0.31879938] [ 0. 0. 0. 1. ]] SLAMing on 106.38313336499999 meters Centerline goodness : 0.157430 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.12, Z:-0.32 [[ 0.99983651 0.00149055 -0.01802051 -0.73497566] [-0.00131014 0.99994895 0.01001913 -0.11912762] [ 0.01803452 -0.00999389 0.99978742 -0.31893777] [ 0. 0. 0. 1. ]] SLAMing on 106.413133365 meters Centerline goodness : 0.162763 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.12, Z:-0.32 [[ 0.99983792 0.00128141 -0.01795824 -0.73511424] [-0.00111236 0.99995501 0.00942036 -0.11627349] [ 0.0179695 -0.00939885 0.99979436 -0.3188984 ] [ 0. 0. 0. 1. ]] SLAMing on 106.443133365 meters Centerline goodness : 0.167436 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:-0.32 [[ 9.99791384e-01 3.97771289e-04 -2.04213355e-02 -7.80969725e-01] [-2.07603749e-04 9.99956607e-01 9.31347456e-03 -1.11056989e-01] [ 2.04241540e-02 -9.30729207e-03 9.99748082e-01 -3.18065446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.473133365 meters Centerline goodness : 0.094951 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:-0.32 [[ 9.99791108e-01 2.50419633e-04 -2.04371730e-02 -7.81015515e-01] [-6.79683657e-05 9.99960146e-01 8.92762836e-03 -1.09100389e-01] [ 2.04385942e-02 -8.92437436e-03 9.99751279e-01 -3.17941871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.503133365 meters Centerline goodness : 0.137048 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.11, Z:-0.32 [[ 9.99783434e-01 -1.31482137e-04 -2.08102878e-02 -7.79998362e-01] [ 3.01604507e-04 9.99966563e-01 8.17198927e-03 -1.05708013e-01] [ 2.08085175e-02 -8.17649597e-03 9.99750044e-01 -3.18180813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.533133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 106.563133365 meters Centerline goodness : 0.209771 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99780263e-01 -4.53617038e-04 -2.09575634e-02 -7.79248980e-01] [ 6.12062009e-04 9.99971277e-01 7.55448066e-03 -1.02888332e-01] [ 2.09535346e-02 -7.56564799e-03 9.99751824e-01 -3.18853043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59313336499999 meters Centerline goodness : 0.117953 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99780128e-01 -5.94983291e-04 -2.09604945e-02 -7.79110010e-01] [ 7.47470917e-04 9.99973309e-01 7.26791815e-03 -1.01417900e-01] [ 2.09556108e-02 -7.28198749e-03 9.99753887e-01 -3.19119072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 106.65313336499999 meters Centerline goodness : 0.153144 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99779875e-01 -8.23799179e-04 -2.09648015e-02 -7.78525380e-01] [ 9.64908723e-04 9.99976945e-01 6.72155836e-03 -9.85384766e-02] [ 2.09587810e-02 -6.74030790e-03 9.99757620e-01 -3.19992394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68313336499999 meters Centerline goodness : 0.160594 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.10, Z:-0.32 [[ 9.99780628e-01 -9.24055548e-04 -2.09246854e-02 -7.78644721e-01] [ 1.05978168e-03 9.99978467e-01 6.47625230e-03 -9.73305544e-02] [ 2.09182505e-02 -6.49700719e-03 9.99760079e-01 -3.19957524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71313336499999 meters Centerline goodness : 0.223132 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.09, Z:-0.32 [[ 0.9997873 -0.00108001 -0.02059577 -0.77950255] [ 0.00120179 0.99998187 0.00590104 -0.09413773] [ 0.02058902 -0.00592454 0.99977047 -0.31978563] [ 0. 0. 0. 1. ]] SLAMing on 106.74313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 106.77313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 106.803133365 meters Centerline goodness : 0.110594 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.09, Z:-0.32 [[ 0.99975657 -0.00105576 -0.02203818 -0.82605087] [ 0.00118656 0.99998176 0.00592294 -0.08563191] [ 0.02203152 -0.00594765 0.99973958 -0.32010411] [ 0. 0. 0. 1. ]] SLAMing on 106.833133365 meters Centerline goodness : 0.156281 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:-0.32 [[ 0.99975564 -0.00115812 -0.02207516 -0.8258186 ] [ 0.00128505 0.99998272 0.00573684 -0.08484155] [ 0.02206814 -0.0057638 0.99973985 -0.32038888] [ 0. 0. 0. 1. ]] SLAMing on 106.863133365 meters Centerline goodness : 0.089386 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:-0.32 [[ 0.99975219 -0.00119461 -0.02222886 -0.82524708] [ 0.00132167 0.99998287 0.00570218 -0.08464595] [ 0.02222167 -0.00573015 0.99973665 -0.3207424 ] [ 0. 0. 0. 1. ]] SLAMing on 106.893133365 meters Centerline goodness : 0.143629 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99974687 -0.00119996 -0.02246689 -0.82455473] [ 0.00132924 0.99998264 0.00574048 -0.08470352] [ 0.02245961 -0.00576889 0.99973111 -0.32100031] [ 0. 0. 0. 1. ]] SLAMing on 106.923133365 meters Centerline goodness : 0.230516 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.9997451 -0.00121101 -0.02254499 -0.82414196] [ 0.00134189 0.99998233 0.00579086 -0.08497699] [ 0.02253757 -0.00581963 0.99972906 -0.32139996] [ 0. 0. 0. 1. ]] SLAMing on 106.953133365 meters Centerline goodness : 0.098081 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.09, Z:-0.32 [[ 0.99974226 -0.00128706 -0.02266627 -0.82359633] [ 0.00141847 0.99998228 0.0057825 -0.08528882] [ 0.02265842 -0.00581316 0.99972636 -0.32186828] [ 0. 0. 0. 1. ]] SLAMing on 106.98313336499999 meters Centerline goodness : 0.116210 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99973125 -0.00150101 -0.02313379 -0.82190306] [ 0.00162916 0.99998343 0.00552166 -0.08461487] [ 0.02312512 -0.00555787 0.99971713 -0.32281667] [ 0. 0. 0. 1. ]] SLAMing on 107.01313336499999 meters Centerline goodness : 0.104056 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99972683 -0.00151153 -0.02332343 -0.82120771] [ 0.00163766 0.99998413 0.00538984 -0.08366953] [ 0.02331491 -0.00542656 0.99971344 -0.32319289] [ 0. 0. 0. 1. ]] SLAMing on 107.04313336499999 meters Centerline goodness : 0.104056 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 0.99972683 -0.00151153 -0.02332343 -0.82120771] [ 0.00163766 0.99998413 0.00538984 -0.08366953] [ 0.02331491 -0.00542656 0.99971344 -0.32319289] [ 0. 0. 0. 1. ]] SLAMing on 107.07313336499999 meters Centerline goodness : 0.097952 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.08, Z:-0.32 [[ 9.99746449e-01 1.06942177e-03 -2.24920711e-02 -8.24869664e-01] [-8.98164779e-04 9.99970542e-01 7.62282918e-03 -8.05416070e-02] [ 2.24995605e-02 -7.60069482e-03 9.99717960e-01 -3.21377681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10313336499999 meters Centerline goodness : 0.224878 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.08, Z:-0.32 [[ 9.99755012e-01 1.04608990e-03 -2.21092959e-02 -8.26133682e-01] [-8.83579108e-04 9.99972533e-01 7.35882901e-03 -7.91253375e-02] [ 2.21163866e-02 -7.33749087e-03 9.99728476e-01 -3.20749355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13313336499999 meters Centerline goodness : 0.090234 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.08, Z:-0.32 [[ 9.99731435e-01 9.42341146e-04 -2.31553532e-02 -8.75197245e-01] [-7.67776365e-04 9.99971229e-01 7.54658612e-03 -7.54727360e-02] [ 2.31617985e-02 -7.52678123e-03 9.99703395e-01 -3.19170351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.163133365 meters Centerline goodness : 0.108176 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.32 [[ 9.99740539e-01 8.56088818e-04 -2.27623024e-02 -8.76358169e-01] [-6.93006697e-04 9.99974044e-01 7.17149374e-03 -7.37014839e-02] [ 2.27678510e-02 -7.15385859e-03 9.99715183e-01 -3.18747289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.193133365 meters Centerline goodness : 0.246234 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.32 [[ 9.99743086e-01 8.41213883e-04 -2.26506872e-02 -8.76638683e-01] [-6.85588069e-04 9.99976114e-01 6.87757755e-03 -7.19732434e-02] [ 2.26559317e-02 -6.86028157e-03 9.99719783e-01 -3.18652766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 107.253133365 meters Centerline goodness : 0.094244 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.07, Z:-0.32 [[ 0.99971237 0.00350953 -0.02372485 -0.87208858] [-0.0032974 0.99995429 0.00897464 -0.06743456] [ 0.02375526 -0.00889383 0.99967824 -0.32093812] [ 0. 0. 0. 1. ]] SLAMing on 107.283133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 107.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 107.34313336499999 meters Centerline goodness : 0.098778 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99972806 0.00351903 -0.02305252 -0.87372482] [-0.00332675 0.99995941 0.00837364 -0.06380282] [ 0.02308105 -0.00829467 0.99969919 -0.32081279] [ 0. 0. 0. 1. ]] SLAMing on 107.37313336499999 meters Centerline goodness : 0.187492 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99972978 0.00345962 -0.02298678 -0.87388147] [-0.00327246 0.99996123 0.00817491 -0.06270655] [ 0.02301417 -0.00809747 0.99970235 -0.32082969] [ 0. 0. 0. 1. ]] SLAMing on 107.40313336499999 meters Centerline goodness : 0.127870 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99972214 0.00332476 -0.02333654 -0.87263512] [-0.00314101 0.99996381 0.00790633 -0.06155773] [ 0.02336198 -0.00783083 0.9996964 -0.3214873 ] [ 0. 0. 0. 1. ]] SLAMing on 107.43313336499999 meters Centerline goodness : 0.096543 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.32 [[ 0.99967681 -0.00533577 -0.02485588 -0.8919453 ] [ 0.00555876 0.99994485 0.00891091 -0.05599047] [ 0.02480696 -0.0090462 0.99965133 -0.32261482] [ 0. 0. 0. 1. ]] SLAMing on 107.46313336499999 meters Centerline goodness : 0.203565 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.06, Z:-0.32 [[ 0.9996614 0.00264306 -0.02588616 -0.91163184] [-0.00243336 0.999964 0.00812887 -0.05932887] [ 0.02590671 -0.00806313 0.99963185 -0.32417452] [ 0. 0. 0. 1. ]] SLAMing on 107.49313336499999 meters Centerline goodness : 0.125572 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.06, Z:-0.32 [[ 0.99969826 0.00267857 -0.02441747 -0.86728579] [-0.0024874 0.99996604 0.00785634 -0.06162179] [ 0.02443769 -0.00779324 0.99967098 -0.32420782] [ 0. 0. 0. 1. ]] SLAMing on 107.52313336499999 meters Centerline goodness : 0.101252 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.32 [[ 0.99968086 -0.00627339 -0.02447099 -0.88880591] [ 0.00649029 0.99994027 0.00879424 -0.05780801] [ 0.02441436 -0.00895026 0.99966186 -0.3249908 ] [ 0. 0. 0. 1. ]] SLAMing on 107.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 107.583133365 meters Centerline goodness : 0.124874 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.32 [[ 0.99968328 -0.00693265 -0.02419236 -0.88975465] [ 0.00715056 0.99993454 0.00893236 -0.0613469 ] [ 0.02412886 -0.00910252 0.99966742 -0.32469633] [ 0. 0. 0. 1. ]] SLAMing on 107.613133365 meters Centerline goodness : 0.080162 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.06, Z:-0.33 [[ 0.99966958 -0.00697404 -0.02474033 -0.88820889] [ 0.0072068 0.99993049 0.00933162 -0.06384578] [ 0.02467353 -0.00950684 0.99965036 -0.32523184] [ 0. 0. 0. 1. ]] SLAMing on 107.643133365 meters Centerline goodness : 0.172442 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.33 [[ 0.99963719 -0.0070749 -0.025989 -0.88482873] [ 0.00733715 0.99992299 0.01000911 -0.06828328] [ 0.02591619 -0.01019617 0.99961212 -0.32600366] [ 0. 0. 0. 1. ]] SLAMing on 107.673133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 107.703133365 meters Centerline goodness : 0.216494 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.33 [[ 0.99963347 -0.00685936 -0.02618935 -0.88445872] [ 0.00713866 0.99991848 0.01058623 -0.0711424 ] [ 0.0261146 -0.0107693 0.99960095 -0.32585389] [ 0. 0. 0. 1. ]] SLAMing on 107.73313336499999 meters Centerline goodness : 0.183688 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.07, Z:-0.33 [[ 0.99963318 -0.00674274 -0.02623056 -0.88439454] [ 0.00702723 0.99991732 0.0107689 -0.07179318] [ 0.02615578 -0.01094928 0.99959791 -0.32582565] [ 0. 0. 0. 1. ]] SLAMing on 107.76313336499999 meters Centerline goodness : 0.172795 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99965017 0.00178253 -0.02638859 -0.90613499] [-0.00150413 0.99994305 0.01056598 -0.07592236] [ 0.02640592 -0.01052259 0.99959592 -0.32667195] [ 0. 0. 0. 1. ]] SLAMing on 107.79313336499999 meters Centerline goodness : 0.089580 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.9996498 0.00188622 -0.02639558 -0.90611179] [-0.00160355 0.99994119 0.01072582 -0.07656704] [ 0.02641426 -0.01067974 0.99959403 -0.32664984] [ 0. 0. 0. 1. ]] SLAMing on 107.82313336499999 meters Centerline goodness : 0.089580 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.9996498 0.00188622 -0.02639558 -0.90611179] [-0.00160355 0.99994119 0.01072582 -0.07656704] [ 0.02641426 -0.01067974 0.99959403 -0.32664984] [ 0. 0. 0. 1. ]] SLAMing on 107.85313336499999 meters Centerline goodness : 0.121746 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99965766 0.00209486 -0.02608025 -0.90701823] [-0.00180983 0.99993843 0.01094776 -0.07737806] [ 0.02610158 -0.01089681 0.9995999 -0.32635449] [ 0. 0. 0. 1. ]] SLAMing on 107.88313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 107.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 107.943133365 meters Centerline goodness : 0.228159 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99967983 0.00227935 -0.02519988 -0.90969476] [-0.00200727 0.99993948 0.01081684 -0.07658656] [ 0.02522301 -0.01076279 0.99962391 -0.32532361] [ 0. 0. 0. 1. ]] SLAMing on 107.973133365 meters Centerline goodness : 0.169397 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.33 [[ 0.99968028 0.00221437 -0.02518786 -0.90974864] [-0.00194569 0.999941 0.01068681 -0.07615498] [ 0.02521004 -0.01063438 0.99962561 -0.32529448] [ 0. 0. 0. 1. ]] SLAMing on 108.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.033133365 meters Centerline goodness : 0.125174 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.08, Z:-0.32 [[ 0.99969216 0.00208323 -0.02472341 -0.91167813] [-0.001821 0.9999419 0.01062431 -0.07661666] [ 0.02474411 -0.01057601 0.99963787 -0.32406892] [ 0. 0. 0. 1. ]] SLAMing on 108.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.09313336499999 meters Centerline goodness : 0.223497 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.07, Z:-0.32 [[ 0.99972041 -0.00458629 -0.02319622 -0.93599182] [ 0.00489474 0.99990013 0.01325812 -0.07210815] [ 0.0231331 -0.01336795 0.99964302 -0.32310217] [ 0. 0. 0. 1. ]] SLAMing on 108.12313336499999 meters Centerline goodness : 0.103546 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99973411 0.00375091 -0.02275186 -0.95812841] [-0.00346108 0.99991254 0.01276473 -0.07461903] [ 0.02279774 -0.01268259 0.99965965 -0.32391241] [ 0. 0. 0. 1. ]] SLAMing on 108.15313336499999 meters Centerline goodness : 0.223107 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99973932 0.00369882 -0.02253029 -0.95877577] [-0.00341712 0.99991567 0.01252896 -0.073438 ] [ 0.02257473 -0.0124487 0.99966765 -0.3236711 ] [ 0. 0. 0. 1. ]] SLAMing on 108.18313336499999 meters Centerline goodness : 0.136506 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99974673 0.00357141 -0.02221989 -0.959618 ] [-0.00330172 0.99992059 0.01216204 -0.07183971] [ 0.02226156 -0.01208559 0.99967913 -0.32344607] [ 0. 0. 0. 1. ]] SLAMing on 108.21313336499999 meters Centerline goodness : 0.128892 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99975098 0.00345562 -0.02204617 -0.96013488] [-0.00319577 0.99992514 0.0118107 -0.0702085 ] [ 0.02208533 -0.0117373 0.99968719 -0.32329463] [ 0. 0. 0. 1. ]] SLAMing on 108.24313336499999 meters Centerline goodness : 0.128033 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.07, Z:-0.32 [[ 0.99974942 0.00330546 -0.02214 -0.95976274] [-0.00305254 0.99992982 0.01144741 -0.06857218] [ 0.02217629 -0.01137695 0.99968934 -0.32352394] [ 0. 0. 0. 1. ]] SLAMing on 108.27313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.303133365 meters Centerline goodness : 0.097576 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:-0.33 [[ 0.99970299 0.0026447 -0.02422696 -0.95278157] [-0.0023856 0.99993972 0.0107171 -0.06559156] [ 0.02425384 -0.01065612 0.99964904 -0.32657163] [ 0. 0. 0. 1. ]] SLAMing on 108.333133365 meters Centerline goodness : 0.052697 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:-0.33 [[ 0.99969032 0.00253353 -0.02475567 -0.95129394] [-0.00226458 0.99993818 0.01088644 -0.06679142] [ 0.02478172 -0.01082701 0.99963425 -0.32708626] [ 0. 0. 0. 1. ]] SLAMing on 108.363133365 meters Centerline goodness : 0.184589 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.07, Z:-0.33 [[ 0.99968019 0.00235631 -0.02517857 -0.95027945] [-0.00207818 0.9999366 0.01106658 -0.0683578 ] [ 0.02520305 -0.01101072 0.99962171 -0.3271976 ] [ 0. 0. 0. 1. ]] SLAMing on 108.393133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.423133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.453133365 meters Centerline goodness : 0.097914 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.07, Z:-0.33 [[ 0.99959599 -0.00952316 -0.02678009 -0.97035242] [ 0.00979726 0.99990077 0.01012285 -0.07048264] [ 0.02668103 -0.01038113 0.99959009 -0.32831275] [ 0. 0. 0. 1. ]] SLAMing on 108.48313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.51313336499999 meters Centerline goodness : 0.097649 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99963982 -0.0012584 -0.0268077 -0.95196522] [ 0.00150609 0.99995635 0.0092214 -0.07677938] [ 0.02679493 -0.00925845 0.99959808 -0.32677652] [ 0. 0. 0. 1. ]] SLAMing on 108.54313336499999 meters Centerline goodness : 0.117833 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99963829 -0.00122677 -0.02686601 -0.95172136] [ 0.00147577 0.99995613 0.00925024 -0.07684182] [ 0.02685349 -0.00928654 0.99959624 -0.32693235] [ 0. 0. 0. 1. ]] SLAMing on 108.57313336499999 meters Centerline goodness : 0.089492 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99964013 -0.00125056 -0.0267964 -0.95190265] [ 0.00149657 0.9999569 0.00916293 -0.07641553] [ 0.02678379 -0.00919974 0.99959892 -0.32690157] [ 0. 0. 0. 1. ]] SLAMing on 108.60313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.63313336499999 meters Centerline goodness : 0.131672 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99964148 -0.00122761 -0.02674697 -0.95207142] [ 0.00146806 0.99995867 0.00897218 -0.07515184] [ 0.02673485 -0.00900823 0.99960197 -0.32675971] [ 0. 0. 0. 1. ]] SLAMing on 108.663133365 meters Centerline goodness : 0.131672 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.08, Z:-0.33 [[ 0.99964148 -0.00122761 -0.02674697 -0.95207142] [ 0.00146806 0.99995867 0.00897218 -0.07515184] [ 0.02673485 -0.00900823 0.99960197 -0.32675971] [ 0. 0. 0. 1. ]] SLAMing on 108.693133365 meters Centerline goodness : 0.120302 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.07, Z:-0.33 [[ 0.99958844 -0.00200339 -0.02861717 -0.99803613] [ 0.00226998 0.99995431 0.00928609 -0.07466896] [ 0.02859726 -0.00934723 0.99954731 -0.32685452] [ 0. 0. 0. 1. ]] SLAMing on 108.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.753133365 meters Centerline goodness : 0.168891 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.08, Z:-0.33 [[ 0.99961924 0.00561481 -0.0270158 -1.01978329] [-0.0053808 0.99994744 0.00872676 -0.08036527] [ 0.02706338 -0.00857807 0.99959691 -0.32846697] [ 0. 0. 0. 1. ]] SLAMing on 108.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 108.813133365 meters Centerline goodness : 0.055403 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966244 -0.00203883 -0.02590088 -1.00123442] [ 0.0022964 0.99994817 0.00991855 -0.07851138] [ 0.02587931 -0.00997468 0.99961531 -0.3261156 ] [ 0. 0. 0. 1. ]] SLAMing on 108.84313336499999 meters Centerline goodness : 0.096173 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966103 -0.00201858 -0.02595676 -1.00111913] [ 0.0022764 0.99994833 0.00990691 -0.07846924] [ 0.02593542 -0.00996264 0.99961398 -0.32604902] [ 0. 0. 0. 1. ]] SLAMing on 108.87313336499999 meters Centerline goodness : 0.050853 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966409 -0.00197862 -0.02584171 -1.00141675] [ 0.00223583 0.99994821 0.00992826 -0.07842021] [ 0.02582073 -0.0099827 0.99961674 -0.3260374 ] [ 0. 0. 0. 1. ]] SLAMing on 108.90313336499999 meters Centerline goodness : 0.133359 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966568 -0.00199072 -0.02577922 -1.00156369] [ 0.00224532 0.99994895 0.00985129 -0.07794091] [ 0.0257583 -0.00990588 0.99961912 -0.32604116] [ 0. 0. 0. 1. ]] SLAMing on 108.93313336499999 meters Centerline goodness : 0.089234 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.9996644 -0.00203042 -0.0258255 -1.00134981] [ 0.00228291 0.99994985 0.00975097 -0.07752864] [ 0.0258044 -0.00980665 0.99961891 -0.32619136] [ 0. 0. 0. 1. ]] SLAMing on 108.96313336499999 meters Centerline goodness : 0.121784 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99966142 -0.00206979 -0.02593749 -1.00097226] [ 0.00232091 0.99995069 0.00965534 -0.07713775] [ 0.02591622 -0.00971227 0.99961694 -0.32635492] [ 0. 0. 0. 1. ]] SLAMing on 108.99313336499999 meters Centerline goodness : 0.089902 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.08, Z:-0.33 [[ 0.99965567 -0.00210724 -0.02615514 -1.00022035] [ 0.00235776 0.99995161 0.00955121 -0.07659936] [ 0.02613375 -0.00960959 0.99961227 -0.32672124] [ 0. 0. 0. 1. ]] SLAMing on 109.02313336499999 meters Centerline goodness : 0.329336 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99954927 -0.00122077 -0.02999604 -1.04130912] [ 0.00155069 0.99993854 0.01097795 -0.07302689] [ 0.0299808 -0.01101952 0.99948973 -0.32813699] [ 0. 0. 0. 1. ]] SLAMing on 109.053133365 meters Centerline goodness : 0.118424 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99954201 -0.00127184 -0.0302348 -1.04055184] [ 0.00159782 0.99994084 0.0107598 -0.07189785] [ 0.03021933 -0.01080318 0.99948491 -0.32837269] [ 0. 0. 0. 1. ]] SLAMing on 109.083133365 meters Centerline goodness : 0.098540 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99953873 -0.0014013 -0.03033765 -1.04018167] [ 0.00171744 0.99994447 0.0103974 -0.07031945] [ 0.0303214 -0.01044471 0.99948563 -0.32851839] [ 0. 0. 0. 1. ]] SLAMing on 109.113133365 meters Centerline goodness : 0.109205 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.07, Z:-0.33 [[ 0.99953577 -0.00157863 -0.03042612 -1.03993502] [ 0.00188361 0.99994825 0.00999746 -0.06869437] [ 0.03040876 -0.01005013 0.99948702 -0.32853634] [ 0. 0. 0. 1. ]] SLAMing on 109.143133365 meters Centerline goodness : 0.128571 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.9994654 -0.00171791 -0.03264895 -1.08617509] [ 0.00205445 0.99994508 0.01027721 -0.06495152] [ 0.0326295 -0.01033879 0.99941404 -0.32815521] [ 0. 0. 0. 1. ]] SLAMing on 109.173133365 meters Centerline goodness : 0.174254 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99946201 -0.00175228 -0.03275091 -1.08575943] [ 0.00208304 0.99994715 0.01006768 -0.06367849] [ 0.03273153 -0.01013049 0.99941284 -0.3283945 ] [ 0. 0. 0. 1. ]] SLAMing on 109.203133365 meters Centerline goodness : 0.090188 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99946529 0.00219336 -0.03262406 -1.08617562] [-0.00174424 0.99990341 0.01378865 -0.06287981] [ 0.03265115 -0.01372437 0.99937258 -0.32825612] [ 0. 0. 0. 1. ]] SLAMing on 109.23313336499999 meters Centerline goodness : 0.131533 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99947417 0.00212186 -0.03235556 -1.08708188] [-0.00168683 0.99990789 0.01346689 -0.06119147] [ 0.03238115 -0.01340523 0.99938569 -0.32780018] [ 0. 0. 0. 1. ]] SLAMing on 109.26313336499999 meters Centerline goodness : 0.162583 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.06, Z:-0.33 [[ 0.99948039 0.00198585 -0.03217153 -1.08794393] [-0.00156607 0.99991338 0.01306841 -0.05942375] [ 0.03219469 -0.01301123 0.99939692 -0.32716651] [ 0. 0. 0. 1. ]] SLAMing on 109.29313336499999 meters Centerline goodness : 0.097340 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.05, Z:-0.33 [[ 0.99948259 -0.00582452 -0.03163258 -1.10652886] [ 0.00627751 0.9998789 0.01424 -0.05148957] [ 0.0315458 -0.0144312 0.99939812 -0.32908705] [ 0. 0. 0. 1. ]] SLAMing on 109.32313336499999 meters Centerline goodness : 0.099159 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.05, Z:-0.33 [[ 0.99947799 -0.00581374 -0.03177983 -1.10608539] [ 0.0062615 0.99988228 0.01400815 -0.04973567] [ 0.03169465 -0.01419983 0.99939673 -0.32924265] [ 0. 0. 0. 1. ]] SLAMing on 109.35313336499999 meters Centerline goodness : 0.093249 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.05, Z:-0.33 [[ 0.99946919 -0.00582298 -0.0320537 -1.10507498] [ 0.00626877 0.99988478 0.01382486 -0.0483499 ] [ 0.0319695 -0.01401846 0.99939053 -0.32978291] [ 0. 0. 0. 1. ]] SLAMing on 109.38313336499999 meters Centerline goodness : 0.088540 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.05, Z:-0.33 [[ 0.99946176 -0.00602753 -0.03224683 -1.104243 ] [ 0.00646129 0.99988982 0.01336404 -0.046431 ] [ 0.03216272 -0.01356521 0.99939059 -0.33035685] [ 0. 0. 0. 1. ]] SLAMing on 109.413133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.443133365 meters Centerline goodness : 0.087760 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.04, Z:-0.33 [[ 0.99946828 -0.00619504 -0.03201231 -1.10526057] [ 0.00661046 0.9998951 0.01288733 -0.04393273] [ 0.03192911 -0.0130921 0.99940439 -0.32975063] [ 0. 0. 0. 1. ]] SLAMing on 109.473133365 meters Centerline goodness : 0.089407 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.05, Z:-0.33 [[ 0.99950703 0.00179477 -0.03134435 -1.12510783] [-0.00141105 0.99992385 0.01225993 -0.04596869] [ 0.03136397 -0.01220966 0.99943345 -0.33189024] [ 0. 0. 0. 1. ]] SLAMing on 109.503133365 meters Centerline goodness : 0.096393 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.05, Z:-0.33 [[ 0.99950822 0.00176801 -0.03130792 -1.12505412] [-0.00138775 0.99992506 0.01216338 -0.04519091] [ 0.03132708 -0.01211395 0.99943577 -0.33215897] [ 0. 0. 0. 1. ]] SLAMing on 109.533133365 meters Centerline goodness : 0.040267 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 0.99950714 0.00162692 -0.03135004 -1.12476446] [-0.00125101 0.99992714 0.01200649 -0.04470798] [ 0.03136729 -0.01196136 0.99943635 -0.33247974] [ 0. 0. 0. 1. ]] SLAMing on 109.563133365 meters Centerline goodness : 0.085351 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99489406e-01 1.19494492e-03 -3.19296126e-02 -1.12293018e+00] [-8.25380906e-04 9.99932551e-01 1.15850089e-02 -4.39295172e-02] [ 3.19413025e-02 -1.15527396e-02 9.99422977e-01 -3.33185508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59313336499999 meters Centerline goodness : 0.181955 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99482128e-01 1.11689250e-03 -3.21594286e-02 -1.12209061e+00] [-7.49024150e-04 9.99934181e-01 1.14486716e-02 -4.32818078e-02] [ 3.21700988e-02 -1.14186544e-02 9.99417180e-01 -3.33643660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62313336499999 meters Centerline goodness : 0.153895 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99482359e-01 1.06495382e-03 -3.21540164e-02 -1.12192989e+00] [-7.01565675e-04 9.99935786e-01 1.13106529e-02 -4.25566616e-02] [ 3.21639970e-02 -1.12822399e-02 9.99418925e-01 -3.33928210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65313336499999 meters Centerline goodness : 0.143691 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99487969e-01 9.95575315e-04 -3.19813865e-02 -1.12248632e+00] [-6.40156964e-04 9.99937948e-01 1.11216052e-02 -4.15632360e-02] [ 3.19904744e-02 -1.10954375e-02 9.99426586e-01 -3.33711408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68313336499999 meters Centerline goodness : 0.119697 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99494387e-01 9.32220046e-04 -3.17820983e-02 -1.12304690e+00] [-5.83776988e-04 9.99939646e-01 1.09710176e-02 -4.08605378e-02] [ 3.17904075e-02 -1.09469169e-02 9.99434608e-01 -3.33636074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71313336499999 meters Centerline goodness : 0.119697 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99494387e-01 9.32220046e-04 -3.17820983e-02 -1.12304690e+00] [-5.83776988e-04 9.99939646e-01 1.09710176e-02 -4.08605378e-02] [ 3.17904075e-02 -1.09469169e-02 9.99434608e-01 -3.33636074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74313336499999 meters Centerline goodness : 0.099998 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99495259e-01 8.33487983e-04 -3.17574135e-02 -1.12295177e+00] [-4.88340636e-04 9.99940752e-01 1.08744514e-02 -4.05055290e-02] [ 3.17645957e-02 -1.08534542e-02 9.99436448e-01 -3.33929529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77313336499999 meters Centerline goodness : 0.101533 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.33 [[ 9.99497225e-01 8.12496172e-04 -3.16960178e-02 -1.12328516e+00] [-4.63174276e-04 9.99939096e-01 1.10267885e-02 -4.14949908e-02] [ 3.17030466e-02 -1.10065637e-02 9.99436728e-01 -3.33705010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.803133365 meters Centerline goodness : 0.097379 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99428792e-01 -5.78922183e-04 -3.37898610e-02 -1.16983340e+00] [ 9.36199386e-04 9.99943818e-01 1.05586396e-02 -4.01220865e-02] [ 3.37818500e-02 -1.05842424e-02 9.99373184e-01 -3.33286366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.833133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.863133365 meters Centerline goodness : 0.097582 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99415311e-01 -8.41737314e-04 -3.41807956e-02 -1.16881075e+00] [ 1.20782995e-03 9.99942118e-01 1.06912418e-02 -4.22667500e-02] [ 3.41698179e-02 -1.07262754e-02 9.99358480e-01 -3.33558915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.893133365 meters Centerline goodness : 0.098402 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99416605e-01 -7.80098553e-04 -3.41444271e-02 -1.16898274e+00] [ 1.15103423e-03 9.99940524e-01 1.08454173e-02 -4.29054503e-02] [ 3.41339358e-02 -1.08783916e-02 9.99358061e-01 -3.33461436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.923133365 meters Centerline goodness : 0.095061 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99424782e-01 -6.89817244e-04 -3.39061920e-02 -1.17003096e+00] [ 1.06378566e-03 9.99938793e-01 1.10127004e-02 -4.34744930e-02] [ 3.38965200e-02 -1.10424346e-02 9.99364343e-01 -3.32712551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.953133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 109.98313336499999 meters Centerline goodness : 0.145454 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99438473e-01 -6.70950203e-04 -3.35005639e-02 -1.17154290e+00] [ 1.03783611e-03 9.99939668e-01 1.09354463e-02 -4.30450416e-02] [ 3.34912056e-02 -1.09640738e-02 9.99378871e-01 -3.31857900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01313336499999 meters Centerline goodness : 0.099283 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99442495e-01 -7.05992138e-04 -3.33796441e-02 -1.17192345e+00] [ 1.06619793e-03 9.99941384e-01 1.07746135e-02 -4.21836373e-02] [ 3.33700807e-02 -1.08041960e-02 9.99384664e-01 -3.31696640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04313336499999 meters Centerline goodness : 0.117887 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99445561e-01 -7.67874431e-04 -3.32863335e-02 -1.17208113e+00] [ 1.11882584e-03 9.99943974e-01 1.05260650e-02 -4.08890445e-02] [ 3.32763859e-02 -1.05574706e-02 9.99390425e-01 -3.31772338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07313336499999 meters Centerline goodness : 0.098587 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.04, Z:-0.33 [[ 9.99446629e-01 -7.97738794e-04 -3.32535497e-02 -1.17204949e+00] [ 1.14146244e-03 9.99946109e-01 1.03187476e-02 -3.96884462e-02] [ 3.32435260e-02 -1.03509952e-02 9.99393679e-01 -3.31936156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10313336499999 meters Centerline goodness : 0.172371 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.04, Z:-0.33 [[ 0.99944113 0.00760561 -0.03255129 -1.15208125] [-0.00730806 0.99993051 0.00925017 -0.04272284] [ 0.03261938 -0.00900712 0.99942726 -0.33085475] [ 0. 0. 0. 1. ]] SLAMing on 110.13313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 110.163133365 meters Centerline goodness : 0.186036 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.33 [[ 0.99950977 0.00196843 -0.03124655 -1.173026 ] [-0.00160648 0.99993138 0.01160447 -0.03178576] [ 0.03126725 -0.01154858 0.99944434 -0.33136731] [ 0. 0. 0. 1. ]] SLAMing on 110.193133365 meters Centerline goodness : 0.140734 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.03, Z:-0.33 [[ 9.99427553e-01 1.50352752e-03 -3.37980070e-02 -1.21793878e+00] [-1.11360379e-03 9.99932645e-01 1.15527504e-02 -2.77221282e-02] [ 3.38131004e-02 -1.15084995e-02 9.99361911e-01 -3.31692108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 110.253133365 meters Centerline goodness : 0.095568 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99943161 0.00735101 -0.03290016 -1.19530512] [-0.00707544 0.99993897 0.00848453 -0.02895283] [ 0.03296053 -0.00824692 0.99942263 -0.33265102] [ 0. 0. 0. 1. ]] SLAMing on 110.283133365 meters Centerline goodness : 0.095360 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.33 [[ 0.99944561 -0.00139208 -0.03326454 -1.21575248] [ 0.00170501 0.99995454 0.00938097 -0.02316297] [ 0.03324997 -0.00943248 0.99940256 -0.33385206] [ 0. 0. 0. 1. ]] SLAMing on 110.313133365 meters Centerline goodness : 0.115439 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.33 [[ 0.99944421 -0.00138283 -0.03330708 -1.21562848] [ 0.00170156 0.99995302 0.00954289 -0.02397949] [ 0.03329232 -0.00959426 0.99939961 -0.33397518] [ 0. 0. 0. 1. ]] SLAMing on 110.34313336499999 meters Centerline goodness : 0.154991 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.03, Z:-0.33 [[ 0.99938191 0.00351438 -0.03497773 -1.19425062] [-0.00328375 0.9999725 0.00664895 -0.03059489] [ 0.03500014 -0.00652998 0.99936597 -0.33339739] [ 0. 0. 0. 1. ]] SLAMing on 110.37313336499999 meters Centerline goodness : 0.093154 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.03, Z:-0.33 [[ 0.99933298 -0.0054263 -0.03611293 -1.21467344] [ 0.00569715 0.99995638 0.00740135 -0.02664209] [ 0.03607119 -0.00760215 0.99932031 -0.33425891] [ 0. 0. 0. 1. ]] SLAMing on 110.40313336499999 meters Centerline goodness : 0.154367 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.03, Z:-0.33 [[ 0.99933606 -0.00539589 -0.03603212 -1.2149727 ] [ 0.00567014 0.9999557 0.00751339 -0.02725568] [ 0.03598998 -0.00771271 0.99932239 -0.33414436] [ 0. 0. 0. 1. ]] SLAMing on 110.43313336499999 meters Centerline goodness : 0.098087 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99939022 0.0026925 -0.03481294 -1.19649166] [-0.00247395 0.99997697 0.00631944 -0.03238546] [ 0.03482915 -0.00622947 0.99937387 -0.33256957] [ 0. 0. 0. 1. ]] SLAMing on 110.46313336499999 meters Centerline goodness : 0.096378 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99939339 0.00266625 -0.03472386 -1.19692002] [-0.00245264 0.99997782 0.00619286 -0.03164952] [ 0.0347396 -0.00610394 0.99937776 -0.33223666] [ 0. 0. 0. 1. ]] SLAMing on 110.49313336499999 meters Centerline goodness : 0.101850 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99939482 0.0026045 -0.0346872 -1.19702998] [-0.00239895 0.99997933 0.00596609 -0.03042233] [ 0.03470202 -0.00587927 0.99938041 -0.33215967] [ 0. 0. 0. 1. ]] SLAMing on 110.52313336499999 meters Centerline goodness : 0.097805 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.33 [[ 0.99938979 0.00251038 -0.03483876 -1.19647757] [-0.00232575 0.99998304 0.00533901 -0.02703013] [ 0.03485157 -0.00525472 0.99937868 -0.3322909 ] [ 0. 0. 0. 1. ]] SLAMing on 110.553133365 meters Centerline goodness : 0.098643 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99938587 0.00238805 -0.03495979 -1.19612139] [-0.00221762 0.99998547 0.00491292 -0.02480458] [ 0.03497101 -0.00483238 0.99937664 -0.332318 ] [ 0. 0. 0. 1. ]] SLAMing on 110.583133365 meters Centerline goodness : 0.172805 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99938671 0.00227696 -0.03494302 -1.19620459] [-0.00212229 0.99998779 0.00446297 -0.02240006] [ 0.03495276 -0.00438607 0.99937934 -0.33219911] [ 0. 0. 0. 1. ]] SLAMing on 110.613133365 meters Centerline goodness : 0.122189 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99938935 0.00216445 -0.03487462 -1.19648817] [-0.00202425 0.99998973 0.00405481 -0.02021044] [ 0.03488304 -0.00398174 0.99938347 -0.33196089] [ 0. 0. 0. 1. ]] SLAMing on 110.643133365 meters Centerline goodness : 0.170899 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99939036 0.00200315 -0.0348553 -1.19651519] [-0.001879 0.99999178 0.00359403 -0.01790269] [ 0.03486221 -0.00352635 0.99938591 -0.33193168] [ 0. 0. 0. 1. ]] SLAMing on 110.673133365 meters Centerline goodness : 0.100784 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.33 [[ 0.99939029 0.00187188 -0.03486471 -1.19643118] [-0.00175962 0.99999317 0.00325014 -0.01616573] [ 0.03487056 -0.00318681 0.99938676 -0.33202841] [ 0. 0. 0. 1. ]] SLAMing on 110.703133365 meters Centerline goodness : 0.186816 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 0.99939171 0.00156331 -0.03483917 -1.19638654] [-0.00147374 0.99999554 0.00259647 -0.01323604] [ 0.03484307 -0.00254355 0.99938956 -0.33218912] [ 0. 0. 0. 1. ]] SLAMing on 110.73313336499999 meters Centerline goodness : 0.098056 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 0.99939545 0.0014396 -0.03473715 -1.1966856 ] [-0.00135811 0.99999627 0.0023695 -0.01217156] [ 0.03474043 -0.00232089 0.99939367 -0.33213803] [ 0. 0. 0. 1. ]] SLAMing on 110.76313336499999 meters Centerline goodness : 0.143381 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 0.9993976 0.00130767 -0.03468023 -1.19679881] [-0.00123424 0.99999695 0.00213859 -0.01115282] [ 0.03468292 -0.00209449 0.99939617 -0.33219366] [ 0. 0. 0. 1. ]] SLAMing on 110.79313336499999 meters Centerline goodness : 0.099033 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 9.99394196e-01 1.18475694e-03 -3.47827104e-02 -1.19648455e+00] [-1.11923368e-03 9.99997563e-01 1.90319859e-03 -1.00685390e-02] [ 3.47848804e-02 -1.86311564e-03 9.99393086e-01 -3.32306456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82313336499999 meters Centerline goodness : 0.102005 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 9.99386370e-01 1.01649855e-03 -3.50121389e-02 -1.19583612e+00] [-9.60471564e-04 9.99998231e-01 1.61699823e-03 -8.72457767e-03] [ 3.50137206e-02 -1.58237783e-03 9.99385579e-01 -3.32437846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85313336499999 meters Centerline goodness : 0.145863 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.01, Z:-0.33 [[ 9.99384267e-01 8.78172762e-04 -3.50758473e-02 -1.19561905e+00] [-8.34009875e-04 9.99998841e-01 1.27367975e-03 -6.94971208e-03] [ 3.50769252e-02 -1.24364190e-03 9.99383842e-01 -3.32518337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88313336499999 meters Centerline goodness : 0.091786 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.00, Z:-0.33 [[ 9.99379044e-01 5.20799067e-04 -3.52314392e-02 -1.19512016e+00] [-5.05396625e-04 9.99999773e-01 4.46083187e-04 -2.90471943e-03] [ 3.52316635e-02 -4.28000339e-04 9.99379081e-01 -3.32609000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.913133365 meters Centerline goodness : 0.099711 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.00, Z:-0.33 [[ 9.99295436e-01 5.18226104e-04 -3.75281545e-02 -1.24124633e+00] [-5.03060072e-04 9.99999788e-01 4.13565770e-04 2.98163180e-03] [ 3.75283608e-02 -3.94395470e-04 9.99295485e-01 -3.32414955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 110.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.003133365 meters Centerline goodness : 0.110215 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.33 [[ 0.99931174 -0.00723065 -0.03638349 -1.22280552] [ 0.00728687 0.99997245 0.00141265 0.01170666] [ 0.03637228 -0.0016768 0.9993369 -0.32966929] [ 0. 0. 0. 1. ]] SLAMing on 111.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.09313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.12313336499999 meters Centerline goodness : 0.162848 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.33 [[ 9.99293585e-01 -7.86122195e-03 -3.67495753e-02 -1.22142510e+00] [ 7.90344007e-03 9.99968264e-01 1.00367141e-03 1.23304677e-02] [ 3.67405189e-02 -1.29341047e-03 9.99324002e-01 -3.30531855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.18313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.21313336499999 meters Centerline goodness : 0.108571 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-0.33 [[ 9.99382141e-01 8.55154441e-05 -3.51472567e-02 -1.20442999e+00] [-8.94282049e-05 9.99999990e-01 -1.09752734e-04 5.40354397e-03] [ 3.51472470e-02 1.12828078e-04 9.99382138e-01 -3.27939553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.27313336499999 meters Centerline goodness : 0.168193 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.33 [[ 9.99386852e-01 2.02131643e-04 -3.50125592e-02 -1.20489020e+00] [-1.98311057e-04 9.99999974e-01 1.12593140e-04 3.98157818e-03] [ 3.50125811e-02 -1.05580726e-04 9.99386866e-01 -3.27711709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.303133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.333133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.363133365 meters Centerline goodness : 0.098528 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.33 [[ 9.99362478e-01 5.11715065e-04 -3.56983952e-02 -1.20293975e+00] [-4.99215468e-04 9.99999811e-01 3.59057072e-04 3.34033118e-03] [ 3.56985722e-02 -3.41006974e-04 9.99362545e-01 -3.28119859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.393133365 meters Centerline goodness : 0.103084 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.33 [[ 9.99358910e-01 5.48276014e-04 -3.57976076e-02 -1.20278087e+00] [-5.40694067e-04 9.99999829e-01 2.21480915e-04 4.27315988e-03] [ 3.57977230e-02 -2.01983372e-04 9.99359036e-01 -3.27925992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.423133365 meters Centerline goodness : 0.103243 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-0.33 [[ 9.99358140e-01 5.53464227e-04 -3.58190065e-02 -1.20279670e+00] [-5.53424856e-04 9.99999847e-01 1.10139082e-05 5.50386700e-03] [ 3.58190071e-02 8.81628971e-06 9.99358293e-01 -3.27750396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.453133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.48313336499999 meters Centerline goodness : 0.099669 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.01, Z:-0.33 [[ 9.99308367e-01 1.00534406e-02 -3.58010666e-02 -1.22655131e+00] [-1.00768248e-02 9.99949116e-01 -4.72789863e-04 7.80534597e-03] [ 3.57944917e-02 8.33223943e-04 9.99358824e-01 -3.27781390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51313336499999 meters Centerline goodness : 0.224132 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.33 [[ 9.99361066e-01 2.38306885e-03 -3.56620407e-02 -1.20633507e+00] [-2.36981521e-03 9.99997106e-01 4.13910693e-04 1.22845589e-02] [ 3.56629238e-02 -3.29133785e-04 9.99363821e-01 -3.26191645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54313336499999 meters Centerline goodness : 0.281582 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99268473e-01 2.18619516e-03 -3.81803449e-02 -1.25136088e+00] [-2.17870813e-03 9.99997598e-01 2.37702515e-04 1.56795392e-02] [ 3.81807729e-02 -1.54344801e-04 9.99270837e-01 -3.26584172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57313336499999 meters Centerline goodness : 0.138752 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.02, Z:-0.32 [[ 9.99260147e-01 -5.78283365e-03 -3.80225888e-02 -1.23098157e+00] [ 5.83236624e-03 9.99982281e-01 1.19192203e-03 1.85650807e-02] [ 3.80150225e-02 -1.41280184e-03 9.99276169e-01 -3.24917861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60313336499999 meters Centerline goodness : 0.220290 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99277974e-01 2.73270389e-03 -3.78954163e-02 -1.25203785e+00] [-2.70521119e-03 9.99996039e-01 7.76746102e-04 1.47760083e-02] [ 3.78973888e-02 -6.73670168e-04 9.99281409e-01 -3.26445322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63313336499999 meters Centerline goodness : 0.220290 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99277974e-01 2.73270389e-03 -3.78954163e-02 -1.25203785e+00] [-2.70521119e-03 9.99996039e-01 7.76746102e-04 1.47760083e-02] [ 3.78973888e-02 -6.73670168e-04 9.99281409e-01 -3.26445322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.663133365 meters Centerline goodness : 0.115855 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99283828e-01 2.83362675e-03 -3.77333083e-02 -1.25260977e+00] [-2.79740117e-03 9.99995574e-01 1.01280442e-03 1.37546498e-02] [ 3.77360112e-02 -9.06523877e-04 9.99287332e-01 -3.26209414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.693133365 meters Centerline goodness : 0.104149 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.33 [[ 9.99314212e-01 2.63069235e-03 -3.69348808e-02 -1.25530076e+00] [-2.58936276e-03 9.99995967e-01 1.16677620e-03 1.15376746e-02] [ 3.69378012e-02 -1.07033823e-03 9.99316993e-01 -3.25084167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.723133365 meters Centerline goodness : 0.086327 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.33 [[ 9.99316989e-01 2.62677104e-03 -3.68599454e-02 -1.25556449e+00] [-2.58129576e-03 9.99995848e-01 1.28126678e-03 1.06050863e-02] [ 3.68631579e-02 -1.18524524e-03 9.99319620e-01 -3.25013244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.753133365 meters Centerline goodness : 0.125912 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.33 [[ 0.99931632 0.00265846 -0.03687573 -1.25552431] [-0.00260968 0.99999565 0.00137103 0.01016552] [ 0.03687921 -0.00127386 0.99931892 -0.32505366] [ 0. 0. 0. 1. ]] SLAMing on 111.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.813133365 meters Centerline goodness : 0.156219 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.32 [[ 9.99321079e-01 2.64671915e-03 -3.67474681e-02 -1.25614199e+00] [-2.60528560e-03 9.99995915e-01 1.17536057e-03 1.13922728e-02] [ 3.67504289e-02 -1.07882494e-03 9.99323892e-01 -3.24530505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84313336499999 meters Centerline goodness : 0.420073 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-0.32 [[ 9.99320514e-01 2.55765755e-03 -3.67691148e-02 -1.25625187e+00] [-2.52792281e-03 9.99996439e-01 8.55155673e-04 1.30790738e-02] [ 3.67711711e-02 -7.61625123e-04 9.99323422e-01 -3.24228067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87313336499999 meters Centerline goodness : 0.043914 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.32 [[ 0.9992965 0.00641594 -0.03695043 -1.25553007] [-0.00626699 0.99997177 0.00414551 0.01630024] [ 0.03697598 -0.00391103 0.9993085 -0.32456499] [ 0. 0. 0. 1. ]] SLAMing on 111.90313336499999 meters Centerline goodness : 0.114779 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.32 [[ 0.99929393 0.00628807 -0.03704193 -1.25504968] [-0.0061555 0.99997424 0.003692 0.01879321] [ 0.03706419 -0.00346138 0.99930689 -0.32488909] [ 0. 0. 0. 1. ]] SLAMing on 111.93313336499999 meters Centerline goodness : 0.105040 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 0.99929676 0.00610658 -0.03699578 -1.25496266] [-0.00598987 0.99997673 0.00326477 0.02086717] [ 0.03701486 -0.00304087 0.99931009 -0.32517371] [ 0. 0. 0. 1. ]] SLAMing on 111.96313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 111.99313336499999 meters Centerline goodness : 0.161067 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.32 [[ 0.9993076 0.00576763 -0.03675676 -1.25577362] [-0.00567162 0.99998023 0.00271554 0.02337559] [ 0.0367717 -0.00250519 0.99932055 -0.32490431] [ 0. 0. 0. 1. ]] SLAMing on 112.02313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.053133365 meters Centerline goodness : 0.107434 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 0.99929704 0.00516169 -0.03713209 -1.25474722] [-0.00507031 0.99998388 0.0025548 0.02252936] [ 0.03714468 -0.00236473 0.9993071 -0.32529401] [ 0. 0. 0. 1. ]] SLAMing on 112.083133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.113133365 meters Centerline goodness : 0.152712 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99304260e-01 8.82855995e-04 -3.72855993e-02 -1.25357717e+00] [-9.12666336e-04 9.99999277e-01 -7.82500498e-04 1.85405854e-02] [ 3.72848815e-02 8.15985392e-04 9.99304344e-01 -3.26721978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.143133365 meters Centerline goodness : 0.114262 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99311574e-01 9.48499511e-04 -3.70874375e-02 -1.25420088e+00] [-9.64908453e-04 9.99999444e-01 -4.24542696e-04 1.66152263e-02] [ 3.70870143e-02 4.60036412e-04 9.99311934e-01 -3.26609857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.173133365 meters Centerline goodness : 0.169278 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99313215e-01 1.05104858e-03 -3.70404218e-02 -1.25453131e+00] [-1.05722509e-03 9.99999430e-01 -1.47164156e-04 1.53418512e-02] [ 3.70402460e-02 1.86223150e-04 9.99313757e-01 -3.26343279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.203133365 meters Centerline goodness : 0.099549 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99312226e-01 1.10530837e-03 -3.70655165e-02 -1.25449835e+00] [-1.10660784e-03 9.99999388e-01 -1.45431571e-05 1.46277878e-02] [ 3.70654777e-02 5.55501457e-05 9.99312838e-01 -3.26293000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23313336499999 meters Centerline goodness : 0.127987 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.01, Z:-0.33 [[ 9.99304845e-01 1.08879325e-03 -3.72644717e-02 -1.25395621e+00] [-1.09203100e-03 9.99999402e-01 -6.65318251e-05 1.46640180e-02] [ 3.72643769e-02 1.07179534e-04 9.99305436e-01 -3.26320245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26313336499999 meters Centerline goodness : 0.098950 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99299127e-01 1.05948926e-03 -3.74183464e-02 -1.25343695e+00] [-1.06884361e-03 9.99999402e-01 -2.29990599e-04 1.52751046e-02] [ 3.74180804e-02 2.69823765e-04 9.99299662e-01 -3.26472288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29313336499999 meters Centerline goodness : 0.101562 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99300926e-01 1.64235188e-03 -3.73491812e-02 -1.25382430e+00] [-1.65056068e-03 9.99998620e-01 -1.88951928e-04 1.69231419e-02] [ 3.73488193e-02 2.50466927e-04 9.99302258e-01 -3.26009803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32313336499999 meters Centerline goodness : 0.112976 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.02, Z:-0.33 [[ 9.99312687e-01 1.83918261e-03 -3.70239310e-02 -1.25485100e+00] [-1.85449966e-03 9.99998208e-01 -3.79368605e-04 1.87237275e-02] [ 3.70231670e-02 4.47768727e-04 9.99314307e-01 -3.25519885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35313336499999 meters Centerline goodness : 0.129351 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.33 [[ 9.99326525e-01 1.94951159e-03 -3.66428102e-02 -1.25590168e+00] [-1.97319019e-03 9.99997867e-01 -6.10047579e-04 2.05008546e-02] [ 3.66415428e-02 6.81939961e-04 9.99328241e-01 -3.25214816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.413133365 meters Centerline goodness : 0.087867 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.33 [[ 9.99347001e-01 2.26068446e-03 -3.60619013e-02 -1.25719383e+00] [-2.29382945e-03 9.99996984e-01 -8.77766814e-04 2.31187480e-02] [ 3.60598082e-02 9.59913484e-04 9.99349173e-01 -3.25254836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.443133365 meters Centerline goodness : 0.087938 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-0.33 [[ 9.99354560e-01 2.18793286e-03 -3.58563387e-02 -1.25776309e+00] [-2.23041552e-03 9.99996857e-01 -1.14484444e-03 2.44296231e-02] [ 3.58537212e-02 1.22408004e-03 9.99356299e-01 -3.25109940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.473133365 meters Centerline goodness : 0.096696 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 9.99374591e-01 -5.68468616e-03 -3.49014472e-02 -1.23867441e+00] [ 5.67854410e-03 9.99983839e-01 -2.75106048e-04 2.86730383e-02] [ 3.49024471e-02 7.67445868e-05 9.99390721e-01 -3.23238494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.503133365 meters Centerline goodness : 0.101633 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.32 [[ 0.99938032 0.00267698 -0.03509707 -1.25924223] [-0.00272353 0.99999547 -0.00127848 0.02708303] [ 0.03509349 0.00137328 0.99938309 -0.3248001 ] [ 0. 0. 0. 1. ]] SLAMing on 112.533133365 meters Centerline goodness : 0.100957 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99937071 0.00259025 -0.03537609 -1.25835978] [-0.00264481 0.99999538 -0.00149548 0.0282521 ] [ 0.03537205 0.0015881 0.99937295 -0.32511423] [ 0. 0. 0. 1. ]] SLAMing on 112.563133365 meters Centerline goodness : 0.087195 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99935596 0.00247632 -0.0357985 -1.25691443] [-0.00254691 0.9999949 -0.00192643 0.03098167] [ 0.03579355 0.00201636 0.99935717 -0.32573318] [ 0. 0. 0. 1. ]] SLAMing on 112.59313336499999 meters Centerline goodness : 0.166406 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99935291 0.00240738 -0.03588829 -1.25676139] [-0.00248491 0.99999467 -0.0021158 0.0320467 ] [ 0.03588301 0.00220361 0.99935357 -0.32562536] [ 0. 0. 0. 1. ]] SLAMing on 112.62313336499999 meters Centerline goodness : 0.089352 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.33 [[ 0.99935504 0.00232515 -0.03583441 -1.25716336] [-0.00241096 0.99999433 -0.00235159 0.03335825] [ 0.03582874 0.00243647 0.99935497 -0.325219 ] [ 0. 0. 0. 1. ]] SLAMing on 112.65313336499999 meters Centerline goodness : 0.087205 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-0.32 [[ 0.9993588 0.00226227 -0.03573333 -1.25767168] [-0.00235382 0.99999405 -0.0025201 0.03423859] [ 0.03572742 0.0026026 0.99935818 -0.32480488] [ 0. 0. 0. 1. ]] SLAMing on 112.68313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.71313336499999 meters Centerline goodness : 0.190221 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.04, Z:-0.32 [[ 0.99937276 0.00198521 -0.0353574 -1.25909049] [-0.00209394 0.99999319 -0.00303859 0.03638435] [ 0.03535113 0.00311072 0.99937011 -0.32397487] [ 0. 0. 0. 1. ]] SLAMing on 112.74313336499999 meters Centerline goodness : 0.096267 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.04, Z:-0.32 [[ 0.99937685 0.00194192 -0.03524408 -1.25937694] [-0.00205446 0.9999929 -0.00315743 0.03707004] [ 0.03523769 0.00322787 0.99937375 -0.32398423] [ 0. 0. 0. 1. ]] SLAMing on 112.77313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.803133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.833133365 meters Centerline goodness : 0.114996 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.04, Z:-0.32 [[ 0.99937649 0.00181682 -0.03526092 -1.2594869 ] [-0.00195342 0.99999072 -0.00383977 0.04148748] [ 0.03525362 0.00390625 0.99937076 -0.32362185] [ 0. 0. 0. 1. ]] SLAMing on 112.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.893133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.923133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.953133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 112.98313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 113.01313336499999 meters Centerline goodness : 0.095614 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99944048 0.01321879 -0.03072436 -1.24413841] [-0.01332693 0.99990569 -0.00331772 0.05176857] [ 0.03067761 0.00372532 0.99952239 -0.32103585] [ 0. 0. 0. 1. ]] SLAMing on 113.04313336499999 meters Centerline goodness : 0.092758 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99944465 0.01318138 -0.03060456 -1.24436024] [-0.01329113 0.99990594 -0.00338535 0.05190357] [ 0.03055706 0.00379024 0.99952584 -0.32117806] [ 0. 0. 0. 1. ]] SLAMing on 113.07313336499999 meters Centerline goodness : 0.160289 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99957771 0.00668791 -0.02827865 -1.26187115] [-0.00675963 0.99997417 -0.00244145 0.05854367] [ 0.0282616 0.00263157 0.9995971 -0.32370542] [ 0. 0. 0. 1. ]] SLAMing on 113.10313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 113.13313336499999 meters Centerline goodness : 0.098947 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99958442 0.00708532 -0.02794242 -1.26318979] [-0.00715388 0.99997164 -0.00235437 0.05950891] [ 0.02792495 0.00255329 0.99960676 -0.32282518] [ 0. 0. 0. 1. ]] SLAMing on 113.163133365 meters Centerline goodness : 0.161147 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99958095 0.0071156 -0.02805861 -1.26289038] [-0.00719074 0.99997082 -0.0025779 0.0608687 ] [ 0.02803945 0.00277858 0.99960296 -0.32280504] [ 0. 0. 0. 1. ]] SLAMing on 113.193133365 meters Centerline goodness : 0.095542 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.06, Z:-0.32 [[ 0.99956165 0.00785874 -0.02854373 -1.26128708] [-0.0079356 0.99996518 -0.00258029 0.06402803] [ 0.02852246 0.00280567 0.99958921 -0.32344989] [ 0. 0. 0. 1. ]] SLAMing on 113.223133365 meters Centerline goodness : 0.042151 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99955437 0.00801373 -0.02875492 -1.26060604] [-0.00809911 0.99996313 -0.00285419 0.06631234] [ 0.02873099 0.00308581 0.99958242 -0.32373219] [ 0. 0. 0. 1. ]] SLAMing on 113.253133365 meters Centerline goodness : 0.162875 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99954939 0.0081133 -0.02889957 -1.26007086] [-0.00820969 0.99996112 -0.00321796 0.06886566] [ 0.02887234 0.00345377 0.99957714 -0.32400368] [ 0. 0. 0. 1. ]] SLAMing on 113.283133365 meters Centerline goodness : 0.041349 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99954609 0.00824237 -0.02897706 -1.25985016] [-0.00834927 0.99995877 -0.00357004 0.07143095] [ 0.02894644 0.00381036 0.9995737 -0.32406952] [ 0. 0. 0. 1. ]] SLAMing on 113.313133365 meters Centerline goodness : 0.236506 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.32 [[ 0.99954241 0.00836244 -0.02906961 -1.25955523] [-0.00848208 0.99995605 -0.0039947 0.07442378] [ 0.02903492 0.00423945 0.99956941 -0.32416915] [ 0. 0. 0. 1. ]] SLAMing on 113.34313336499999 meters Centerline goodness : 0.040487 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.08, Z:-0.32 [[ 0.99952312 0.00876752 -0.02960842 -1.25771983] [-0.00890152 0.99995071 -0.00439674 0.08036499] [ 0.02956841 0.0046582 0.9995519 -0.3249364 ] [ 0. 0. 0. 1. ]] SLAMing on 113.37313336499999 meters Centerline goodness : 0.318895 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.08, Z:-0.33 [[ 0.99951721 0.00860371 -0.02985504 -1.25670601] [-0.00875183 0.99995002 -0.00483396 0.08230134] [ 0.02981196 0.00509291 0.99954255 -0.32563908] [ 0. 0. 0. 1. ]] SLAMing on 113.40313336499999 meters Centerline goodness : 0.040853 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.33 [[ 9.99511545e-01 6.88409739e-04 -3.12441521e-02 -1.27459029e+00] [-8.01121512e-04 9.99993217e-01 -3.59507694e-03 8.84401107e-02] [ 3.12414653e-02 3.61835127e-03 9.99505317e-01 -3.27799604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43313336499999 meters Centerline goodness : 0.228228 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.33 [[ 9.99501658e-01 6.45707639e-04 -3.15597511e-02 -1.27349054e+00] [-7.63489338e-04 9.99992789e-01 -3.72011414e-03 8.90492722e-02] [ 3.15571215e-02 3.74235579e-03 9.99494944e-01 -3.28366060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46313336499999 meters Centerline goodness : 0.267088 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99947155 -0.0071263 -0.03171484 -1.25335331] [ 0.00704725 0.99997178 -0.00260341 0.09388163] [ 0.0317325 0.00237853 0.99949357 -0.327074 ] [ 0. 0. 0. 1. ]] SLAMing on 113.49313336499999 meters Centerline goodness : 0.098723 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99947436 -0.0070916 -0.03163418 -1.25376649] [ 0.00701604 0.99997226 -0.00249899 0.09341211] [ 0.03165102 0.00227573 0.99949639 -0.32675186] [ 0. 0. 0. 1. ]] SLAMing on 113.52313336499999 meters Centerline goodness : 0.098723 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99947436 -0.0070916 -0.03163418 -1.25376649] [ 0.00701604 0.99997226 -0.00249899 0.09341211] [ 0.03165102 0.00227573 0.99949639 -0.32675186] [ 0. 0. 0. 1. ]] SLAMing on 113.553133365 meters Centerline goodness : 0.104647 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.09, Z:-0.33 [[ 0.99948177 -0.00712214 -0.03139209 -1.25461603] [ 0.00705064 0.99997229 -0.00238768 0.09234456] [ 0.03140822 0.00216511 0.9995043 -0.32636769] [ 0. 0. 0. 1. ]] SLAMing on 113.583133365 meters Centerline goodness : 0.414232 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.33 [[ 0.99948759 -0.00712492 -0.03120556 -1.25531006] [ 0.00706054 0.99997271 -0.00217285 0.09076414] [ 0.03122019 0.00195141 0.99951063 -0.32601989] [ 0. 0. 0. 1. ]] SLAMing on 113.613133365 meters Centerline goodness : 0.101046 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.33 [[ 0.99948921 -0.00705935 -0.03116868 -1.25544096] [ 0.00700664 0.99997383 -0.0018002 0.0885445 ] [ 0.03118057 0.00158089 0.99951252 -0.32599196] [ 0. 0. 0. 1. ]] SLAMing on 113.643133365 meters Centerline goodness : 0.097646 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.08, Z:-0.32 [[ 9.99501168e-01 -5.91797823e-04 -3.15763464e-02 -1.23697960e+00] [ 4.97881294e-04 9.99995430e-01 -2.98204810e-03 7.78852363e-02] [ 3.15779669e-02 2.96483929e-03 9.99496894e-01 -3.24175527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.673133365 meters Centerline goodness : 0.098509 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.08, Z:-0.32 [[ 9.99505090e-01 -4.29468743e-04 -3.14545792e-02 -1.23728496e+00] [ 3.50993230e-04 9.99996812e-01 -2.50036264e-03 7.53395923e-02] [ 3.14555528e-02 2.48808484e-03 9.99502055e-01 -3.24196884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.703133365 meters Centerline goodness : 0.303701 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99501916e-01 -2.72776948e-04 -3.15570136e-02 -1.23693709e+00] [ 2.06599029e-04 9.99997773e-01 -2.10033231e-03 7.33105772e-02] [ 3.15575162e-02 2.09276652e-03 9.99499747e-01 -3.24348253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73313336499999 meters Centerline goodness : 0.058801 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99497297e-01 -1.04335772e-04 -3.17039697e-02 -1.23646280e+00] [ 4.89022329e-05 9.99998469e-01 -1.74924349e-03 7.16457342e-02] [ 3.17041036e-02 1.74681374e-03 9.99495772e-01 -3.24538407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76313336499999 meters Centerline goodness : 0.244639 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99492481e-01 8.54567878e-05 -3.18554905e-02 -1.23593089e+00] [-1.30802392e-04 9.99998981e-01 -1.42139726e-03 7.02595345e-02] [ 3.18553366e-02 1.42484265e-03 9.99491474e-01 -3.24764226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79313336499999 meters Centerline goodness : 0.096282 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.07, Z:-0.32 [[ 9.99477459e-01 6.64159598e-04 -3.23166674e-02 -1.23478472e+00] [-6.88458364e-04 9.99999489e-01 -7.40774365e-04 6.77388929e-02] [ 3.23161589e-02 7.62635960e-04 9.99477406e-01 -3.24820457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82313336499999 meters Centerline goodness : 0.103573 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99480447e-01 8.54873371e-04 -3.22196301e-02 -1.23511712e+00] [-8.73456569e-04 9.99999460e-01 -5.62695867e-04 6.71529526e-02] [ 3.22191316e-02 5.90545964e-04 9.99480655e-01 -3.24666037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85313336499999 meters Centerline goodness : 0.103294 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.07, Z:-0.32 [[ 9.99417236e-01 1.70088797e-03 -3.40924432e-02 -1.28251614e+00] [-1.69941831e-03 9.99998553e-01 7.20852392e-05 6.60727893e-02] [ 3.40925165e-02 -1.41059084e-05 9.99418681e-01 -3.24021683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88313336499999 meters Centerline goodness : 0.124322 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99483235e-01 3.16761006e-03 -3.19879472e-02 -1.23987650e+00] [-3.14993060e-03 9.99994857e-01 6.03069288e-04 6.67106250e-02] [ 3.19896930e-02 -5.01997830e-04 9.99488073e-01 -3.22558374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.913133365 meters Centerline goodness : 0.113109 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99501956e-01 3.43510864e-03 -3.13694065e-02 -1.24149499e+00] [-3.41776680e-03 9.99993976e-01 6.06429647e-04 6.74517469e-02] [ 3.13713007e-02 -4.98914302e-04 9.99507675e-01 -3.22363860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.943133365 meters Centerline goodness : 0.139346 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99513838e-01 3.63909197e-03 -3.09652017e-02 -1.24256528e+00] [-3.62472841e-03 9.99993295e-01 5.19982379e-04 6.84701036e-02] [ 3.09668863e-02 -4.07489137e-04 9.99520328e-01 -3.22271601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.973133365 meters Centerline goodness : 0.128328 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99509998e-01 3.77540397e-03 -3.10726485e-02 -1.24222790e+00] [-3.76515415e-03 9.99992836e-01 3.88370751e-04 6.95857229e-02] [ 3.10738921e-02 -2.71187137e-04 9.99517053e-01 -3.22483868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.003133365 meters Centerline goodness : 0.128948 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99504136e-01 3.84653518e-03 -3.12519790e-02 -1.24166972e+00] [-3.84000219e-03 9.99992591e-01 2.69058223e-04 7.04878021e-02] [ 3.12527824e-02 -1.48917139e-04 9.99511501e-01 -3.22798212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.033133365 meters Centerline goodness : 0.128150 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99501786e-01 4.01084595e-03 -3.13064417e-02 -1.24155139e+00] [-4.00170839e-03 9.99991930e-01 3.54524644e-04 7.05875059e-02] [ 3.13076110e-02 -2.29068765e-04 9.99509770e-01 -3.22867343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.063133365 meters Centerline goodness : 0.129998 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99510520e-01 4.04504856e-03 -3.10219075e-02 -1.24244315e+00] [-4.03237114e-03 9.99991759e-01 4.71210532e-04 6.98527622e-02] [ 3.10235580e-02 -3.45888039e-04 9.99518594e-01 -3.22569668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09313336499999 meters Centerline goodness : 0.166173 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-0.32 [[ 9.99523255e-01 4.07402219e-03 -3.06049927e-02 -1.24386028e+00] [-4.05486873e-03 9.99991542e-01 6.87866248e-04 6.83944050e-02] [ 3.06075363e-02 -5.63439083e-04 9.99531321e-01 -3.21938786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12313336499999 meters Centerline goodness : 0.126729 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.07, Z:-0.32 [[ 9.99536438e-01 4.09739412e-03 -3.01681995e-02 -1.24515311e+00] [-4.07016945e-03 9.99991252e-01 9.63782966e-04 6.66209303e-02] [ 3.01718846e-02 -8.40546509e-04 9.99544372e-01 -3.21559969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15313336499999 meters Centerline goodness : 0.127835 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.06, Z:-0.32 [[ 9.99541504e-01 4.17846456e-03 -2.99886983e-02 -1.24561817e+00] [-4.14082293e-03 9.99990559e-01 1.31718751e-03 6.46850339e-02] [ 2.99939190e-02 -1.19240569e-03 9.99549370e-01 -3.21476705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18313336499999 meters Centerline goodness : 0.128331 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.06, Z:-0.32 [[ 0.99954246 0.00430829 -0.02993827 -1.24551899] [-0.0042577 0.9999894 0.00175333 0.06252686] [ 0.0299455 -0.00162506 0.99955021 -0.32181027] [ 0. 0. 0. 1. ]] SLAMing on 114.21313336499999 meters Centerline goodness : 0.127038 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.06, Z:-0.32 [[ 0.99953135 0.00441685 -0.03029152 -1.24442596] [-0.00434532 0.99998761 0.00242679 0.05857726] [ 0.03030187 -0.00229402 0.99953816 -0.3221498 ] [ 0. 0. 0. 1. ]] SLAMing on 114.24313336499999 meters Centerline goodness : 0.127038 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.06, Z:-0.32 [[ 0.99953135 0.00441685 -0.03029152 -1.24442596] [-0.00434532 0.99998761 0.00242679 0.05857726] [ 0.03030187 -0.00229402 0.99953816 -0.3221498 ] [ 0. 0. 0. 1. ]] SLAMing on 114.27313336499999 meters Centerline goodness : 0.127968 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99952377 0.00461625 -0.03051096 -1.24384073] [-0.00452176 0.99998477 0.00316517 0.05446956] [ 0.03052511 -0.0030257 0.99952942 -0.32221937] [ 0. 0. 0. 1. ]] SLAMing on 114.303133365 meters Centerline goodness : 0.126997 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99952076 0.00479 -0.03058277 -1.24365995] [-0.00468131 0.99998247 0.00362454 0.05224281] [ 0.0305996 -0.00347963 0.99952567 -0.32220995] [ 0. 0. 0. 1. ]] SLAMing on 114.333133365 meters Centerline goodness : 0.129365 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99951534 0.00494836 -0.03073421 -1.24323907] [-0.00482542 0.99998006 0.00407289 0.04986522] [ 0.03075375 -0.00392261 0.99951929 -0.32229693] [ 0. 0. 0. 1. ]] SLAMing on 114.363133365 meters Centerline goodness : 0.130783 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.05, Z:-0.32 [[ 0.99950544 0.00504158 -0.03103961 -1.24230812] [-0.00490568 0.99997805 0.00445287 0.04755173] [ 0.03106137 -0.00429839 0.99950824 -0.32256799] [ 0. 0. 0. 1. ]] SLAMing on 114.393133365 meters Centerline goodness : 0.129836 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.32 [[ 0.99949703 0.00520335 -0.03128289 -1.2415321 ] [-0.00505088 0.99997499 0.00495111 0.04482481] [ 0.03130787 -0.00479061 0.99949831 -0.32284306] [ 0. 0. 0. 1. ]] SLAMing on 114.423133365 meters Centerline goodness : 0.126312 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.32 [[ 0.99949335 0.0053974 -0.03136749 -1.24133362] [-0.00522914 0.99997151 0.0054438 0.04238379] [ 0.03139598 -0.00527701 0.99949309 -0.32282702] [ 0. 0. 0. 1. ]] SLAMing on 114.453133365 meters Centerline goodness : 0.126098 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.04, Z:-0.32 [[ 0.99949386 0.005646 -0.03130719 -1.24152576] [-0.00546095 0.99996713 0.00599316 0.0399714 ] [ 0.03133999 -0.00581916 0.99949184 -0.32275472] [ 0. 0. 0. 1. ]] SLAMing on 114.48313336499999 meters Centerline goodness : 0.123638 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.04, Z:-0.32 [[ 0.99955444 -0.00197459 -0.02978288 -1.22227333] [ 0.00219805 0.99996967 0.00747205 0.03994492] [ 0.02976723 -0.00753418 0.99952846 -0.32147922] [ 0. 0. 0. 1. ]] SLAMing on 114.51313336499999 meters Centerline goodness : 0.150068 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.9995388 0.00582309 -0.029804 -1.24219257] [-0.00562984 0.99996261 0.00656407 0.03246591] [ 0.02984111 -0.00639325 0.99953421 -0.32313848] [ 0. 0. 0. 1. ]] SLAMing on 114.54313336499999 meters Centerline goodness : 0.138111 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.99953621 0.00594113 -0.02986758 -1.24210615] [-0.00573892 0.99996006 0.00685114 0.03093463] [ 0.02990709 -0.00667655 0.99953038 -0.32297054] [ 0. 0. 0. 1. ]] SLAMing on 114.57313336499999 meters Centerline goodness : 0.126951 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.99953686 0.0061128 -0.02981102 -1.24216616] [-0.00589931 0.99995636 0.00724431 0.02888155] [ 0.02985401 -0.00706509 0.9995293 -0.32309234] [ 0. 0. 0. 1. ]] SLAMing on 114.60313336499999 meters Centerline goodness : 0.146185 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.03, Z:-0.32 [[ 0.99953606 0.00631429 -0.02979596 -1.24210297] [-0.00608641 0.99995158 0.00773251 0.02637005] [ 0.02984334 -0.00754757 0.99952609 -0.32321757] [ 0. 0. 0. 1. ]] SLAMing on 114.63313336499999 meters Centerline goodness : 0.145311 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.02, Z:-0.32 [[ 0.9995542 0.0031036 -0.02969466 -1.24207286] [-0.00296582 0.99998464 0.00468308 0.0244317 ] [ 0.02970874 -0.00459292 0.99954805 -0.32366697] [ 0. 0. 0. 1. ]] SLAMing on 114.663133365 meters Centerline goodness : 0.133472 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.02, Z:-0.32 [[ 0.99948 0.00183694 -0.03219255 -1.28694601] [-0.0016951 0.99998874 0.00443266 0.01893119] [ 0.03220033 -0.00437578 0.99947186 -0.32412306] [ 0. 0. 0. 1. ]] SLAMing on 114.693133365 meters Centerline goodness : 0.141936 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99455220e-01 2.85584386e-04 -3.30027548e-02 -1.28320365e+00] [-1.67815556e-04 9.99993609e-01 3.57116939e-03 1.19723669e-02] [ 3.30035637e-02 -3.56368551e-03 9.99448881e-01 -3.26075062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.723133365 meters Centerline goodness : 0.140719 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99454686e-01 4.71942160e-04 -3.30167872e-02 -1.28304138e+00] [-3.38651381e-04 9.99991772e-01 4.04253649e-03 9.66305128e-03] [ 3.30184234e-02 -4.02915086e-03 9.99446622e-01 -3.26254532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.753133365 meters Centerline goodness : 0.138832 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99456910e-01 6.61339328e-04 -3.29461443e-02 -1.28323210e+00] [-5.13785611e-04 9.99989802e-01 4.48689849e-03 7.45698592e-03] [ 3.29487756e-02 -4.46753444e-03 9.99447057e-01 -3.26170378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.783133365 meters Centerline goodness : 0.135580 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.33 [[ 9.99459583e-01 8.09937838e-04 -3.28616302e-02 -1.28340395e+00] [-6.51292650e-04 9.99988084e-01 4.83808947e-03 5.69223115e-03] [ 3.28651572e-02 -4.81407234e-03 9.99448201e-01 -3.26209980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.813133365 meters Centerline goodness : 0.133097 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.33 [[ 9.99462545e-01 9.72023113e-04 -3.27670127e-02 -1.28345260e+00] [-8.03200802e-04 9.99986339e-01 5.16497241e-03 4.23927059e-03] [ 3.27715856e-02 -5.13587798e-03 9.99449672e-01 -3.26499537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84313336499999 meters Centerline goodness : 0.140412 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.33 [[ 9.99461688e-01 1.13323602e-03 -3.27879610e-02 -1.28319987e+00] [-9.54181034e-04 9.99984551e-01 5.47612981e-03 2.81648820e-03] [ 3.27936601e-02 -5.44189629e-03 9.99447328e-01 -3.26803997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87313336499999 meters Centerline goodness : 0.131552 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.33 [[ 9.99457771e-01 1.38813994e-03 -3.28973706e-02 -1.28280396e+00] [-1.18694734e-03 9.99980479e-01 6.13450541e-03 -7.16216937e-04] [ 3.29052439e-02 -6.09213165e-03 9.99439909e-01 -3.26970735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90313336499999 meters Centerline goodness : 0.140162 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.33 [[ 0.99945542 0.00153071 -0.03296239 -1.28279035] [-0.00131363 0.99997732 0.00660614 -0.00341155] [ 0.03297176 -0.00655925 0.99943476 -0.32676011] [ 0. 0. 0. 1. ]] SLAMing on 114.93313336499999 meters Centerline goodness : 0.134630 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.33 [[ 0.99945348 0.00172048 -0.03301179 -1.28284215] [-0.00148286 0.99997283 0.00722138 -0.00661813] [ 0.03302332 -0.00716849 0.99942887 -0.32644924] [ 0. 0. 0. 1. ]] SLAMing on 114.96313336499999 meters Centerline goodness : 0.140813 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.33 [[ 0.99945159 0.00189838 -0.03305917 -1.28293082] [-0.00163995 0.9999679 0.00784252 -0.00988856] [ 0.03307299 -0.007784 0.99942263 -0.3261053 ] [ 0. 0. 0. 1. ]] SLAMing on 114.99313336499999 meters Centerline goodness : 0.133274 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99480025e-01 -1.18009829e-04 -3.22438427e-02 -1.28603786e+00] [ 3.21700798e-04 9.99980027e-01 6.31209040e-03 -1.40878435e-02] [ 3.22424538e-02 -6.31918114e-03 9.99460100e-01 -3.24925489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02313336499999 meters Centerline goodness : 0.133375 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99473527e-01 3.57541748e-05 -3.24448320e-02 -1.28555754e+00] [ 1.88266630e-04 9.99976166e-01 6.90158716e-03 -1.73784774e-02] [ 3.24443054e-02 -6.90406194e-03 9.99449699e-01 -3.24831136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.053133365 meters Centerline goodness : 0.141088 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.02, Z:-0.33 [[ 9.99465943e-01 2.10762511e-04 -3.26769698e-02 -1.28479402e+00] [ 3.38856279e-05 9.99971978e-01 7.48613283e-03 -2.07236987e-02] [ 3.26776319e-02 -7.48324209e-03 9.99437929e-01 -3.25068251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.083133365 meters Centerline goodness : 0.141894 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.02, Z:-0.32 [[ 9.99463268e-01 3.65629246e-04 -3.27573279e-02 -1.28465533e+00] [-1.04513198e-04 9.99968213e-01 7.97258316e-03 -2.34113370e-02] [ 3.27592017e-02 -7.96488045e-03 9.99431536e-01 -3.24920050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.113133365 meters Centerline goodness : 0.143423 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99461623e-01 6.95226799e-04 -3.28021480e-02 -1.28500324e+00] [-4.09735096e-04 9.99961989e-01 8.70936469e-03 -2.68234082e-02] [ 3.28069561e-02 -8.69123558e-03 9.99423917e-01 -3.24153381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.143133365 meters Centerline goodness : 0.127888 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99461248e-01 8.77270094e-04 -3.28092154e-02 -1.28496635e+00] [-5.82069547e-04 9.99959276e-01 9.00595789e-03 -2.78658681e-02] [ 3.28157799e-02 -8.98200867e-03 9.99421056e-01 -3.24175502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.173133365 meters Centerline goodness : 0.122188 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99458522e-01 1.01218298e-03 -3.28882549e-02 -1.28466376e+00] [-7.08896371e-04 9.99957132e-01 9.23208214e-03 -2.88274684e-02] [ 3.28961896e-02 -9.20376881e-03 9.99416395e-01 -3.24326152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20313336499999 meters Centerline goodness : 0.125875 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99456295e-01 1.06817334e-03 -3.29541057e-02 -1.28436155e+00] [-7.59168682e-04 9.99955644e-01 9.38790578e-03 -2.98434522e-02] [ 3.29626719e-02 -9.35778381e-03 9.99412775e-01 -3.24533908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23313336499999 meters Centerline goodness : 0.178133 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99452201e-01 1.10041642e-03 -3.30769763e-02 -1.28403124e+00] [-7.84806148e-04 9.99954060e-01 9.55315966e-03 -3.11462524e-02] [ 3.30859692e-02 -9.52196744e-03 9.99407150e-01 -3.24549643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26313336499999 meters Centerline goodness : 0.123211 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99449759e-01 1.20266717e-03 -3.31471404e-02 -1.28382554e+00] [-8.77813781e-04 9.99951465e-01 9.81315507e-03 -3.25750428e-02] [ 3.31573335e-02 -9.77865845e-03 9.99402306e-01 -3.24588969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 115.32313336499999 meters Centerline goodness : 0.134281 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 9.99459742e-01 1.52523717e-03 -3.28313509e-02 -1.28492486e+00] [-1.18501056e-03 9.99945426e-01 1.03798220e-02 -3.46409045e-02] [ 3.28453908e-02 -1.03353088e-02 9.99407005e-01 -3.24053905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35313336499999 meters Centerline goodness : 0.134715 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948559 0.00175065 -0.03202313 -1.28765784] [-0.0014062 0.99994095 0.0107756 -0.03642947] [ 0.0320401 -0.01072503 0.99942904 -0.32284086] [ 0. 0. 0. 1. ]] SLAMing on 115.38313336499999 meters Centerline goodness : 0.146251 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948888 0.00180465 -0.03191741 -1.28811342] [-0.0014584 0.99993987 0.01086832 -0.03691471] [ 0.03193511 -0.01081622 0.99943142 -0.32250742] [ 0. 0. 0. 1. ]] SLAMing on 115.413133365 meters Centerline goodness : 0.056121 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948794 0.00185894 -0.03194374 -1.28790124] [-0.00151145 0.99993946 0.01089897 -0.03691491] [ 0.03196207 -0.01084511 0.99943024 -0.32276059] [ 0. 0. 0. 1. ]] SLAMing on 115.443133365 meters Centerline goodness : 0.056121 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948794 0.00185894 -0.03194374 -1.28790124] [-0.00151145 0.99993946 0.01089897 -0.03691491] [ 0.03196207 -0.01084511 0.99943024 -0.32276059] [ 0. 0. 0. 1. ]] SLAMing on 115.473133365 meters Centerline goodness : 0.133727 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948368 0.00188594 -0.03207516 -1.28724726] [-0.00153943 0.99994023 0.01082442 -0.03639787] [ 0.03209366 -0.01076946 0.99942684 -0.32329159] [ 0. 0. 0. 1. ]] SLAMing on 115.503133365 meters Centerline goodness : 0.134580 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 0.99948306 0.00187898 -0.03209503 -1.28700492] [-0.00153623 0.99994157 0.01070044 -0.03571086] [ 0.03211326 -0.01064561 0.99942754 -0.32363713] [ 0. 0. 0. 1. ]] SLAMing on 115.533133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 115.563133365 meters Centerline goodness : 0.119830 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 0.99948755 0.00192894 -0.03195185 -1.28722922] [-0.00159258 0.99994309 0.01054924 -0.03464776] [ 0.03197038 -0.01049295 0.99943374 -0.3239005 ] [ 0. 0. 0. 1. ]] SLAMing on 115.59313336499999 meters Centerline goodness : 0.131319 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 0.99949065 0.0019085 -0.03185599 -1.28747048] [-0.00157611 0.99994409 0.01045588 -0.03403118] [ 0.03187417 -0.01040035 0.99943778 -0.32393407] [ 0. 0. 0. 1. ]] SLAMing on 115.62313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 115.65313336499999 meters Centerline goodness : 0.130811 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 0.99947729 0.00184236 -0.0322762 -1.28601463] [-0.00150523 0.99994409 0.01046634 -0.03446906] [ 0.03229367 -0.01041228 0.99942419 -0.32457962] [ 0. 0. 0. 1. ]] SLAMing on 115.68313336499999 meters Centerline goodness : 0.134138 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99483352e-01 -1.21463778e-03 -3.21178140e-02 -1.28619019e+00] [ 1.45465643e-03 9.99971185e-01 7.45075943e-03 -3.48080553e-02] [ 3.21078385e-02 -7.49363040e-03 9.99456318e-01 -3.24918201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71313336499999 meters Centerline goodness : 0.132495 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 9.99481433e-01 -1.21877976e-03 -3.21773250e-02 -1.28615330e+00] [ 1.46438835e-03 9.99969967e-01 7.61050875e-03 -3.58816813e-02] [ 3.21670831e-02 -7.65368229e-03 9.99453200e-01 -3.24733544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74313336499999 meters Centerline goodness : 0.136172 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.32 [[ 9.99481782e-01 -1.12756381e-03 -3.21698090e-02 -1.28625862e+00] [ 1.38348007e-03 9.99967568e-01 7.93401937e-03 -3.74522934e-02] [ 3.21598195e-02 -7.97441410e-03 9.99450927e-01 -3.24559053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77313336499999 meters Centerline goodness : 0.135219 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.32 [[ 0.99939805 -0.0028026 -0.03457866 -1.3319314 ] [ 0.00308827 0.99996152 0.00821071 -0.04243778] [ 0.03455432 -0.00831256 0.99936825 -0.32443238] [ 0. 0. 0. 1. ]] SLAMing on 115.803133365 meters Centerline goodness : 0.054449 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.32 [[ 0.9993878 -0.00321191 -0.03483841 -1.33138091] [ 0.00350792 0.99995824 0.0084388 -0.04595502] [ 0.03480985 -0.00855585 0.99935733 -0.32411856] [ 0. 0. 0. 1. ]] SLAMing on 115.833133365 meters Centerline goodness : 0.140162 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.32 [[ 0.99938807 -0.00313121 -0.03483795 -1.33162643] [ 0.00344093 0.99995506 0.00883373 -0.0482885 ] [ 0.03480872 -0.0089482 0.99935393 -0.32366447] [ 0. 0. 0. 1. ]] SLAMing on 115.863133365 meters Centerline goodness : 0.159589 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.32 [[ 0.99939097 -0.00303421 -0.03476335 -1.33205116] [ 0.00335489 0.99995233 0.00917007 -0.05013797] [ 0.03473387 -0.00928111 0.9993535 -0.32319457] [ 0. 0. 0. 1. ]] SLAMing on 115.893133365 meters Centerline goodness : 0.134466 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99939643 0.0054018 -0.03431607 -1.31325936] [-0.00512832 0.99995443 0.00805238 -0.05539712] [ 0.03435801 -0.00787153 0.99937859 -0.3213418 ] [ 0. 0. 0. 1. ]] SLAMing on 115.923133365 meters Centerline goodness : 0.138498 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99938877 0.00559078 -0.03450843 -1.31231708] [-0.00530503 0.99995093 0.00836644 -0.0565851 ] [ 0.03455352 -0.00817825 0.99936939 -0.32195305] [ 0. 0. 0. 1. ]] SLAMing on 115.95313336499999 meters Centerline goodness : 0.137007 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99937262 0.00576765 -0.03494429 -1.31073553] [-0.00546859 0.99994765 0.00864787 -0.05783564] [ 0.03499234 -0.00845135 0.99935185 -0.32258706] [ 0. 0. 0. 1. ]] SLAMing on 115.98313336499999 meters Centerline goodness : 0.161975 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99935864 0.00589275 -0.03532125 -1.30942835] [-0.00558147 0.99994477 0.00890511 -0.05933768] [ 0.03537177 -0.00870225 0.99933633 -0.32301462] [ 0. 0. 0. 1. ]] SLAMing on 116.01313336499999 meters Centerline goodness : 0.136084 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.9993506 0.00599917 -0.03553017 -1.30892273] [-0.00567673 0.99994185 0.00916905 -0.06088197] [ 0.03558311 -0.0089614 0.99932654 -0.32286508] [ 0. 0. 0. 1. ]] SLAMing on 116.04313336499999 meters Centerline goodness : 0.162044 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.32 [[ 0.99933669 0.00632584 -0.03586302 -1.30805913] [-0.00597623 0.99993365 0.00984735 -0.06422793] [ 0.03592294 -0.0096265 0.9993082 -0.32274522] [ 0. 0. 0. 1. ]] SLAMing on 116.07313336499999 meters Centerline goodness : 0.128155 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99932313 0.00653961 -0.03620113 -1.3069656 ] [-0.00617444 0.99992902 0.01019005 -0.06565885] [ 0.0362652 -0.00995963 0.99929257 -0.32303962] [ 0. 0. 0. 1. ]] SLAMing on 116.10313336499999 meters Centerline goodness : 0.125627 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99931064 0.00669267 -0.03651658 -1.30598735] [-0.00631552 0.99992562 0.01043376 -0.06682955] [ 0.0365837 -0.01019595 0.99927858 -0.32322476] [ 0. 0. 0. 1. ]] SLAMing on 116.13313336499999 meters Centerline goodness : 0.098972 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99930074 0.0067912 -0.03676842 -1.30542699] [-0.00640569 0.99992338 0.01059244 -0.06773377] [ 0.03683754 -0.01034951 0.99926767 -0.32302563] [ 0. 0. 0. 1. ]] SLAMing on 116.163133365 meters Centerline goodness : 0.126247 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99929568 0.00691222 -0.03688322 -1.30538342] [-0.00651984 0.99992098 0.01074822 -0.06841284] [ 0.0369546 -0.01050018 0.99926178 -0.32254979] [ 0. 0. 0. 1. ]] SLAMing on 116.193133365 meters Centerline goodness : 0.144768 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.07, Z:-0.32 [[ 0.99929741 0.00702562 -0.03681463 -1.30580813] [-0.00663011 0.99991911 0.01085442 -0.0687181 ] [ 0.03688791 -0.01060271 0.99926316 -0.32205741] [ 0. 0. 0. 1. ]] SLAMing on 116.223133365 meters Centerline goodness : 0.120250 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99924423 0.01699301 -0.03496018 -1.2862396 ] [-0.0166246 0.99980345 0.01080177 -0.0729261 ] [ 0.03513686 -0.01021241 0.99933033 -0.32054088] [ 0. 0. 0. 1. ]] SLAMing on 116.253133365 meters Centerline goodness : 0.164790 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99924606 0.01688796 -0.0349586 -1.2863999 ] [-0.01652674 0.99980728 0.01059617 -0.07252023] [ 0.03513081 -0.01001043 0.99933259 -0.3201725 ] [ 0. 0. 0. 1. ]] SLAMing on 116.283133365 meters Centerline goodness : 0.141004 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99929564 0.01429356 -0.03469758 -1.28680772] [-0.01402568 0.99987002 0.00795148 -0.07383594] [ 0.03480673 -0.00745923 0.99936623 -0.320457 ] [ 0. 0. 0. 1. ]] SLAMing on 116.313133365 meters Centerline goodness : 0.139585 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.9992944 0.01425422 -0.0347495 -1.28684921] [-0.01398867 0.99987116 0.00787291 -0.07382119] [ 0.03485724 -0.00738125 0.99936504 -0.32015597] [ 0. 0. 0. 1. ]] SLAMing on 116.34313336499999 meters Centerline goodness : 0.119386 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.07, Z:-0.32 [[ 0.99929187 0.01430326 -0.03480189 -1.2868329 ] [-0.0140345 0.99986987 0.00795443 -0.07429183] [ 0.03491113 -0.00746037 0.99936257 -0.31997999] [ 0. 0. 0. 1. ]] SLAMing on 116.37313336499999 meters Centerline goodness : 0.055964 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99937545 0.0059262 -0.0348365 -1.30439057] [-0.0056173 0.9999441 0.00895825 -0.06885897] [ 0.03488764 -0.00875697 0.99935287 -0.32176903] [ 0. 0. 0. 1. ]] SLAMing on 116.40313336499999 meters Centerline goodness : 0.119882 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934544 0.00569604 -0.03572457 -1.30164966] [-0.00537754 0.99994499 0.00900531 -0.07022382] [ 0.0357739 -0.0088073 0.9993211 -0.3226275 ] [ 0. 0. 0. 1. ]] SLAMing on 116.43313336499999 meters Centerline goodness : 0.119882 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934544 0.00569604 -0.03572457 -1.30164966] [-0.00537754 0.99994499 0.00900531 -0.07022382] [ 0.0357739 -0.0088073 0.9993211 -0.3226275 ] [ 0. 0. 0. 1. ]] SLAMing on 116.46313336499999 meters Centerline goodness : 0.123400 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99935829 0.00258611 -0.03572556 -1.30089712] [-0.00236524 0.99997784 0.00622355 -0.0723949 ] [ 0.03574086 -0.00613506 0.99934226 -0.32369713] [ 0. 0. 0. 1. ]] SLAMing on 116.49313336499999 meters Centerline goodness : 0.089187 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.9993576 0.00257422 -0.03574566 -1.3010767 ] [-0.00233696 0.99997497 0.00667763 -0.07518734] [ 0.03576195 -0.0065898 0.99933861 -0.32322979] [ 0. 0. 0. 1. ]] SLAMing on 116.52313336499999 meters Centerline goodness : 0.143715 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.99935802 0.00260069 -0.03573212 -1.30120561] [-0.00235788 0.99997386 0.00683587 -0.07605052] [ 0.03574897 -0.00674723 0.99933802 -0.32303066] [ 0. 0. 0. 1. ]] SLAMing on 116.553133365 meters Centerline goodness : 0.146564 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.99936147 0.00260367 -0.03563524 -1.30146936] [-0.00236058 0.99997367 0.00686212 -0.07621773] [ 0.03565217 -0.00677362 0.9993413 -0.32298538] [ 0. 0. 0. 1. ]] SLAMing on 116.583133365 meters Centerline goodness : 0.137807 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.08, Z:-0.32 [[ 0.99936373 0.00255302 -0.03557549 -1.30163273] [-0.00231419 0.99997452 0.00675302 -0.07577292] [ 0.03559183 -0.00666639 0.99934418 -0.32293549] [ 0. 0. 0. 1. ]] SLAMing on 116.613133365 meters Centerline goodness : 0.124500 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936376 0.0024134 -0.03558435 -1.30171963] [-0.00218581 0.99997692 0.00643343 -0.07456274] [ 0.03559905 -0.00635156 0.99934597 -0.32272475] [ 0. 0. 0. 1. ]] SLAMing on 116.643133365 meters Centerline goodness : 0.121926 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936534 0.00232751 -0.03554575 -1.30187605] [-0.00210827 0.99997853 0.00620402 -0.07359009] [ 0.03555943 -0.00612514 0.99934879 -0.32260423] [ 0. 0. 0. 1. ]] SLAMing on 116.673133365 meters Centerline goodness : 0.123518 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936629 0.00220851 -0.03552666 -1.30188756] [-0.00200373 0.99998118 0.00579869 -0.07130949] [ 0.0355388 -0.00572383 0.99935191 -0.32272291] [ 0. 0. 0. 1. ]] SLAMing on 116.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 116.73313336499999 meters Centerline goodness : 0.120615 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99936343 0.0020038 -0.03561902 -1.30158359] [-0.00180986 0.99998337 0.00547627 -0.07012186] [ 0.0356294 -0.00540831 0.99935044 -0.32285771] [ 0. 0. 0. 1. ]] SLAMing on 116.76313336499999 meters Centerline goodness : 0.167536 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99935557 0.00193076 -0.03584298 -1.30116202] [-0.00173485 0.99998339 0.0054961 -0.07063225] [ 0.03585299 -0.00543038 0.99934232 -0.32266569] [ 0. 0. 0. 1. ]] SLAMing on 116.79313336499999 meters Centerline goodness : 0.141664 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934961 0.00191594 -0.03600959 -1.30110315] [-0.00171537 0.99998285 0.00560002 -0.07130281] [ 0.0360197 -0.00553461 0.99933575 -0.32215374] [ 0. 0. 0. 1. ]] SLAMing on 116.82313336499999 meters Centerline goodness : 0.119849 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 0.99932173 -0.00532729 -0.03643767 -1.28086394] [ 0.00558269 0.99996053 0.00691117 -0.06729799] [ 0.03639941 -0.0071099 0.99931203 -0.3200714 ] [ 0. 0. 0. 1. ]] SLAMing on 116.85313336499999 meters Centerline goodness : 0.142262 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934625 0.0037837 -0.035955 -1.29880848] [-0.00355089 0.99997233 0.00653664 -0.07380741] [ 0.03597874 -0.00640469 0.99933203 -0.32173003] [ 0. 0. 0. 1. ]] SLAMing on 116.88313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 116.913133365 meters Centerline goodness : 0.137229 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99934211 0.00361597 -0.03608711 -1.29836427] [-0.00340314 0.99997647 0.00595712 -0.07155658] [ 0.0361078 -0.00583039 0.99933089 -0.3216757 ] [ 0. 0. 0. 1. ]] SLAMing on 116.943133365 meters Centerline goodness : 0.119448 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99932922 0.00362557 -0.03644112 -1.29738089] [-0.00342426 0.99997854 0.00558491 -0.06973449] [ 0.03646059 -0.00545637 0.9993202 -0.32168575] [ 0. 0. 0. 1. ]] SLAMing on 116.973133365 meters Centerline goodness : 0.141554 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99932349 0.00363563 -0.03659701 -1.29692451] [-0.0034459 0.9999803 0.00524595 -0.06800683] [ 0.03661536 -0.00511629 0.99931634 -0.32165572] [ 0. 0. 0. 1. ]] SLAMing on 117.003133365 meters Centerline goodness : 0.143459 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-0.32 [[ 0.99931914 0.00360758 -0.03671832 -1.29676934] [-0.00343066 0.99998221 0.00488035 -0.06626891] [ 0.03673527 -0.00475106 0.99931374 -0.32135066] [ 0. 0. 0. 1. ]] SLAMing on 117.033133365 meters Centerline goodness : 0.079748 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 0.99929409 0.01245803 -0.03544185 -1.27693109] [-0.01233893 0.99991747 0.00357719 -0.06692336] [ 0.03548349 -0.00313735 0.99936534 -0.32007074] [ 0. 0. 0. 1. ]] SLAMing on 117.063133365 meters Centerline goodness : 0.137966 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 0.99931934 0.01276808 -0.03460975 -1.27893917] [-0.01265093 0.99991349 0.00360195 -0.06523655] [ 0.03465274 -0.00316165 0.99939441 -0.3200331 ] [ 0. 0. 0. 1. ]] SLAMing on 117.09313336499999 meters Centerline goodness : 0.062870 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99936406 0.00583165 -0.03517766 -1.26179502] [-0.00566129 0.99997177 0.00494049 -0.05683298] [ 0.03520547 -0.0047382 0.99936886 -0.31804814] [ 0. 0. 0. 1. ]] SLAMing on 117.12313336499999 meters Centerline goodness : 0.138380 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99936907 0.00582358 -0.03503626 -1.26217886] [-0.00565724 0.99997226 0.00484494 -0.0561541 ] [ 0.0350635 -0.00464368 0.9993743 -0.31802721] [ 0. 0. 0. 1. ]] SLAMing on 117.15313336499999 meters Centerline goodness : 0.089382 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99937155 0.00578535 -0.03497192 -1.26243024] [-0.00562253 0.9999729 0.00475228 -0.05566945] [ 0.03499847 -0.00455266 0.999377 -0.31789836] [ 0. 0. 0. 1. ]] SLAMing on 117.18313336499999 meters Centerline goodness : 0.055468 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 0.99937329 0.00574453 -0.03492893 -1.26271154] [-0.00558372 0.99997337 0.00469994 -0.05551231] [ 0.034955 -0.00450196 0.99937875 -0.31762538] [ 0. 0. 0. 1. ]] SLAMing on 117.21313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 117.24313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 117.27313336499999 meters Centerline goodness : 0.138318 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99395964e-01 1.48949256e-03 -3.47201359e-02 -1.26330617e+00] [-1.45336042e-03 9.99998376e-01 1.06588275e-03 -5.80831903e-02] [ 3.47216672e-02 -1.01477804e-03 9.99396506e-01 -3.17511224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.303133365 meters Centerline goodness : 0.136542 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99383071e-01 1.48894889e-03 -3.50893244e-02 -1.26210929e+00] [-1.44769868e-03 9.99998231e-01 1.20095520e-03 -5.88179273e-02] [ 3.50910505e-02 -1.14941552e-03 9.99383458e-01 -3.17976359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.333133365 meters Centerline goodness : 0.136542 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99383071e-01 1.48894889e-03 -3.50893244e-02 -1.26210929e+00] [-1.44769868e-03 9.99998231e-01 1.20095520e-03 -5.88179273e-02] [ 3.50910505e-02 -1.14941552e-03 9.99383458e-01 -3.17976359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.363133365 meters Centerline goodness : 0.133316 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99366573e-01 1.43286048e-03 -3.55583867e-02 -1.26057822e+00] [-1.39021973e-03 9.99998285e-01 1.22387133e-03 -5.91524437e-02] [ 3.55600794e-02 -1.17366212e-03 9.99366851e-01 -3.18543042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.393133365 meters Centerline goodness : 0.136670 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99352435e-01 1.34786640e-03 -3.59568235e-02 -1.25929418e+00] [-1.30769460e-03 9.99998494e-01 1.14071783e-03 -5.91109557e-02] [ 3.59583069e-02 -1.09295859e-03 9.99352693e-01 -3.19002631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.423133365 meters Centerline goodness : 0.141781 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99346772e-01 1.25641114e-03 -3.61171884e-02 -1.25899596e+00] [-1.21787539e-03 9.99998665e-01 1.08894491e-03 -5.93483838e-02] [ 3.61185084e-02 -1.04424735e-03 9.99346968e-01 -3.18819274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45313336499999 meters Centerline goodness : 0.133871 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 9.99363004e-01 9.27944976e-03 -3.44598053e-02 -1.27997462e+00] [-9.26157512e-03 9.99956881e-01 6.78300253e-04 -6.77156551e-02] [ 3.44646137e-02 -3.58716103e-04 9.99405854e-01 -3.19927815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48313336499999 meters Centerline goodness : 0.133871 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-0.32 [[ 9.99363004e-01 9.27944976e-03 -3.44598053e-02 -1.27997462e+00] [-9.26157512e-03 9.99956881e-01 6.78300253e-04 -6.77156551e-02] [ 3.44646137e-02 -3.58716103e-04 9.99405854e-01 -3.19927815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 117.54313336499999 meters Centerline goodness : 0.137082 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99479042e-01 1.00513806e-03 -3.22588649e-02 -1.26307956e+00] [-9.54468719e-04 9.99998287e-01 1.58607123e-03 -6.32223521e-02] [ 3.22604038e-02 -1.55445488e-03 9.99478289e-01 -3.18431210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57313336499999 meters Centerline goodness : 0.141810 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99478455e-01 1.03240368e-03 -3.22761914e-02 -1.26315934e+00] [-9.78826293e-04 9.99998117e-01 1.67572273e-03 -6.38346779e-02] [ 3.22778606e-02 -1.64325598e-03 9.99477583e-01 -3.18219688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60313336499999 meters Centerline goodness : 0.089960 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.06, Z:-0.32 [[ 9.99479981e-01 1.13838593e-03 -3.22253404e-02 -1.26333234e+00] [-1.07869989e-03 9.99997671e-01 1.86947060e-03 -6.45797563e-02] [ 3.22273935e-02 -1.83373697e-03 9.99478880e-01 -3.18143475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63313336499999 meters Centerline goodness : 0.147130 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-0.32 [[ 9.99483898e-01 1.27774729e-03 -3.20983713e-02 -1.26364543e+00] [-1.21162332e-03 9.99997104e-01 2.07940744e-03 -6.52358472e-02] [ 3.21009353e-02 -2.03944311e-03 9.99482551e-01 -3.18152240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.663133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 117.693133365 meters Centerline goodness : 0.130343 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-0.32 [[ 9.99490260e-01 1.33099373e-03 -3.18974710e-02 -1.26437148e+00] [-1.26109631e-03 9.99996760e-01 2.21133347e-03 -6.62911325e-02] [ 3.19003109e-02 -2.16998048e-03 9.99488700e-01 -3.17494392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 117.753133365 meters Centerline goodness : 0.126262 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-0.32 [[ 0.99951019 0.00170043 -0.03124892 -1.26609728] [-0.00162373 0.99999561 0.00247971 -0.06652175] [ 0.031253 -0.00242775 0.99950856 -0.31730885] [ 0. 0. 0. 1. ]] SLAMing on 117.783133365 meters Centerline goodness : 0.181497 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-0.32 [[ 0.99951859 0.00175884 -0.03097577 -1.26660384] [-0.00168675 0.99999581 0.00235333 -0.06541774] [ 0.03097977 -0.00229995 0.99951737 -0.31759208] [ 0. 0. 0. 1. ]] SLAMing on 117.813133365 meters Centerline goodness : 0.133888 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 0.99952497 0.00173841 -0.03077022 -1.26687244] [-0.00167603 0.99999649 0.00205298 -0.06363135] [ 0.03077368 -0.00200043 0.99952438 -0.31797399] [ 0. 0. 0. 1. ]] SLAMing on 117.84313336499999 meters Centerline goodness : 0.087926 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 0.99952926 0.00158842 -0.03063886 -1.2669282 ] [-0.00154244 0.99999765 0.00152424 -0.06102919] [ 0.03064121 -0.00147626 0.99952936 -0.31843419] [ 0. 0. 0. 1. ]] SLAMing on 117.87313336499999 meters Centerline goodness : 0.088755 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 9.99526835e-01 1.49024469e-03 -3.07227215e-02 -1.26641288e+00] [-1.45997538e-03 9.99998427e-01 1.00765076e-03 -5.82065107e-02] [ 3.07241749e-02 -9.62319562e-04 9.99527438e-01 -3.19040115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90313336499999 meters Centerline goodness : 0.129907 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.06, Z:-0.32 [[ 9.99522090e-01 1.49313993e-03 -3.08765737e-02 -1.26567163e+00] [-1.47638152e-03 9.99998750e-01 5.65545862e-04 -5.52154501e-02] [ 3.08773795e-02 -5.19689979e-04 9.99523045e-01 -3.19800817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93313336499999 meters Centerline goodness : 0.120640 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 9.99519534e-01 1.45443522e-03 -3.09610371e-02 -1.26532509e+00] [-1.45921435e-03 9.99998927e-01 -1.31765205e-04 -4.98819657e-02] [ 3.09608122e-02 1.76880686e-04 9.99520583e-01 -3.20227887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96313336499999 meters Centerline goodness : 0.089112 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.05, Z:-0.32 [[ 9.99438075e-01 -4.47736894e-04 -3.35161747e-02 -1.31101050e+00] [ 4.34564561e-04 9.99999825e-01 -4.00297711e-04 -5.16943093e-02] [ 3.35163481e-02 3.85507832e-04 9.99438095e-01 -3.19920855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99313336499999 meters Centerline goodness : 0.145606 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 9.99497776e-01 -5.03446760e-04 -3.16850424e-02 -1.26737340e+00] [ 4.33090783e-04 9.99997426e-01 -2.22730299e-03 -4.59805357e-02] [ 3.16860822e-02 2.21246189e-03 9.99495421e-01 -3.18975804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02313336499999 meters Centerline goodness : 0.088882 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.32 [[ 0.99948199 0.00468902 -0.03183964 -1.2902377 ] [-0.00485548 0.99997494 -0.00515265 -0.04868703] [ 0.03181468 0.00530458 0.99947971 -0.31948048] [ 0. 0. 0. 1. ]] SLAMing on 118.053133365 meters Centerline goodness : 0.129241 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.32 [[ 0.99948289 0.00461957 -0.03182145 -1.29034365] [-0.00478816 0.99997489 -0.00522369 -0.04832044] [ 0.03179652 0.00537335 0.99947992 -0.31944546] [ 0. 0. 0. 1. ]] SLAMing on 118.083133365 meters Centerline goodness : 0.126123 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99950133 -0.00288994 -0.0314442 -1.27055859] [ 0.00275929 0.99998738 -0.00419753 -0.04311169] [ 0.03145593 0.00410868 0.99949669 -0.3178079 ] [ 0. 0. 0. 1. ]] SLAMing on 118.113133365 meters Centerline goodness : 0.151982 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99949328 -0.00341479 -0.03164669 -1.269932 ] [ 0.00328079 0.99998544 -0.00428537 -0.04442812] [ 0.03166087 0.00417937 0.99948993 -0.31785961] [ 0. 0. 0. 1. ]] SLAMing on 118.143133365 meters Centerline goodness : 0.153118 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99948153 -0.00347329 -0.03200933 -1.26894282] [ 0.00334549 0.99998622 -0.00404504 -0.04615023] [ 0.03202294 0.00393586 0.99947938 -0.31804166] [ 0. 0. 0. 1. ]] SLAMing on 118.173133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 118.20313336499999 meters Centerline goodness : 0.146625 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99944569 -0.00369091 -0.03308617 -1.26606613] [ 0.00357212 0.99998696 -0.00364894 -0.04949647] [ 0.03309921 0.00352873 0.99944584 -0.31845256] [ 0. 0. 0. 1. ]] SLAMing on 118.23313336499999 meters Centerline goodness : 0.131777 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99944278 -0.00358093 -0.03318599 -1.26589278] [ 0.00347224 0.99998842 -0.00333226 -0.05105859] [ 0.03319754 0.00321517 0.99944364 -0.31831156] [ 0. 0. 0. 1. ]] SLAMing on 118.26313336499999 meters Centerline goodness : 0.158797 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99944884 -0.00349917 -0.03301184 -1.26651339] [ 0.0033975 0.99998931 -0.00313553 -0.05207508] [ 0.03302246 0.00302164 0.99945004 -0.31795972] [ 0. 0. 0. 1. ]] SLAMing on 118.29313336499999 meters Centerline goodness : 0.146409 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99945821 -0.00345139 -0.03273197 -1.26745024] [ 0.0033516 0.99998957 -0.00310326 -0.05221148] [ 0.03274234 0.00299187 0.99945935 -0.3175046 ] [ 0. 0. 0. 1. ]] SLAMing on 118.32313336499999 meters Centerline goodness : 0.153634 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99949927 -0.0018919 -0.03158533 -1.27162708] [ 0.00183107 0.99999641 -0.00195458 -0.05108148] [ 0.03158891 0.00189576 0.99949915 -0.316049 ] [ 0. 0. 0. 1. ]] SLAMing on 118.35313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 118.38313336499999 meters Centerline goodness : 0.121254 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 9.99506664e-01 2.06151952e-03 -3.13397301e-02 -1.27193004e+00] [-2.03405069e-03 9.99997519e-01 9.08341748e-04 -4.54756352e-02] [ 3.13415249e-02 -8.44147030e-04 9.99508377e-01 -3.16591619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.413133365 meters Centerline goodness : 0.144019 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 9.99508800e-01 2.22126931e-03 -3.12605872e-02 -1.27181244e+00] [-2.21001758e-03 9.99997480e-01 3.94480740e-04 -4.20382911e-02] [ 3.12613846e-02 -3.25200524e-04 9.99511191e-01 -3.17286491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.443133365 meters Centerline goodness : 0.124231 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 9.99506119e-01 2.25229902e-03 -3.13439874e-02 -1.27126408e+00] [-2.26056089e-03 9.99997419e-01 -2.28153481e-04 -3.83864660e-02] [ 3.13433927e-02 2.98895793e-04 9.99508630e-01 -3.18029552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.473133365 meters Centerline goodness : 0.137987 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99508586e-01 2.31116289e-03 -3.12609267e-02 -1.27129128e+00] [-2.33662397e-03 9.99996967e-01 -7.77962799e-04 -3.48834070e-02] [ 3.12590339e-02 8.50625527e-04 9.99510955e-01 -3.18530059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.503133365 meters Centerline goodness : 0.157749 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.9995071 0.00230962 -0.03130866 -1.27105646] [-0.00235262 0.99999634 -0.00133667 -0.03130352] [ 0.03130546 0.00140967 0.99950887 -0.31892832] [ 0. 0. 0. 1. ]] SLAMing on 118.533133365 meters Centerline goodness : 0.124456 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99951292 0.00221059 -0.03112944 -1.27149058] [-0.00226791 0.9999958 -0.00180627 -0.02858209] [ 0.03112531 0.00187599 0.99951373 -0.31908024] [ 0. 0. 0. 1. ]] SLAMing on 118.563133365 meters Centerline goodness : 0.117024 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99952217 0.00197364 -0.03084714 -1.27253039] [-0.00204855 0.99999503 -0.00239718 -0.02549663] [ 0.03084226 0.00245922 0.99952124 -0.31869738] [ 0. 0. 0. 1. ]] SLAMing on 118.59313336499999 meters Centerline goodness : 0.125027 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.9995208 0.00184469 -0.03089934 -1.27246617] [-0.00192404 0.99999493 -0.00253859 -0.02502506] [ 0.0308945 0.00259682 0.99951928 -0.31862965] [ 0. 0. 0. 1. ]] SLAMing on 118.62313336499999 meters Centerline goodness : 0.115048 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99951638 0.00174683 -0.0310477 -1.27213468] [-0.00182697 0.99999507 -0.00255302 -0.02509502] [ 0.03104309 0.00260851 0.99951464 -0.31858067] [ 0. 0. 0. 1. ]] SLAMing on 118.65313336499999 meters Centerline goodness : 0.082026 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 0.99951477 0.00166024 -0.031104 -1.27209327] [-0.00173911 0.99999534 -0.00250874 -0.02543859] [ 0.03109969 0.00256162 0.99951301 -0.3184392 ] [ 0. 0. 0. 1. ]] SLAMing on 118.68313336499999 meters Centerline goodness : 0.135165 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.02, Z:-0.32 [[ 0.99951468 -0.00606614 -0.03055484 -1.25184505] [ 0.00601814 0.99998051 -0.00166293 -0.02053141] [ 0.03056433 0.00147824 0.99953171 -0.31700641] [ 0. 0. 0. 1. ]] SLAMing on 118.71313336499999 meters Centerline goodness : 0.259544 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99567415e-01 -1.07138428e-03 -2.93910687e-02 -1.27466131e+00] [ 9.44469715e-04 9.99990172e-01 -4.33167644e-03 -2.58821710e-02] [ 2.93954208e-02 4.30204365e-03 9.99558603e-01 -3.17911755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74313336499999 meters Centerline goodness : 0.133036 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.03, Z:-0.32 [[ 0.99951476 -0.00413607 -0.03087306 -1.32049855] [ 0.00398594 0.99997994 -0.00492288 -0.03294274] [ 0.0308928 0.00479743 0.99951119 -0.31796092] [ 0. 0. 0. 1. ]] SLAMing on 118.77313336499999 meters Centerline goodness : 0.074653 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99955889 -0.00363596 -0.02947566 -1.2761756 ] [ 0.00348102 0.99997986 -0.00530617 -0.0321878 ] [ 0.02949436 0.00520123 0.99955141 -0.31709372] [ 0. 0. 0. 1. ]] SLAMing on 118.803133365 meters Centerline goodness : 0.074653 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99955889 -0.00363596 -0.02947566 -1.2761756 ] [ 0.00348102 0.99997986 -0.00530617 -0.0321878 ] [ 0.02949436 0.00520123 0.99955141 -0.31709372] [ 0. 0. 0. 1. ]] SLAMing on 118.833133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 118.863133365 meters Centerline goodness : 0.144771 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99954143 -0.00646579 -0.02958262 -1.27374246] [ 0.00625695 0.99995489 -0.00714669 -0.03914283] [ 0.02962749 0.00695832 0.99953679 -0.31943042] [ 0. 0. 0. 1. ]] SLAMing on 118.893133365 meters Centerline goodness : 0.141057 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99954744 -0.00631041 -0.02941261 -1.27428301] [ 0.00611438 0.99995852 -0.00675005 -0.04101381] [ 0.02945399 0.00656715 0.99954456 -0.31918799] [ 0. 0. 0. 1. ]] SLAMing on 118.923133365 meters Centerline goodness : 0.129196 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955119 -0.0062158 -0.02930503 -1.27465192] [ 0.00602606 0.99996034 -0.00655854 -0.04184594] [ 0.02934464 0.006379 0.999549 -0.31899057] [ 0. 0. 0. 1. ]] SLAMing on 118.95313336499999 meters Centerline goodness : 0.115497 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955282 -0.00618854 -0.02925521 -1.27482489] [ 0.00599952 0.99996059 -0.00654462 -0.04184472] [ 0.02929456 0.00636618 0.99955055 -0.31892695] [ 0. 0. 0. 1. ]] SLAMing on 118.98313336499999 meters Centerline goodness : 0.186447 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.9995498 -0.00613727 -0.02936882 -1.274473 ] [ 0.0059464 0.99996066 -0.00658199 -0.04135818] [ 0.02940806 0.00640439 0.99954697 -0.31911444] [ 0. 0. 0. 1. ]] SLAMing on 119.01313336499999 meters Centerline goodness : 0.114124 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99956895 -0.00574455 -0.02879092 -1.27581638] [ 0.00556139 0.99996381 -0.00643783 -0.0405199 ] [ 0.02882686 0.00627494 0.99956472 -0.31925793] [ 0. 0. 0. 1. ]] SLAMing on 119.04313336499999 meters Centerline goodness : 0.117954 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99958305 -0.0056846 -0.02830939 -1.2773026 ] [ 0.00550478 0.9999642 -0.00642581 -0.04033457] [ 0.0283449 0.0062673 0.99957855 -0.318781 ] [ 0. 0. 0. 1. ]] SLAMing on 119.07313336499999 meters Centerline goodness : 0.099860 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99959204 -0.00567184 -0.02799268 -1.27837515] [ 0.00549489 0.99996446 -0.00639432 -0.04059658] [ 0.02802795 0.0062379 0.99958768 -0.31831256] [ 0. 0. 0. 1. ]] SLAMing on 119.10313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 119.13313336499999 meters Centerline goodness : 0.126616 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99957275 -0.00594761 -0.0286173 -1.27661554] [ 0.00576292 0.99996206 -0.00653187 -0.04115644] [ 0.02865506 0.00636416 0.9995691 -0.31873283] [ 0. 0. 0. 1. ]] SLAMing on 119.163133365 meters Centerline goodness : 0.193648 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99955882 -0.00598259 -0.02909258 -1.27502466] [ 0.00579663 0.99996226 -0.00647199 -0.04166859] [ 0.0291302 0.00630049 0.99955577 -0.31943608] [ 0. 0. 0. 1. ]] SLAMing on 119.193133365 meters Centerline goodness : 0.127356 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99954986 -0.00607607 -0.02937962 -1.27411344] [ 0.00589483 0.99996308 -0.00625137 -0.04332136] [ 0.02941652 0.00607537 0.99954878 -0.3197485 ] [ 0. 0. 0. 1. ]] SLAMing on 119.223133365 meters Centerline goodness : 0.119402 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955018 -0.00605965 -0.02937217 -1.27427851] [ 0.0058835 0.99996421 -0.00608007 -0.04447333] [ 0.02940796 0.00590453 0.99955005 -0.31948652] [ 0. 0. 0. 1. ]] SLAMing on 119.253133365 meters Centerline goodness : 0.119402 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 0.99955018 -0.00605965 -0.02937217 -1.27427851] [ 0.0058835 0.99996421 -0.00608007 -0.04447333] [ 0.02940796 0.00590453 0.99955005 -0.31948652] [ 0. 0. 0. 1. ]] SLAMing on 119.283133365 meters Centerline goodness : 0.120751 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99954499 -0.00603575 -0.02955319 -1.27402633] [ 0.0058629 0.99996522 -0.00593193 -0.04550204] [ 0.02958796 0.00575596 0.99954561 -0.31916962] [ 0. 0. 0. 1. ]] SLAMing on 119.313133365 meters Centerline goodness : 0.138378 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953846 -0.00596175 -0.02978794 -1.27360481] [ 0.00579429 0.99996694 -0.00570486 -0.04676754] [ 0.02982096 0.00552962 0.99953996 -0.3189593 ] [ 0. 0. 0. 1. ]] SLAMing on 119.34313336499999 meters Centerline goodness : 0.172819 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953371 -0.00582331 -0.02997416 -1.27319878] [ 0.00566346 0.9999693 -0.00541531 -0.04806877] [ 0.03000478 0.00524302 0.999536 -0.31889257] [ 0. 0. 0. 1. ]] SLAMing on 119.37313336499999 meters Centerline goodness : 0.174500 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953714 -0.00560199 -0.02990174 -1.27344033] [ 0.00545673 0.99997292 -0.00493711 -0.05028987] [ 0.02992859 0.00477166 0.99954065 -0.31873271] [ 0. 0. 0. 1. ]] SLAMing on 119.40313336499999 meters Centerline goodness : 0.174500 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99953714 -0.00560199 -0.02990174 -1.27344033] [ 0.00545673 0.99997292 -0.00493711 -0.05028987] [ 0.02992859 0.00477166 0.99954065 -0.31873271] [ 0. 0. 0. 1. ]] SLAMing on 119.43313336499999 meters Centerline goodness : 0.131467 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99955191 -0.0054398 -0.02943463 -1.27460972] [ 0.0053081 0.99997556 -0.00455064 -0.05244363] [ 0.02945866 0.00439236 0.99955635 -0.31865966] [ 0. 0. 0. 1. ]] SLAMing on 119.46313336499999 meters Centerline goodness : 0.118448 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.05, Z:-0.32 [[ 0.99956287 -0.0053254 -0.02908102 -1.27555057] [ 0.00519969 0.99997682 -0.00439649 -0.05287905] [ 0.02910376 0.00424336 0.99956739 -0.31856973] [ 0. 0. 0. 1. ]] SLAMing on 119.49313336499999 meters Centerline goodness : 0.133677 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.05, Z:-0.32 [[ 0.99962052 0.00351167 -0.02732199 -1.25634854] [-0.00366071 0.99997868 -0.00540674 -0.05497489] [ 0.02730243 0.0055047 0.99961206 -0.31783687] [ 0. 0. 0. 1. ]] SLAMing on 119.52313336499999 meters Centerline goodness : 0.117213 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.9995991 -0.00483502 -0.02789752 -1.27484896] [ 0.00473683 0.99998236 -0.00358453 -0.0514969 ] [ 0.02791436 0.00345094 0.99960436 -0.32017753] [ 0. 0. 0. 1. ]] SLAMing on 119.553133365 meters Centerline goodness : 0.130401 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.05, Z:-0.32 [[ 0.99959681 -0.00479904 -0.0279856 -1.27438741] [ 0.00470152 0.99998265 -0.00354964 -0.05148053] [ 0.02800215 0.00341663 0.99960202 -0.32061839] [ 0. 0. 0. 1. ]] SLAMing on 119.583133365 meters Centerline goodness : 0.122969 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99960996 0.00366234 -0.02768586 -1.2539801 ] [-0.00379827 0.99998098 -0.00485888 -0.05401093] [ 0.02766754 0.00496214 0.99960486 -0.31973863] [ 0. 0. 0. 1. ]] SLAMing on 119.613133365 meters Centerline goodness : 0.121241 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959619 0.00361906 -0.02818451 -1.25209224] [-0.00375699 0.99998122 -0.00484232 -0.05442412] [ 0.02816646 0.00494626 0.99959101 -0.32085164] [ 0. 0. 0. 1. ]] SLAMing on 119.643133365 meters Centerline goodness : 0.129762 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959105 0.0036409 -0.02836347 -1.2515669 ] [-0.00377765 0.99998149 -0.00476954 -0.05486197] [ 0.02834557 0.00487474 0.9995863 -0.32098147] [ 0. 0. 0. 1. ]] SLAMing on 119.673133365 meters Centerline goodness : 0.120782 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.99959256 0.00364451 -0.02830968 -1.25186078] [-0.00378025 0.99998161 -0.00474277 -0.05505256] [ 0.02829187 0.00484786 0.99958795 -0.32072012] [ 0. 0. 0. 1. ]] SLAMing on 119.70313336499999 meters Centerline goodness : 0.115191 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959618 0.00366355 -0.02817886 -1.25252666] [-0.00379938 0.99998141 -0.00476852 -0.0547703 ] [ 0.02816086 0.00487365 0.99959152 -0.32019003] [ 0. 0. 0. 1. ]] SLAMing on 119.73313336499999 meters Centerline goodness : 0.124542 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99960087 0.00369135 -0.02800843 -1.25307535] [-0.00382805 0.99998101 -0.00482891 -0.054158 ] [ 0.02799008 0.0049342 0.99959602 -0.31998226] [ 0. 0. 0. 1. ]] SLAMing on 119.76313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 119.79313336499999 meters Centerline goodness : 0.164308 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958697 0.00364173 -0.02850645 -1.25124428] [-0.00379801 0.99997804 -0.00543011 -0.05057233] [ 0.02848605 0.00553614 0.99957886 -0.32111715] [ 0. 0. 0. 1. ]] SLAMing on 119.82313336499999 meters Centerline goodness : 0.164308 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958697 0.00364173 -0.02850645 -1.25124428] [-0.00379801 0.99997804 -0.00543011 -0.05057233] [ 0.02848605 0.00553614 0.99957886 -0.32111715] [ 0. 0. 0. 1. ]] SLAMing on 119.85313336499999 meters Centerline goodness : 0.122894 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958137 0.0035814 -0.0287098 -1.25064084] [-0.0037428 0.99997748 -0.00556986 -0.04990594] [ 0.0286892 0.00567499 0.99957227 -0.3213459 ] [ 0. 0. 0. 1. ]] SLAMing on 119.88313336499999 meters Centerline goodness : 0.121560 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.04, Z:-0.32 [[ 0.99955447 -0.00350182 -0.02964108 -1.23177467] [ 0.00336717 0.99998379 -0.00459132 -0.04471762] [ 0.02965668 0.00448947 0.99955006 -0.3186566 ] [ 0. 0. 0. 1. ]] SLAMing on 119.913133365 meters Centerline goodness : 0.118592 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99955158 -0.00350266 -0.02973839 -1.23183008] [ 0.00337124 0.99998433 -0.00446837 -0.04560035] [ 0.02975358 0.00436611 0.99954773 -0.31821288] [ 0. 0. 0. 1. ]] SLAMing on 119.943133365 meters Centerline goodness : 0.088627 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99954936 -0.00354538 -0.0298079 -1.23194857] [ 0.00341777 0.99998478 -0.00433089 -0.04673607] [ 0.0298228 0.00422706 0.99954626 -0.31775497] [ 0. 0. 0. 1. ]] SLAMing on 119.973133365 meters Centerline goodness : 0.136946 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99955269 -0.00348988 -0.0297025 -1.23242897] [ 0.00337101 0.99998611 -0.00405139 -0.04827845] [ 0.02971622 0.00394945 0.99955057 -0.31738119] [ 0. 0. 0. 1. ]] SLAMing on 120.003133365 meters Centerline goodness : 0.117227 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99955694 -0.00340579 -0.02956884 -1.23297047] [ 0.00329535 0.99998742 -0.0037828 -0.04949418] [ 0.02958135 0.00368369 0.99955559 -0.31702096] [ 0. 0. 0. 1. ]] SLAMing on 120.033133365 meters Centerline goodness : 0.149936 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99957191 -0.00318324 -0.02908386 -1.23429504] [ 0.00308729 0.99998964 -0.00334356 -0.05096848] [ 0.0290942 0.00325234 0.99957138 -0.31674186] [ 0. 0. 0. 1. ]] SLAMing on 120.063133365 meters Centerline goodness : 0.125269 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.05, Z:-0.32 [[ 0.99957928 -0.0031029 -0.02883802 -1.23492021] [ 0.00301029 0.99999017 -0.0032544 -0.05118598] [ 0.02884784 0.00316622 0.9995788 -0.31671352] [ 0. 0. 0. 1. ]] SLAMing on 120.09313336499999 meters Centerline goodness : 0.159149 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.999596 0.00422367 -0.02810691 -1.254625 ] [-0.00434565 0.9999814 -0.00428036 -0.05644367] [ 0.02808831 0.00440078 0.99959576 -0.31878025] [ 0. 0. 0. 1. ]] SLAMing on 120.12313336499999 meters Centerline goodness : 0.115938 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.99959024 0.00412989 -0.02832489 -1.25408397] [-0.00426173 0.99998036 -0.00459553 -0.05524794] [ 0.02830535 0.00471436 0.99958821 -0.31868862] [ 0. 0. 0. 1. ]] SLAMing on 120.15313336499999 meters Centerline goodness : 0.125101 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958107 0.00413061 -0.02864651 -1.25309202] [-0.00427138 0.99997909 -0.00485449 -0.05392459] [ 0.02862586 0.00497482 0.99957782 -0.31895753] [ 0. 0. 0. 1. ]] SLAMing on 120.18313336499999 meters Centerline goodness : 0.122676 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9995781 0.00416982 -0.02874435 -1.25251334] [-0.00431594 0.99997807 -0.00502316 -0.05270486] [ 0.02872278 0.0051451 0.99957417 -0.31958875] [ 0. 0. 0. 1. ]] SLAMing on 120.21313336499999 meters Centerline goodness : 0.124706 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99957936 0.00422248 -0.0286927 -1.2523196 ] [-0.0043728 0.99997703 -0.00517818 -0.05139634] [ 0.02867018 0.00530147 0.99957487 -0.32016356] [ 0. 0. 0. 1. ]] SLAMing on 120.24313336499999 meters Centerline goodness : 0.118190 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958711 0.00425534 -0.02841657 -1.25284594] [-0.00440785 0.99997621 -0.00530619 -0.05033806] [ 0.02839331 0.00542926 0.99958208 -0.32038114] [ 0. 0. 0. 1. ]] SLAMing on 120.27313336499999 meters Centerline goodness : 0.118643 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959478 0.00425365 -0.02814564 -1.25352025] [-0.00440758 0.99997566 -0.00540918 -0.04973955] [ 0.02812194 0.00553104 0.9995892 -0.320392 ] [ 0. 0. 0. 1. ]] SLAMing on 120.303133365 meters Centerline goodness : 0.162065 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959192 0.00413595 -0.0282647 -1.25291758] [-0.00430033 0.99997418 -0.00575766 -0.04822335] [ 0.02824016 0.00587686 0.99958389 -0.32095539] [ 0. 0. 0. 1. ]] SLAMing on 120.333133365 meters Centerline goodness : 0.120506 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958972 0.00414086 -0.02834163 -1.25249858] [-0.00430757 0.99997376 -0.0058236 -0.04771064] [ 0.02831678 0.00594329 0.99958133 -0.32135932] [ 0. 0. 0. 1. ]] SLAMing on 120.363133365 meters Centerline goodness : 0.121484 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9995896 0.00417979 -0.02834021 -1.25234472] [-0.004346 0.9999737 -0.0058058 -0.04753197] [ 0.0283152 0.00592659 0.99958147 -0.32165456] [ 0. 0. 0. 1. ]] SLAMing on 120.393133365 meters Centerline goodness : 0.126140 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959117 0.00419504 -0.02828255 -1.25241467] [-0.00435993 0.99997384 -0.00577118 -0.04759502] [ 0.0282576 0.00589214 0.99958331 -0.32176104] [ 0. 0. 0. 1. ]] SLAMing on 120.423133365 meters Centerline goodness : 0.128268 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959362 0.00419082 -0.0281963 -1.25272391] [-0.00435377 0.99997416 -0.00572009 -0.04802377] [ 0.0281716 0.00584052 0.99958604 -0.32159557] [ 0. 0. 0. 1. ]] SLAMing on 120.45313336499999 meters Centerline goodness : 0.184450 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959479 0.00417691 -0.02815681 -1.25300126] [-0.0043385 0.99997446 -0.00568032 -0.04844247] [ 0.02813237 0.00580018 0.99958738 -0.32131667] [ 0. 0. 0. 1. ]] SLAMing on 120.48313336499999 meters Centerline goodness : 0.122874 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99959408 0.00417043 -0.02818299 -1.25297929] [-0.00433206 0.99997451 -0.00567638 -0.0484514 ] [ 0.0281586 0.00579617 0.99958666 -0.32127962] [ 0. 0. 0. 1. ]] SLAMing on 120.51313336499999 meters Centerline goodness : 0.131737 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9995911 0.00412265 -0.02829551 -1.25242668] [-0.00428899 0.99997386 -0.0058205 -0.04760283] [ 0.02827078 0.00593948 0.99958266 -0.32174489] [ 0. 0. 0. 1. ]] SLAMing on 120.54313336499999 meters Centerline goodness : 0.119860 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.99958429 0.00406103 -0.02854408 -1.25135297] [-0.00423434 0.99997295 -0.00601409 -0.04659017] [ 0.02851888 0.00613245 0.99957444 -0.32250408] [ 0. 0. 0. 1. ]] SLAMing on 120.57313336499999 meters Centerline goodness : 0.131607 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99957577 0.00394793 -0.02885633 -1.250052 ] [-0.00413329 0.99997119 -0.00636688 -0.04482245] [ 0.02883037 0.00648345 0.99956329 -0.32339441] [ 0. 0. 0. 1. ]] SLAMing on 120.60313336499999 meters Centerline goodness : 0.159538 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.32 [[ 0.9994905 0.00304973 -0.03177183 -1.29411054] [-0.00324096 0.99997693 -0.00596895 -0.04599049] [ 0.0317529 0.00606888 0.99947732 -0.32403708] [ 0. 0. 0. 1. ]] SLAMing on 120.63313336499999 meters Centerline goodness : 0.130189 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.04, Z:-0.32 [[ 0.99946301 -0.00332986 -0.0325977 -1.27689825] [ 0.00315324 0.99998008 -0.0054682 -0.03575245] [ 0.03261526 0.00536247 0.9994536 -0.32165535] [ 0. 0. 0. 1. ]] SLAMing on 120.663133365 meters Centerline goodness : 0.131057 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99946937 -0.00339916 -0.03239495 -1.27758661] [ 0.00321414 0.99997824 -0.00576176 -0.03400639] [ 0.03241383 0.00565458 0.99945854 -0.32147701] [ 0. 0. 0. 1. ]] SLAMing on 120.693133365 meters Centerline goodness : 0.125811 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99947561 -0.00342586 -0.03219891 -1.27825868] [ 0.00323514 0.99997693 -0.0059734 -0.0324429 ] [ 0.03221863 0.0058661 0.99946363 -0.32127061] [ 0. 0. 0. 1. ]] SLAMing on 120.723133365 meters Centerline goodness : 0.125841 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99948192 -0.00350071 -0.0319942 -1.27879144] [ 0.00330251 0.99997504 -0.00624567 -0.0307493 ] [ 0.03201527 0.00613677 0.99946854 -0.32129455] [ 0. 0. 0. 1. ]] SLAMing on 120.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 120.783133365 meters Centerline goodness : 0.057145 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99948372 -0.00374946 -0.03190988 -1.27902774] [ 0.00353297 0.99997038 -0.00683807 -0.02792334] [ 0.03193458 0.00672181 0.99946736 -0.32131499] [ 0. 0. 0. 1. ]] SLAMing on 120.813133365 meters Centerline goodness : 0.147085 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.03, Z:-0.32 [[ 0.99947915 -0.00387396 -0.03203792 -1.27870918] [ 0.00364719 0.9999679 -0.00713353 -0.02653532] [ 0.03206453 0.00701296 0.9994612 -0.32137622] [ 0. 0. 0. 1. ]] SLAMing on 120.84313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 120.87313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 120.90313336499999 meters Centerline goodness : 0.135581 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.02, Z:-0.32 [[ 9.99461089e-01 -5.69273707e-04 -3.28208299e-02 -1.27656260e+00] [ 4.12656757e-04 9.99988498e-01 -4.77845285e-03 -1.93699233e-02] [ 3.28231726e-02 4.76233395e-03 9.99449828e-01 -3.21962356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 120.96313336499999 meters Centerline goodness : 0.171838 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 9.99469543e-01 -9.46599130e-04 -3.25535830e-02 -1.27734224e+00] [ 7.61632999e-04 9.99983500e-01 -5.69382870e-03 -1.49430482e-02] [ 3.25584356e-02 5.66601449e-03 9.99453773e-01 -3.21888644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99313336499999 meters Centerline goodness : 0.079901 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 9.99477201e-01 -1.07782589e-03 -3.23135122e-02 -1.27811909e+00] [ 8.83053014e-04 9.99981362e-01 -6.04126380e-03 -1.30742324e-02] [ 3.23194213e-02 6.00957089e-03 9.99459524e-01 -3.21664133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02313336499999 meters Centerline goodness : 0.183784 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 9.99479105e-01 -1.19260821e-03 -3.22505209e-02 -1.27848969e+00] [ 9.89059925e-04 9.99979497e-01 -6.32668955e-03 -1.15740397e-02] [ 3.22574049e-02 6.29149632e-03 9.99459793e-01 -3.21393560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 121.083133365 meters Centerline goodness : 0.127261 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948037 -0.00154622 -0.03219639 -1.27895056] [ 0.00132145 0.99997462 -0.00700147 -0.00787132] [ 0.03220639 0.00695529 0.99945704 -0.32095719] [ 0. 0. 0. 1. ]] SLAMing on 121.113133365 meters Centerline goodness : 0.061411 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948244 -0.0016447 -0.03212706 -1.27925102] [ 0.00141363 0.99997298 -0.00721373 -0.00681968] [ 0.03213805 0.00716458 0.99945776 -0.32076332] [ 0. 0. 0. 1. ]] SLAMing on 121.143133365 meters Centerline goodness : 0.061411 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948244 -0.0016447 -0.03212706 -1.27925102] [ 0.00141363 0.99997298 -0.00721373 -0.00681968] [ 0.03213805 0.00716458 0.99945776 -0.32076332] [ 0. 0. 0. 1. ]] SLAMing on 121.173133365 meters Centerline goodness : 0.125638 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.01, Z:-0.32 [[ 0.99948175 -0.00179159 -0.03214069 -1.27921631] [ 0.00155171 0.99997077 -0.00748673 -0.0057193 ] [ 0.03215316 0.00743298 0.99945531 -0.32081486] [ 0. 0. 0. 1. ]] SLAMing on 121.20313336499999 meters Centerline goodness : 0.125842 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 0.99948092 -0.00187892 -0.0321616 -1.27905967] [ 0.00163264 0.99996916 -0.00768207 -0.00482113] [ 0.03217504 0.00762558 0.99945316 -0.32100034] [ 0. 0. 0. 1. ]] SLAMing on 121.23313336499999 meters Centerline goodness : 0.120041 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 0.99947997 -0.00194883 -0.03218694 -1.27881229] [ 0.00169639 0.99996761 -0.00786828 -0.00381591] [ 0.03220123 0.00780959 0.99945089 -0.32133775] [ 0. 0. 0. 1. ]] SLAMing on 121.26313336499999 meters Centerline goodness : 0.126767 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 0.99948155 -0.00201048 -0.03213391 -1.27887359] [ 0.00175346 0.99996626 -0.00802466 -0.00288991] [ 0.03214896 0.00796415 0.99945136 -0.3214394 ] [ 0. 0. 0. 1. ]] SLAMing on 121.29313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 121.32313336499999 meters Centerline goodness : 0.153794 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.00, Z:-0.32 [[ 9.99483925e-01 -2.24785518e-03 -3.20442000e-02 -1.27890664e+00] [ 1.97746194e-03 9.99962196e-01 -8.46732882e-03 -1.16659440e-03] [ 3.20620219e-02 8.39959286e-03 9.99450586e-01 -3.21749305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35313336499999 meters Centerline goodness : 0.128453 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.32 [[ 0.99948141 -0.00254971 -0.03210015 -1.27849016] [ 0.00225719 0.99995563 -0.00914538 0.00184704] [ 0.03212205 0.00906818 0.99944282 -0.32222327] [ 0. 0. 0. 1. ]] SLAMing on 121.38313336499999 meters Centerline goodness : 0.128901 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.00, Z:-0.32 [[ 0.99947783 -0.00269497 -0.03219939 -1.27807806] [ 0.00238888 0.99995163 -0.00954057 0.0038635 ] [ 0.03222355 0.00945867 0.99943593 -0.32254127] [ 0. 0. 0. 1. ]] SLAMing on 121.413133365 meters Centerline goodness : 0.129314 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.32 [[ 0.99946516 -0.0028216 -0.0325795 -1.27690782] [ 0.0024982 0.99994725 -0.00996306 0.00611817] [ 0.03260589 0.00987634 0.99941949 -0.3229956 ] [ 0. 0. 0. 1. ]] SLAMing on 121.443133365 meters Centerline goodness : 0.129336 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.01, Z:-0.32 [[ 0.99945381 -0.00301794 -0.03290849 -1.27577045] [ 0.00267528 0.9999418 -0.01045153 0.00849632] [ 0.03293812 0.01035778 0.99940372 -0.32355119] [ 0. 0. 0. 1. ]] SLAMing on 121.473133365 meters Centerline goodness : 0.129188 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.01, Z:-0.32 [[ 0.99944153 -0.0032037 -0.03326214 -1.27452421] [ 0.00284207 0.9999364 -0.01091379 0.01072775] [ 0.03329499 0.01081316 0.99938707 -0.32421341] [ 0. 0. 0. 1. ]] SLAMing on 121.503133365 meters Centerline goodness : 0.132161 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.01, Z:-0.32 [[ 0.99943816 -0.00342983 -0.03334078 -1.27417707] [ 0.00304568 0.99992847 -0.01156601 0.01439555] [ 0.03337807 0.01145797 0.99937712 -0.32452392] [ 0. 0. 0. 1. ]] SLAMing on 121.533133365 meters Centerline goodness : 0.131912 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99935943 -0.00424966 -0.03553414 -1.32020728] [ 0.00384737 0.99992782 -0.01138175 0.01282027] [ 0.03557994 0.01123775 0.99930365 -0.32447516] [ 0. 0. 0. 1. ]] SLAMing on 121.563133365 meters Centerline goodness : 0.131764 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.99931182 -0.0121892 -0.03503301 -1.30035904] [ 0.01181825 0.99987209 -0.01077633 0.018593 ] [ 0.03515989 0.01035488 0.99932805 -0.32290112] [ 0. 0. 0. 1. ]] SLAMing on 121.59313336499999 meters Centerline goodness : 0.130276 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.9993058 -0.01227136 -0.03517573 -1.3002174 ] [ 0.0118995 0.99987129 -0.01076151 0.01804796] [ 0.03530326 0.01033546 0.9993232 -0.32258144] [ 0. 0. 0. 1. ]] SLAMing on 121.62313336499999 meters Centerline goodness : 0.132373 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.9993033 -0.01233779 -0.03522357 -1.30038678] [ 0.01196854 0.99987139 -0.01067472 0.01719072] [ 0.03535074 0.01024571 0.99932245 -0.32213304] [ 0. 0. 0. 1. ]] SLAMing on 121.65313336499999 meters Centerline goodness : 0.132478 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.02, Z:-0.32 [[ 0.99930335 -0.01235353 -0.03521667 -1.30068845] [ 0.01198934 0.99987264 -0.01053374 0.01624988] [ 0.03534232 0.01010417 0.99932418 -0.32166448] [ 0. 0. 0. 1. ]] SLAMing on 121.68313336499999 meters Centerline goodness : 0.132908 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99938532 -0.00438071 -0.03478213 -1.32072882] [ 0.00400451 0.99993281 -0.01087812 0.01022321] [ 0.03482745 0.01073214 0.99933571 -0.3232436 ] [ 0. 0. 0. 1. ]] SLAMing on 121.71313336499999 meters Centerline goodness : 0.135065 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99938293 -0.0043636 -0.03485282 -1.32044149] [ 0.00398792 0.99993328 -0.01084122 0.01021724] [ 0.0348978 0.01069554 0.99933365 -0.32341774] [ 0. 0. 0. 1. ]] SLAMing on 121.74313336499999 meters Centerline goodness : 0.135686 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99937289 -0.00448115 -0.03512485 -1.31950016] [ 0.00409108 0.99992925 -0.01116916 0.01177027] [ 0.03517241 0.01101846 0.99932052 -0.32388689] [ 0. 0. 0. 1. ]] SLAMing on 121.77313336499999 meters Centerline goodness : 0.134331 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99936957 -0.00452633 -0.03521338 -1.31918951] [ 0.00412912 0.99992712 -0.01134463 0.01269372] [ 0.03526217 0.01119208 0.99931542 -0.32408226] [ 0. 0. 0. 1. ]] SLAMing on 121.803133365 meters Centerline goodness : 0.132963 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99937412 -0.00452347 -0.03508433 -1.31960668] [ 0.0041235 0.99992578 -0.01146424 0.01356438] [ 0.03513358 0.01131239 0.9993186 -0.32395763] [ 0. 0. 0. 1. ]] SLAMing on 121.833133365 meters Centerline goodness : 0.132372 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99938967 -0.00442668 -0.03465104 -1.32091027] [ 0.00403046 0.9999258 -0.01149598 0.01442791] [ 0.03469936 0.0113493 0.99933335 -0.32360167] [ 0. 0. 0. 1. ]] SLAMing on 121.863133365 meters Centerline goodness : 0.132228 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.32 [[ 0.99940557 -0.00435888 -0.03419792 -1.32234995] [ 0.00396779 0.99992605 -0.01149564 0.01488546] [ 0.03424549 0.01135311 0.99934896 -0.32308566] [ 0. 0. 0. 1. ]] SLAMing on 121.893133365 meters Centerline goodness : 0.131631 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 0.99942046 -0.00431629 -0.03376559 -1.3238863 ] [ 0.00393057 0.99992636 -0.01148145 0.01501792] [ 0.03381266 0.01134208 0.99936383 -0.32236093] [ 0. 0. 0. 1. ]] SLAMing on 121.923133365 meters Centerline goodness : 0.140703 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 0.99942952 -0.00431774 -0.03349605 -1.32482791] [ 0.00393362 0.99992585 -0.01152493 0.0152806 ] [ 0.03354333 0.0113866 0.9993724 -0.32194319] [ 0. 0. 0. 1. ]] SLAMing on 121.95313336499999 meters Centerline goodness : 0.114092 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 0.99942656 -0.00430849 -0.03358559 -1.32474965] [ 0.00392112 0.99992513 -0.01159118 0.01583412] [ 0.03363302 0.01145284 0.99936863 -0.32174547] [ 0. 0. 0. 1. ]] SLAMing on 121.98313336499999 meters Centerline goodness : 0.131312 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99420890e-01 -3.75958877e-04 -3.40256177e-02 -1.32346557e+00] [ 1.06448633e-04 9.99968613e-01 -7.92226877e-03 1.66059101e-02] [ 3.40275282e-02 7.91405893e-03 9.99389561e-01 -3.22112126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01313336499999 meters Centerline goodness : 0.131956 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99428978e-01 -4.31785634e-04 -3.37865637e-02 -1.32405758e+00] [ 1.56715847e-04 9.99966828e-01 -8.14362044e-03 1.76872070e-02] [ 3.37889593e-02 8.13367536e-03 9.99395892e-01 -3.22076399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04313336499999 meters Centerline goodness : 0.128813 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99438280e-01 -4.92835218e-04 -3.35094392e-02 -1.32499777e+00] [ 2.12654424e-04 9.99964996e-01 -8.36429980e-03 1.86574890e-02] [ 3.35123885e-02 8.35247547e-03 9.99403400e-01 -3.21700222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07313336499999 meters Centerline goodness : 0.131030 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.02, Z:-0.32 [[ 9.99444208e-01 -5.10431040e-04 -3.33318773e-02 -1.32557631e+00] [ 2.26546672e-04 9.99963677e-01 -8.52012441e-03 1.95036051e-02] [ 3.33350155e-02 8.50783777e-03 9.99408022e-01 -3.21494959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10313336499999 meters Centerline goodness : 0.128571 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.02, Z:-0.32 [[ 9.99439627e-01 -4.62400067e-04 -3.34696607e-02 -1.32508257e+00] [ 1.72145604e-04 9.99962361e-01 -8.67452844e-03 2.07228016e-02] [ 3.34724121e-02 8.66390581e-03 9.99402088e-01 -3.21812177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13313336499999 meters Centerline goodness : 0.128249 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99427708e-01 -4.09856147e-04 -3.38243734e-02 -1.32391821e+00] [ 1.09194202e-04 9.99960475e-01 -8.89028255e-03 2.23699057e-02] [ 3.38266802e-02 8.88150128e-03 9.99388250e-01 -3.22334282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.163133365 meters Centerline goodness : 0.131010 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.02, Z:-0.32 [[ 9.99410722e-01 -4.55641737e-04 -3.43220204e-02 -1.32231200e+00] [ 1.37158534e-04 9.99956921e-01 -9.28105034e-03 2.44792047e-02] [ 3.43247707e-02 9.27087367e-03 9.99367731e-01 -3.23077473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.193133365 meters Centerline goodness : 0.131100 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.03, Z:-0.32 [[ 9.99391994e-01 -5.75115085e-04 -3.48613298e-02 -1.32060128e+00] [ 2.33138602e-04 9.99951825e-01 -9.81289380e-03 2.70502907e-02] [ 3.48652939e-02 9.79879997e-03 9.99343982e-01 -3.23814775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.223133365 meters Centerline goodness : 0.143107 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.03, Z:-0.32 [[ 9.99371345e-01 2.59248614e-04 -3.54520344e-02 -1.31896248e+00] [-6.07040214e-04 9.99951797e-01 -9.79978961e-03 3.35277848e-02] [ 3.54477850e-02 9.81514974e-03 9.99323330e-01 -3.24364613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.253133365 meters Centerline goodness : 0.135101 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99374681e-01 3.19834191e-04 -3.53573946e-02 -1.31919858e+00] [-6.79951798e-04 9.99948017e-01 -1.01735167e-02 3.65116255e-02] [ 3.53523028e-02 1.01911964e-02 9.99322948e-01 -3.24514021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.283133365 meters Centerline goodness : 0.143693 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99374350e-01 2.73038745e-04 -3.53671381e-02 -1.31903616e+00] [-6.47217996e-04 9.99943939e-01 -1.05688401e-02 3.91341500e-02] [ 3.53622696e-02 1.05851179e-02 9.99318500e-01 -3.24819922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.313133365 meters Centerline goodness : 0.144173 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.33 [[ 9.99371796e-01 1.26894447e-04 -3.54400595e-02 -1.31867919e+00] [-5.17002908e-04 9.99939380e-01 -1.09986094e-02 4.13299730e-02] [ 3.54365155e-02 1.10100226e-02 9.99311279e-01 -3.25158640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34313336499999 meters Centerline goodness : 0.119843 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.33 [[ 9.99370265e-01 -3.81575181e-06 -3.54834110e-02 -1.31854537e+00] [-3.97483109e-04 9.99936047e-01 -1.13024170e-02 4.26714847e-02] [ 3.54811848e-02 1.13094035e-02 9.99306351e-01 -3.25252851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37313336499999 meters Centerline goodness : 0.145308 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.33 [[ 9.99370418e-01 -1.17090001e-04 -3.54789124e-02 -1.31857668e+00] [-2.91244948e-04 9.99933786e-01 -1.15038429e-02 4.34567511e-02] [ 3.54779102e-02 1.15069333e-02 9.99304212e-01 -3.25239945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40313336499999 meters Centerline goodness : 0.124275 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99369712e-01 -3.13838021e-04 -3.54975992e-02 -1.31873925e+00] [-1.04953925e-04 9.99930428e-01 -1.17952755e-02 4.46201930e-02] [ 3.54988313e-02 1.17915667e-02 9.99300151e-01 -3.24911180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43313336499999 meters Centerline goodness : 0.124275 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.04, Z:-0.32 [[ 9.99369712e-01 -3.13838021e-04 -3.54975992e-02 -1.31873925e+00] [-1.04953925e-04 9.99930428e-01 -1.17952755e-02 4.46201930e-02] [ 3.54988313e-02 1.17915667e-02 9.99300151e-01 -3.24911180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46313336499999 meters Centerline goodness : 0.150265 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99364481e-01 -4.84491792e-04 -3.56426525e-02 -1.31865951e+00] [ 5.29734669e-05 9.99926709e-01 -1.21067444e-02 4.60091046e-02] [ 3.56459058e-02 1.20971622e-02 9.99291263e-01 -3.24521899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49313336499999 meters Centerline goodness : 0.127239 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99360734e-01 -5.61356872e-04 -3.57464571e-02 -1.31846074e+00] [ 1.21773941e-04 9.99924366e-01 -1.22982347e-02 4.70148744e-02] [ 3.57506572e-02 1.22860199e-02 9.99285217e-01 -3.24444000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52313336499999 meters Centerline goodness : 0.125411 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99357673e-01 -6.05111682e-04 -3.58312142e-02 -1.31827265e+00] [ 1.58342588e-04 9.99922231e-01 -1.24702373e-02 4.80746942e-02] [ 3.58359735e-02 1.24565537e-02 9.99280049e-01 -3.24428535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.553133365 meters Centerline goodness : 0.144896 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99356425e-01 -6.66916874e-04 -3.58648877e-02 -1.31798725e+00] [ 2.11756489e-04 9.99919415e-01 -1.26932761e-02 4.94162681e-02] [ 3.58704629e-02 1.26775124e-02 9.99276033e-01 -3.24776919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.583133365 meters Centerline goodness : 0.134157 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99355586e-01 -7.41390773e-04 -3.58868177e-02 -1.31788190e+00] [ 2.78611963e-04 9.99916768e-01 -1.28987933e-02 5.04288390e-02] [ 3.58933938e-02 1.28804827e-02 9.99272614e-01 -3.24888455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.613133365 meters Centerline goodness : 0.145341 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99932247 -0.00836669 -0.03584121 -1.29875119] [ 0.00793868 0.99989567 -0.01206761 0.05668394] [ 0.03593844 0.0117749 0.99928463 -0.32306204] [ 0. 0. 0. 1. ]] SLAMing on 122.643133365 meters Centerline goodness : 0.135095 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99932851 -0.00842889 -0.03565787 -1.29972505] [ 0.0080011 0.9998945 -0.01212292 0.05686484] [ 0.03575629 0.01182948 0.99929052 -0.32227802] [ 0. 0. 0. 1. ]] SLAMing on 122.673133365 meters Centerline goodness : 0.136882 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99933128 -0.00845137 -0.03557475 -1.2999427 ] [ 0.00802278 0.99989372 -0.0121732 0.05723665] [ 0.03567385 0.01187966 0.99929288 -0.3222794 ] [ 0. 0. 0. 1. ]] SLAMing on 122.70313336499999 meters Centerline goodness : 0.139274 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 9.99359298e-01 -4.36977803e-04 -3.57882879e-02 -1.31930517e+00] [-2.78649113e-05 9.99915663e-01 -1.29871540e-02 5.22266413e-02] [ 3.57909448e-02 1.29798304e-02 9.99275003e-01 -3.24150781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73313336499999 meters Centerline goodness : 0.117994 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99931483 -0.0079453 -0.03614896 -1.30019164] [ 0.00750941 0.99989765 -0.01217808 0.05896574] [ 0.03624202 0.01189828 0.99927221 -0.32237603] [ 0. 0. 0. 1. ]] SLAMing on 122.76313336499999 meters Centerline goodness : 0.146566 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99930896 -0.00807023 -0.03628321 -1.29979729] [ 0.00762331 0.99989357 -0.01243906 0.06014852] [ 0.03637974 0.01215387 0.99926413 -0.32251688] [ 0. 0. 0. 1. ]] SLAMing on 122.79313336499999 meters Centerline goodness : 0.113426 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99930113 -0.00818502 -0.03647267 -1.29927555] [ 0.00772509 0.99988909 -0.01273331 0.0617475 ] [ 0.03657284 0.01244265 0.99925353 -0.32265755] [ 0. 0. 0. 1. ]] SLAMing on 122.82313336499999 meters Centerline goodness : 0.144258 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 9.99299085e-01 2.86231254e-04 -3.74333636e-02 -1.32009178e+00] [-7.85747220e-04 9.99910841e-01 -1.33301071e-02 5.88885249e-02] [ 3.74262106e-02 1.33501770e-02 9.99210214e-01 -3.23542904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85313336499999 meters Centerline goodness : 0.140807 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929246 -0.00537762 -0.03722439 -1.29895052] [ 0.00498977 0.99993238 -0.01050436 0.06427333] [ 0.03727836 0.01031118 0.99925172 -0.32241769] [ 0. 0. 0. 1. ]] SLAMing on 122.88313336499999 meters Centerline goodness : 0.119327 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.99930504 -0.00565433 -0.03684371 -1.30054297] [ 0.00525533 0.99992659 -0.01091743 0.06569245] [ 0.03690274 0.01071622 0.9992614 -0.32136759] [ 0. 0. 0. 1. ]] SLAMing on 122.913133365 meters Centerline goodness : 0.120347 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.9993115 -0.0057365 -0.0366555 -1.30133815] [ 0.00533587 0.99992506 -0.01101813 0.06593998] [ 0.03671596 0.01081496 0.99926722 -0.32086891] [ 0. 0. 0. 1. ]] SLAMing on 122.943133365 meters Centerline goodness : 0.119836 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.9993144 -0.00572433 -0.03657813 -1.30163252] [ 0.00532642 0.99992568 -0.01096678 0.06583955] [ 0.03663819 0.01076443 0.99927062 -0.32071928] [ 0. 0. 0. 1. ]] SLAMing on 122.973133365 meters Centerline goodness : 0.120595 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.07, Z:-0.32 [[ 0.99931359 -0.00564645 -0.03661226 -1.30155362] [ 0.00525594 0.99992837 -0.0107535 0.06501342] [ 0.03667036 0.01055368 0.99927169 -0.3207025 ] [ 0. 0. 0. 1. ]] SLAMing on 123.003133365 meters Centerline goodness : 0.124803 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99930849 -0.0056126 -0.03675646 -1.30119466] [ 0.00522985 0.99993119 -0.01050107 0.06353757] [ 0.03681287 0.01030158 0.99926908 -0.32069482] [ 0. 0. 0. 1. ]] SLAMing on 123.033133365 meters Centerline goodness : 0.254142 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929967 -0.00564704 -0.03699029 -1.30059967] [ 0.00527116 0.99993356 -0.01025114 0.06170074] [ 0.03704573 0.01004898 0.99926304 -0.32068039] [ 0. 0. 0. 1. ]] SLAMing on 123.063133365 meters Centerline goodness : 0.254142 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929967 -0.00564704 -0.03699029 -1.30059967] [ 0.00527116 0.99993356 -0.01025114 0.06170074] [ 0.03704573 0.01004898 0.99926304 -0.32068039] [ 0. 0. 0. 1. ]] SLAMing on 123.09313336499999 meters Centerline goodness : 0.140835 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99929511 -0.00563118 -0.03711572 -1.30034241] [ 0.00526557 0.99993672 -0.009941 0.05955131] [ 0.03716935 0.00973856 0.99926153 -0.32054004] [ 0. 0. 0. 1. ]] SLAMing on 123.12313336499999 meters Centerline goodness : 0.151296 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99928894 -0.00558402 -0.03728853 -1.30006238] [ 0.00522692 0.99993961 -0.00966724 0.05787386] [ 0.03734026 0.00946546 0.99925778 -0.32029449] [ 0. 0. 0. 1. ]] SLAMing on 123.15313336499999 meters Centerline goodness : 0.146268 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99928112 -0.00548352 -0.03751229 -1.29945397] [ 0.00513385 0.99994253 -0.00941138 0.05661385] [ 0.03756175 0.00921204 0.99925185 -0.32036368] [ 0. 0. 0. 1. ]] SLAMing on 123.18313336499999 meters Centerline goodness : 0.115338 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.06, Z:-0.32 [[ 0.99927467 -0.00542007 -0.03769285 -1.29844925] [ 0.00507226 0.99994373 -0.00931706 0.05607336] [ 0.03774123 0.00911912 0.99924594 -0.32120779] [ 0. 0. 0. 1. ]] SLAMing on 123.21313336499999 meters Centerline goodness : 0.138315 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99931404 0.00262636 -0.03693983 -1.3185884 ] [-0.00300304 0.99994403 -0.01014522 0.05127606] [ 0.03691112 0.01024919 0.99926599 -0.3235375 ] [ 0. 0. 0. 1. ]] SLAMing on 123.24313336499999 meters Centerline goodness : 0.069692 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99933043 0.00270631 -0.03648785 -1.31981245] [-0.00307989 0.99994338 -0.01018602 0.05196432] [ 0.03645822 0.01029158 0.99928218 -0.32337193] [ 0. 0. 0. 1. ]] SLAMing on 123.27313336499999 meters Centerline goodness : 0.137628 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99934239 0.00275441 -0.03615534 -1.32070441] [-0.00312788 0.9999423 -0.01027706 0.05282111] [ 0.03612494 0.01038339 0.99929334 -0.32330334] [ 0. 0. 0. 1. ]] SLAMing on 123.303133365 meters Centerline goodness : 0.117487 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.05, Z:-0.32 [[ 0.99934172 0.00276296 -0.03617309 -1.32069342] [-0.00314144 0.99994088 -0.01041038 0.05378395] [ 0.03614218 0.01051717 0.99929131 -0.32326486] [ 0. 0. 0. 1. ]] SLAMing on 123.333133365 meters Centerline goodness : 0.149332 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933827 0.00268598 -0.03627401 -1.32037452] [-0.00307524 0.99993824 -0.01067965 0.05516042] [ 0.03624308 0.01078413 0.99928481 -0.32343446] [ 0. 0. 0. 1. ]] SLAMing on 123.363133365 meters Centerline goodness : 0.139329 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933493 0.00254017 -0.03637634 -1.32000526] [-0.00295042 0.9999326 -0.01122866 0.05802389] [ 0.03634536 0.01132852 0.99927508 -0.32372386] [ 0. 0. 0. 1. ]] SLAMing on 123.393133365 meters Centerline goodness : 0.121588 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933546 0.00246569 -0.036367 -1.31994205] [-0.0028852 0.99992986 -0.01148732 0.05954393] [ 0.03633612 0.01158461 0.99927248 -0.32388308] [ 0. 0. 0. 1. ]] SLAMing on 123.423133365 meters Centerline goodness : 0.119311 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.06, Z:-0.32 [[ 0.99933359 0.00237839 -0.03642404 -1.31984314] [-0.00280604 0.99992768 -0.01169406 0.06059796] [ 0.0363936 0.01178848 0.999268 -0.3238736 ] [ 0. 0. 0. 1. ]] SLAMing on 123.45313336499999 meters Centerline goodness : 0.139899 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99925158 0.00166524 -0.03864586 -1.3661559 ] [-0.00212117 0.9999286 -0.01175974 0.05868447] [ 0.03862352 0.01183291 0.99918377 -0.32382686] [ 0. 0. 0. 1. ]] SLAMing on 123.48313336499999 meters Centerline goodness : 0.301370 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99925674 0.00162086 -0.03851426 -1.36692297] [-0.00207426 0.99992899 -0.01173525 0.05851884] [ 0.0384925 0.01180641 0.99918914 -0.32310982] [ 0. 0. 0. 1. ]] SLAMing on 123.51313336499999 meters Centerline goodness : 0.137339 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99926235 0.00156161 -0.03837074 -1.36782359] [-0.00200889 0.99993045 -0.01162111 0.05770224] [ 0.03834992 0.01168962 0.999196 -0.32223466] [ 0. 0. 0. 1. ]] SLAMing on 123.54313336499999 meters Centerline goodness : 0.139916 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.06, Z:-0.32 [[ 0.99926547 0.00145332 -0.03829375 -1.36835102] [-0.00189366 0.99993248 -0.01146537 0.05642718] [ 0.0382745 0.01152947 0.99920075 -0.32164555] [ 0. 0. 0. 1. ]] SLAMing on 123.57313336499999 meters Centerline goodness : 0.106339 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99236106e-01 1.02496069e-03 -3.90660191e-02 -1.36603451e+00] [-1.46449831e-03 9.99935934e-01 -1.12241937e-02 5.35579743e-02] [ 3.90520119e-02 1.12728317e-02 9.99173590e-01 -3.22233727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60313336499999 meters Centerline goodness : 0.041836 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 9.99220853e-01 1.09118356e-03 -3.94524645e-02 -1.36474850e+00] [-1.52142519e-03 9.99939687e-01 -1.08769384e-02 5.16396249e-02] [ 3.94382163e-02 1.09284876e-02 9.99162247e-01 -3.22733284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63313336499999 meters Centerline goodness : 0.138518 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 9.99219718e-01 1.18897481e-03 -3.94783755e-02 -1.36476264e+00] [-1.60816274e-03 9.99942651e-01 -1.05881080e-02 5.01027816e-02] [ 3.94635224e-02 1.06433339e-02 9.99164326e-01 -3.22589647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.663133365 meters Centerline goodness : 0.140102 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99225829e-01 1.22383590e-03 -3.93223082e-02 -1.36553265e+00] [-1.63664347e-03 9.99943874e-01 -1.04675753e-02 4.93390432e-02] [ 3.93072906e-02 1.05238282e-02 9.99171750e-01 -3.21984625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.693133365 meters Centerline goodness : 0.141041 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99236220e-01 1.27294471e-03 -3.90558130e-02 -1.36654474e+00] [-1.68114183e-03 9.99944291e-01 -1.04205748e-02 4.91753435e-02] [ 3.90403725e-02 1.04782741e-02 9.99182694e-01 -3.21419053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.723133365 meters Centerline goodness : 0.162033 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 9.99242692e-01 1.33415201e-03 -3.88878093e-02 -1.36692323e+00] [-1.74289299e-03 9.99943577e-01 -1.04787684e-02 4.97224828e-02] [ 3.88716349e-02 1.05386101e-02 9.99188638e-01 -3.21481214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.753133365 meters Centerline goodness : 0.156837 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 0.99922451 0.00157689 -0.03934328 -1.36528125] [-0.00199643 0.99994155 -0.01062642 0.05116635] [ 0.03932422 0.01069672 0.99916925 -0.32241502] [ 0. 0. 0. 1. ]] SLAMing on 123.783133365 meters Centerline goodness : 0.155090 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 0.99921574 0.00161505 -0.03956379 -1.36454355] [-0.0020401 0.99994061 -0.01070556 0.05166248] [ 0.03954416 0.01077788 0.9991597 -0.32276206] [ 0. 0. 0. 1. ]] SLAMing on 123.813133365 meters Centerline goodness : 0.177175 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.05, Z:-0.32 [[ 0.99921455 0.00168108 -0.03959101 -1.36437316] [-0.00210549 0.99994074 -0.01068085 0.05169299] [ 0.03957071 0.01075582 0.99915888 -0.32297069] [ 0. 0. 0. 1. ]] SLAMing on 123.84313336499999 meters Centerline goodness : 0.150217 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 0.99922057 0.00175651 -0.03943553 -1.36505078] [-0.0021737 0.9999421 -0.01053884 0.05096418] [ 0.03941473 0.01061634 0.99916654 -0.32257825] [ 0. 0. 0. 1. ]] SLAMing on 123.87313336499999 meters Centerline goodness : 0.140472 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.05, Z:-0.32 [[ 0.99923471 0.00181972 -0.03907269 -1.36617219] [-0.00222402 0.99994441 -0.01030634 0.04955351] [ 0.03905176 0.01038535 0.99918322 -0.32220357] [ 0. 0. 0. 1. ]] SLAMing on 123.90313336499999 meters Centerline goodness : 0.145239 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.05, Z:-0.32 [[ 0.99932185 -0.00622573 -0.03629153 -1.34650735] [ 0.00589574 0.99994037 -0.00919264 0.04841271] [ 0.0363466 0.00897244 0.99929896 -0.32128919] [ 0. 0. 0. 1. ]] SLAMing on 123.93313336499999 meters Centerline goodness : 0.115262 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.05, Z:-0.32 [[ 0.99933005 -0.00599883 -0.03610353 -1.34701145] [ 0.00568993 0.99994638 -0.00865251 0.04603896] [ 0.0361535 0.00844129 0.9993106 -0.32121187] [ 0. 0. 0. 1. ]] SLAMing on 123.96313336499999 meters Centerline goodness : 0.132096 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.04, Z:-0.32 [[ 0.99933066 -0.00579151 -0.03612059 -1.34692601] [ 0.00549907 0.99995134 -0.00819023 0.04402971] [ 0.03616627 0.00798612 0.99931388 -0.32127505] [ 0. 0. 0. 1. ]] SLAMing on 123.99313336499999 meters Centerline goodness : 0.136130 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.04, Z:-0.32 [[ 0.99932666 -0.00567428 -0.03624959 -1.34639999] [ 0.00539325 0.99995468 -0.0078458 0.04224426] [ 0.03629246 0.00764502 0.99931197 -0.3215563 ] [ 0. 0. 0. 1. ]] SLAMing on 124.02313336499999 meters Centerline goodness : 0.152701 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.04, Z:-0.32 [[ 0.9993129 -0.0056236 -0.03663462 -1.34523432] [ 0.00534991 0.99995708 -0.00756452 0.04038794] [ 0.03667559 0.00736333 0.9993001 -0.32191927] [ 0. 0. 0. 1. ]] SLAMing on 124.053133365 meters Centerline goodness : 0.120048 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.04, Z:-0.32 [[ 0.99930408 -0.00553373 -0.03688799 -1.34456906] [ 0.00526964 0.99995982 -0.0072525 0.03853094] [ 0.03692664 0.00705307 0.99929309 -0.32199544] [ 0. 0. 0. 1. ]] SLAMing on 124.083133365 meters Centerline goodness : 0.142008 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.04, Z:-0.32 [[ 0.99929655 -0.00539749 -0.03711155 -1.34413362] [ 0.00514409 0.99996282 -0.00692006 0.03692514] [ 0.03714752 0.00672429 0.99928717 -0.32181858] [ 0. 0. 0. 1. ]] SLAMing on 124.113133365 meters Centerline goodness : 0.140907 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.04, Z:-0.32 [[ 0.99929309 -0.00524118 -0.03722711 -1.34390608] [ 0.00499879 0.99996572 -0.00660122 0.03562486] [ 0.03726044 0.00641047 0.99928503 -0.32174288] [ 0. 0. 0. 1. ]] SLAMing on 124.143133365 meters Centerline goodness : 0.131429 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.03, Z:-0.32 [[ 0.99929082 -0.00510921 -0.03730631 -1.34364394] [ 0.0048766 0.99996811 -0.00632362 0.0344776 ] [ 0.03733743 0.00613721 0.99928387 -0.32184987] [ 0. 0. 0. 1. ]] SLAMing on 124.173133365 meters Centerline goodness : 0.138817 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.03, Z:-0.32 [[ 0.99930308 -0.00520297 -0.0369632 -1.34449566] [ 0.00498627 0.99996985 -0.00595241 0.03153088] [ 0.03699306 0.00576395 0.9992989 -0.32173866] [ 0. 0. 0. 1. ]] SLAMing on 124.20313336499999 meters Centerline goodness : 0.133359 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.03, Z:-0.32 [[ 0.9993226 -0.00519444 -0.03643297 -1.34599864] [ 0.00499185 0.99997158 -0.00564955 0.02970828] [ 0.03646128 0.00546385 0.99932013 -0.32135145] [ 0. 0. 0. 1. ]] SLAMing on 124.23313336499999 meters Centerline goodness : 0.134743 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.03, Z:-0.32 [[ 0.99933655 -0.0051393 -0.03605609 -1.34711338] [ 0.00495194 0.99997378 -0.00528388 0.02774829] [ 0.0360823 0.00510182 0.9993358 -0.32102569] [ 0. 0. 0. 1. ]] SLAMing on 124.26313336499999 meters Centerline goodness : 0.137285 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.03, Z:-0.32 [[ 0.99933917 -0.00506481 -0.03599397 -1.34743169] [ 0.00489174 0.99997606 -0.00489466 0.02572055] [ 0.0360179 0.00471536 0.99934002 -0.32076618] [ 0. 0. 0. 1. ]] SLAMing on 124.29313336499999 meters Centerline goodness : 0.135965 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99933531 -0.00501543 -0.03610791 -1.34720713] [ 0.00485598 0.99997807 -0.00450227 0.02353703] [ 0.0361297 0.00432394 0.99933775 -0.32064959] [ 0. 0. 0. 1. ]] SLAMing on 124.32313336499999 meters Centerline goodness : 0.137446 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99932801 -0.00507441 -0.03630128 -1.34670645] [ 0.0049263 0.99997918 -0.00416837 0.02114782] [ 0.03632167 0.00398673 0.9993322 -0.32065127] [ 0. 0. 0. 1. ]] SLAMing on 124.35313336499999 meters Centerline goodness : 0.137474 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99931762 -0.00514633 -0.03657595 -1.34599449] [ 0.00500988 0.99998015 -0.00382129 0.01859307] [ 0.03659489 0.00363544 0.99932357 -0.32071583] [ 0. 0. 0. 1. ]] SLAMing on 124.38313336499999 meters Centerline goodness : 0.140190 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.02, Z:-0.32 [[ 0.99931035 -0.00516528 -0.03677151 -1.3454608 ] [ 0.0050446 0.99998158 -0.0033738 0.0157313 ] [ 0.03678826 0.00318597 0.999318 -0.32082614] [ 0. 0. 0. 1. ]] SLAMing on 124.413133365 meters Centerline goodness : 0.161259 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.01, Z:-0.32 [[ 0.99928753 -0.00855694 -0.03675892 -1.34512462] [ 0.00834803 0.99994814 -0.00583285 0.01005946] [ 0.03680692 0.00552183 0.99930714 -0.32135883] [ 0. 0. 0. 1. ]] SLAMing on 124.443133365 meters Centerline goodness : 0.141021 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.01, Z:-0.32 [[ 0.99927869 -0.00849593 -0.0370123 -1.34442496] [ 0.00830086 0.99995085 -0.00542105 0.0076501 ] [ 0.03705654 0.0051099 0.99930011 -0.32152623] [ 0. 0. 0. 1. ]] SLAMing on 124.473133365 meters Centerline goodness : 0.140953 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.01, Z:-0.32 [[ 0.99926753 -0.00842342 -0.03732886 -1.34354044] [ 0.00823986 0.99995321 -0.0050685 0.0056422 ] [ 0.03736981 0.00475721 0.99929018 -0.32177626] [ 0. 0. 0. 1. ]] SLAMing on 124.503133365 meters Centerline goodness : 0.139558 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.32 [[ 0.99925627 -0.00831984 -0.03765232 -1.34263296] [ 0.00814819 0.99995571 -0.00470999 0.00372229] [ 0.03768983 0.00439969 0.9992798 -0.32198518] [ 0. 0. 0. 1. ]] SLAMing on 124.533133365 meters Centerline goodness : 0.139636 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.32 [[ 0.99925023 -0.00810826 -0.03785797 -1.34199475] [ 0.00795214 0.99995925 -0.00427253 0.00196363] [ 0.03789107 0.00396827 0.999274 -0.32222559] [ 0. 0. 0. 1. ]] SLAMing on 124.563133365 meters Centerline goodness : 0.150914 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.32 [[ 9.99250008e-01 -7.90917010e-03 -3.79060245e-02 -1.34178734e+00] [ 7.76701152e-03 9.99962246e-01 -3.89608720e-03 6.63319565e-04] [ 3.79354082e-02 3.59874864e-03 9.99273713e-01 -3.22421153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59313336499999 meters Centerline goodness : 0.138927 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.01, Z:-0.32 [[ 9.99230688e-01 -5.63190610e-04 -3.92137060e-02 -1.32511854e+00] [ 4.08225887e-04 9.99992077e-01 -3.95969495e-03 -6.05206940e-03] [ 3.92156254e-02 3.94064066e-03 9.99223001e-01 -3.20693298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62313336499999 meters Centerline goodness : 0.174274 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.01, Z:-0.32 [[ 9.99221351e-01 -7.35373478e-04 -3.94480905e-02 -1.32438992e+00] [ 5.81251660e-04 9.99992155e-01 -3.91827940e-03 -7.43207075e-03] [ 3.94506624e-02 3.89229917e-03 9.99213939e-01 -3.20936470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65313336499999 meters Centerline goodness : 0.142969 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.00, Z:-0.32 [[ 0.99919308 -0.00894186 -0.03915663 -1.30379772] [ 0.00881763 0.99995553 -0.00334431 -0.00427099] [ 0.03918479 0.00299634 0.99922749 -0.31942559] [ 0. 0. 0. 1. ]] SLAMing on 124.68313336499999 meters Centerline goodness : 0.141729 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.00, Z:-0.32 [[ 0.99920261 -0.00896669 -0.03890676 -1.30443511] [ 0.00884755 0.99995563 -0.00323324 -0.00481524] [ 0.03893403 0.00288643 0.99923761 -0.31952292] [ 0. 0. 0. 1. ]] SLAMing on 124.71313336499999 meters Centerline goodness : 0.142428 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 0.99921671 -0.00896026 -0.03854463 -1.30551947] [ 0.00884877 0.99995616 -0.00306205 -0.0054492 ] [ 0.03857038 0.00271858 0.99925219 -0.31937395] [ 0. 0. 0. 1. ]] SLAMing on 124.74313336499999 meters Centerline goodness : 0.142150 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99270164e-01 -7.22417710e-04 -3.81918420e-02 -1.28828769e+00] [ 5.99371139e-04 9.99994594e-01 -3.23315403e-03 -1.12515491e-02] [ 3.81939712e-02 3.20790327e-03 9.99265195e-01 -3.17973322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77313336499999 meters Centerline goodness : 0.145785 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99283870e-01 -7.13811009e-04 -3.78316936e-02 -1.28947534e+00] [ 5.95747681e-04 9.99994918e-01 -3.13193309e-03 -1.17884071e-02] [ 3.78337370e-02 3.10715207e-03 9.99279217e-01 -3.17525188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.803133365 meters Centerline goodness : 0.125912 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99308684e-01 -1.00065787e-03 -3.71638635e-02 -1.29157356e+00] [ 8.81522928e-04 9.99994421e-01 -3.22191390e-03 -1.21984903e-02] [ 3.71668802e-02 3.18692575e-03 9.99303991e-01 -3.16768728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.833133365 meters Centerline goodness : 0.134260 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.01, Z:-0.32 [[ 9.99307487e-01 -9.83925835e-04 -3.71964694e-02 -1.29146744e+00] [ 8.68889874e-04 9.99994791e-01 -3.10869700e-03 -1.25702131e-02] [ 3.71993344e-02 3.07422455e-03 9.99303137e-01 -3.16867352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.863133365 meters Centerline goodness : 0.142948 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99229351e-01 -9.30242944e-03 -3.81335595e-02 -1.31042724e+00] [ 9.24693679e-03 9.99955915e-01 -1.63133722e-03 -8.69285479e-03] [ 3.81470538e-02 1.27746142e-03 9.99271320e-01 -3.18906336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.893133365 meters Centerline goodness : 0.100176 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99228136e-01 -9.20842290e-03 -3.81881905e-02 -1.31023398e+00] [ 9.16413714e-03 9.99957118e-01 -1.33455798e-03 -9.81321396e-03] [ 3.81988421e-02 9.83566065e-04 9.99269674e-01 -3.19181126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.923133365 meters Centerline goodness : 0.099575 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99231008e-01 -9.23839369e-03 -3.81056944e-02 -1.31055764e+00] [ 9.20007508e-03 9.99956981e-01 -1.18081988e-03 -1.06229718e-02] [ 3.81149640e-02 8.29336592e-04 9.99273017e-01 -3.19145152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95313336499999 meters Centerline goodness : 0.099575 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99231008e-01 -9.23839369e-03 -3.81056944e-02 -1.31055764e+00] [ 9.20007508e-03 9.99956981e-01 -1.18081988e-03 -1.06229718e-02] [ 3.81149640e-02 8.29336592e-04 9.99273017e-01 -3.19145152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98313336499999 meters Centerline goodness : 0.132334 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.32 [[ 9.99244866e-01 -9.34178248e-03 -3.77151023e-02 -1.31177526e+00] [ 9.30799388e-03 9.99956106e-01 -1.07138338e-03 -1.14630231e-02] [ 3.77234554e-02 7.19522402e-04 9.99287958e-01 -3.18907204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01313336499999 meters Centerline goodness : 0.160110 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99302486e-01 -1.30288550e-03 -3.73208129e-02 -1.29449499e+00] [ 1.25787666e-03 9.99998453e-01 -1.22945362e-03 -1.83375753e-02] [ 3.73223570e-02 1.18165108e-03 9.99302579e-01 -3.17904665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04313336499999 meters Centerline goodness : 0.091256 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99306534e-01 -1.06575724e-03 -3.72198203e-02 -1.29455603e+00] [ 1.04666491e-03 9.99999310e-01 -5.32442653e-04 -2.12848892e-02] [ 3.72203621e-02 4.93116742e-04 9.99306961e-01 -3.18202139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07313336499999 meters Centerline goodness : 0.092438 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99302273e-01 -9.47774486e-04 -3.73372446e-02 -1.29394946e+00] [ 9.38552717e-04 9.99999525e-01 -2.64512635e-04 -2.24520604e-02] [ 3.73374775e-02 2.29285105e-04 9.99302687e-01 -3.18755771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10313336499999 meters Centerline goodness : 0.136778 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99298335e-01 -8.55328116e-04 -3.74447086e-02 -1.29347803e+00] [ 8.53990744e-04 9.99999634e-01 -5.17102372e-05 -2.34476334e-02] [ 3.74447391e-02 1.96965194e-05 9.99298700e-01 -3.19057587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13313336499999 meters Centerline goodness : 0.155433 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99292805e-01 -7.34528909e-04 -3.75945629e-02 -1.29312132e+00] [ 7.41742559e-04 9.99999709e-01 1.77932816e-04 -2.43179155e-02] [ 3.75944213e-02 -2.05692470e-04 9.99293059e-01 -3.19031263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.163133365 meters Centerline goodness : 0.144309 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.32 [[ 9.99291432e-01 -5.88271072e-04 -3.76336036e-02 -1.29318174e+00] [ 6.01941053e-04 9.99999757e-01 3.51909110e-04 -2.48605988e-02] [ 3.76333874e-02 -3.74312969e-04 9.99291543e-01 -3.18790609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.193133365 meters Centerline goodness : 0.148948 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99290905e-01 -3.79648079e-04 -3.76502758e-02 -1.29330514e+00] [ 4.02245997e-04 9.99999743e-01 5.92632714e-04 -2.54854707e-02] [ 3.76500412e-02 -6.07357154e-04 9.99290801e-01 -3.18516932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.223133365 meters Centerline goodness : 0.146193 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99283734e-01 -1.74917694e-04 -3.78416118e-02 -1.29278061e+00] [ 2.07419739e-04 9.99999613e-01 8.54972718e-04 -2.62930551e-02] [ 3.78414476e-02 -8.62209427e-04 9.99283384e-01 -3.18574168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.253133365 meters Centerline goodness : 0.111053 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.32 [[ 9.99252155e-01 3.96495402e-04 -3.86648821e-02 -1.29016747e+00] [-3.42937308e-04 9.99998973e-01 1.39180951e-03 -2.80429322e-02] [ 3.86653942e-02 -1.37750903e-03 9.99251265e-01 -3.19475630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.283133365 meters Centerline goodness : 0.140433 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99223156e-01 8.88628500e-03 -3.83942474e-02 -1.27000781e+00] [-8.88581786e-03 9.99960504e-01 1.82815268e-04 -3.29770383e-02] [ 3.83943555e-02 1.58491040e-04 9.99262652e-01 -3.17794304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.313133365 meters Centerline goodness : 0.136791 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99217553e-01 8.96009359e-03 -3.85226913e-02 -1.26976419e+00] [-8.95552571e-03 9.99959856e-01 2.91137721e-04 -3.36536655e-02] [ 3.85237534e-02 5.40810305e-05 9.99257683e-01 -3.17678295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34313336499999 meters Centerline goodness : 0.109614 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.03, Z:-0.32 [[ 9.99215251e-01 9.06215278e-03 -3.85585260e-02 -1.26971670e+00] [-9.05222494e-03 9.99958934e-01 4.32055617e-04 -3.43606839e-02] [ 3.85608580e-02 -8.26761104e-05 9.99256250e-01 -3.17584474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37313336499999 meters Centerline goodness : 0.167221 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.04, Z:-0.32 [[ 9.99215779e-01 9.18944138e-03 -3.85146817e-02 -1.26977190e+00] [-9.17133567e-03 9.99957733e-01 6.46757482e-04 -3.53024331e-02] [ 3.85189972e-02 -2.93019208e-04 9.99257825e-01 -3.17688850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40313336499999 meters Centerline goodness : 0.132951 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.9992801 0.0018393 -0.03789321 -1.25046538] [-0.00176864 0.99999663 0.00189808 -0.03222521] [ 0.03789658 -0.00182969 0.99927999 -0.31624596] [ 0. 0. 0. 1. ]] SLAMing on 125.43313336499999 meters Centerline goodness : 0.141789 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99928425 0.00212899 -0.03776837 -1.25077587] [-0.00203599 0.9999948 0.00250075 -0.03490704] [ 0.0377735 -0.00242207 0.99928339 -0.31621143] [ 0. 0. 0. 1. ]] SLAMing on 125.46313336499999 meters Centerline goodness : 0.134407 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.9992824 0.00225932 -0.03780969 -1.25062587] [-0.00215465 0.99999373 0.002809 -0.03640634] [ 0.0378158 -0.00272552 0.99928101 -0.31629728] [ 0. 0. 0. 1. ]] SLAMing on 125.49313336499999 meters Centerline goodness : 0.134088 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928378 0.00235453 -0.03776746 -1.25078296] [-0.00224134 0.99999287 0.00303892 -0.03757313] [ 0.03777435 -0.0029521 0.99928193 -0.31620578] [ 0. 0. 0. 1. ]] SLAMing on 125.52313336499999 meters Centerline goodness : 0.133908 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928302 0.00245525 -0.03778115 -1.25077918] [-0.00233326 0.99999192 0.00327271 -0.03880079] [ 0.03778888 -0.00318221 0.99928068 -0.31616872] [ 0. 0. 0. 1. ]] SLAMing on 125.553133365 meters Centerline goodness : 0.132350 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928238 0.00251745 -0.03779399 -1.25067894] [-0.00238928 0.99999124 0.00343592 -0.03967735] [ 0.03780231 -0.00334316 0.99927964 -0.3162841 ] [ 0. 0. 0. 1. ]] SLAMing on 125.583133365 meters Centerline goodness : 0.141223 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928188 0.00254685 -0.0378053 -1.2504058 ] [-0.00241445 0.99999079 0.00354749 -0.04037296] [ 0.03781398 -0.00345366 0.99927883 -0.31665289] [ 0. 0. 0. 1. ]] SLAMing on 125.613133365 meters Centerline goodness : 0.131839 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99927671 0.0025863 -0.03793891 -1.24997462] [-0.00245112 0.99999048 0.00360932 -0.04065326] [ 0.03794788 -0.00351372 0.99927354 -0.31680687] [ 0. 0. 0. 1. ]] SLAMing on 125.643133365 meters Centerline goodness : 0.144150 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99927865 0.00260023 -0.03788703 -1.24998073] [-0.00246611 0.99999053 0.00358638 -0.04045703] [ 0.03789599 -0.00349036 0.99927559 -0.31701156] [ 0. 0. 0. 1. ]] SLAMing on 125.673133365 meters Centerline goodness : 0.137727 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99928272 0.00263358 -0.037777 -1.25028719] [-0.00250142 0.99999059 0.00354551 -0.0399875 ] [ 0.03778599 -0.00344847 0.9992799 -0.31692345] [ 0. 0. 0. 1. ]] SLAMing on 125.70313336499999 meters Centerline goodness : 0.136599 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930159 0.00277553 -0.03726427 -1.25162342] [-0.00265564 0.99999114 0.0032662 -0.03785593] [ 0.03727301 -0.00316496 0.99930011 -0.31661182] [ 0. 0. 0. 1. ]] SLAMing on 125.73313336499999 meters Centerline goodness : 0.129361 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99929885 0.00277191 -0.03733794 -1.25118073] [-0.00266185 0.99999197 0.00299693 -0.03624331] [ 0.03734595 -0.00289545 0.9992982 -0.31694638] [ 0. 0. 0. 1. ]] SLAMing on 125.76313336499999 meters Centerline goodness : 0.135054 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99929529 0.0027355 -0.03743582 -1.250492 ] [-0.00263721 0.99999295 0.00267481 -0.03440521] [ 0.03744287 -0.0025742 0.99929545 -0.31762961] [ 0. 0. 0. 1. ]] SLAMing on 125.79313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 125.82313336499999 meters Centerline goodness : 0.151016 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99929693 0.00280876 -0.03738647 -1.25015846] [-0.00272223 0.9999935 0.00236521 -0.03218472] [ 0.03739287 -0.00226178 0.99929808 -0.31840126] [ 0. 0. 0. 1. ]] SLAMing on 125.85313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 125.88313336499999 meters Centerline goodness : 0.134859 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99931413 0.00279936 -0.03692472 -1.25196802] [-0.0027144 0.99999355 0.00235093 -0.03221493] [ 0.03693107 -0.00224908 0.99931528 -0.31736422] [ 0. 0. 0. 1. ]] SLAMing on 125.913133365 meters Centerline goodness : 0.131517 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99931258 0.00285067 -0.03696274 -1.25187452] [-0.00276086 0.99999311 0.00248072 -0.03281058] [ 0.03696956 -0.00237697 0.99931357 -0.31739156] [ 0. 0. 0. 1. ]] SLAMing on 125.943133365 meters Centerline goodness : 0.133490 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-0.32 [[ 0.99930698 0.00292294 -0.03710829 -1.25141936] [-0.00282633 0.99999248 0.00265579 -0.03355098] [ 0.03711577 -0.00254907 0.99930772 -0.31755003] [ 0. 0. 0. 1. ]] SLAMing on 125.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.003133365 meters Centerline goodness : 0.135461 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930395 0.00311668 -0.03717403 -1.25127637] [-0.00300285 0.99999063 0.00311741 -0.03568355] [ 0.0371834 -0.00300361 0.99930394 -0.31748491] [ 0. 0. 0. 1. ]] SLAMing on 126.033133365 meters Centerline goodness : 0.065477 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930994 0.00330392 -0.03699633 -1.2521299 ] [-0.00317159 0.99998836 0.00363506 -0.03840294] [ 0.03700791 -0.00351522 0.99930879 -0.31678626] [ 0. 0. 0. 1. ]] SLAMing on 126.063133365 meters Centerline goodness : 0.065477 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930994 0.00330392 -0.03699633 -1.2521299 ] [-0.00317159 0.99998836 0.00363506 -0.03840294] [ 0.03700791 -0.00351522 0.99930879 -0.31678626] [ 0. 0. 0. 1. ]] SLAMing on 126.09313336499999 meters Centerline goodness : 0.131403 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.32 [[ 0.99930534 0.00353343 -0.03709914 -1.25209497] [-0.003385 0.99998602 0.00406273 -0.04027344] [ 0.03711297 -0.00393433 0.99930333 -0.31633836] [ 0. 0. 0. 1. ]] SLAMing on 126.12313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.15313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.18313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.21313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.24313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.27313336499999 meters Centerline goodness : 0.134901 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.32 [[ 0.9992358 0.00182835 -0.03904461 -1.24577397] [-0.00169398 0.99999253 0.00347418 -0.05114743] [ 0.03905067 -0.00340538 0.99923143 -0.31817564] [ 0. 0. 0. 1. ]] SLAMing on 126.303133365 meters Centerline goodness : 0.128888 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.32 [[ 0.99922136 0.0019174 -0.03940813 -1.24467771] [-0.00176444 0.99999078 0.00391567 -0.05366877] [ 0.03941527 -0.00384309 0.99921553 -0.318479 ] [ 0. 0. 0. 1. ]] SLAMing on 126.333133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.363133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.393133365 meters Centerline goodness : 0.134698 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.99925788 -0.00150032 -0.03848944 -1.24829569] [ 0.00157059 0.99999715 0.00179562 -0.06236611] [ 0.03848663 -0.00185474 0.99925739 -0.31679937] [ 0. 0. 0. 1. ]] SLAMing on 126.423133365 meters Centerline goodness : 0.167975 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-0.32 [[ 0.9992694 -0.00136973 -0.0381941 -1.24941183] [ 0.00145417 0.99999656 0.00218291 -0.0643573 ] [ 0.03819098 -0.00223686 0.99926795 -0.31615693] [ 0. 0. 0. 1. ]] SLAMing on 126.45313336499999 meters Centerline goodness : 0.137768 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-0.32 [[ 9.99282661e-01 -1.18201621e-03 -3.78518955e-02 -1.25038671e+00] [ 1.28180343e-03 9.99995767e-01 2.61209453e-03 -6.65931781e-02] [ 3.78486478e-02 -2.65873946e-03 9.99279946e-01 -3.15843526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48313336499999 meters Centerline goodness : 0.136745 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-0.32 [[ 9.99276044e-01 -1.22037266e-03 -3.80249630e-02 -1.24964318e+00] [ 1.31965916e-03 9.99995785e-01 2.58609786e-03 -6.68295672e-02] [ 3.80216467e-02 -2.63440563e-03 9.99273443e-01 -3.16289525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51313336499999 meters Centerline goodness : 0.171013 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-0.32 [[ 9.99256443e-01 -1.05947776e-03 -3.85413798e-02 -1.24808255e+00] [ 1.16144778e-03 9.99995884e-01 2.62343416e-03 -6.69301640e-02] [ 3.85384417e-02 -2.66624729e-03 9.99253561e-01 -3.16595148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.57313336499999 meters Centerline goodness : 0.140024 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.9992326 0.00827126 -0.03828585 -1.22680866] [-0.00819814 0.99996426 0.0020666 -0.0698907 ] [ 0.03830158 -0.00175114 0.99926469 -0.3160777 ] [ 0. 0. 0. 1. ]] SLAMing on 126.60313336499999 meters Centerline goodness : 0.141619 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.9992435 0.00827733 -0.03799878 -1.22760595] [-0.00820683 0.9999643 0.00201102 -0.06942381] [ 0.03801407 -0.00169765 0.99927576 -0.31591232] [ 0. 0. 0. 1. ]] SLAMing on 126.63313336499999 meters Centerline goodness : 0.161665 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924966 0.00824799 -0.03784289 -1.22817428] [-0.00818171 0.99996471 0.00190591 -0.06883522] [ 0.03785728 -0.00159486 0.99928188 -0.31561233] [ 0. 0. 0. 1. ]] SLAMing on 126.663133365 meters Centerline goodness : 0.164437 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924877 0.00826847 -0.03786208 -1.22812908] [-0.00820314 0.99996459 0.00188051 -0.0687352 ] [ 0.03787629 -0.00156851 0.9992812 -0.3155807 ] [ 0. 0. 0. 1. ]] SLAMing on 126.693133365 meters Centerline goodness : 0.148665 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99923791 0.00838188 -0.0381227 -1.22680527] [-0.00831083 0.99996342 0.00202176 -0.06913696] [ 0.03813825 -0.00170339 0.99927102 -0.31656408] [ 0. 0. 0. 1. ]] SLAMing on 126.723133365 meters Centerline goodness : 0.058139 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99923477 0.00845503 -0.03818875 -1.22646307] [-0.00837941 0.9999626 0.00213964 -0.06962426] [ 0.03820541 -0.001818 0.99926825 -0.31685328] [ 0. 0. 0. 1. ]] SLAMing on 126.753133365 meters Centerline goodness : 0.154698 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99923984 0.0085372 -0.03803761 -1.22672213] [-0.00845696 0.99996166 0.00227002 -0.06974487] [ 0.03805554 -0.00194661 0.99927373 -0.31706385] [ 0. 0. 0. 1. ]] SLAMing on 126.783133365 meters Centerline goodness : 0.165205 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924498 0.00864781 -0.03787735 -1.22713158] [-0.0085628 0.99996044 0.00240601 -0.06991497] [ 0.03789666 -0.00207986 0.9992795 -0.3170225 ] [ 0. 0. 0. 1. ]] SLAMing on 126.813133365 meters Centerline goodness : 0.168438 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.07, Z:-0.32 [[ 0.99924676 0.00870886 -0.03781632 -1.22739842] [-0.00862039 0.99995971 0.00250193 -0.07031319] [ 0.03783658 -0.00217406 0.99928158 -0.3168444 ] [ 0. 0. 0. 1. ]] SLAMing on 126.84313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.87313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.90313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 126.93313336499999 meters Centerline goodness : 0.144546 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:-0.32 [[ 0.99917459 0.00801688 -0.03982284 -1.22062123] [-0.00794232 0.9999664 0.00203008 -0.07262336] [ 0.03983778 -0.00171212 0.99920469 -0.31897505] [ 0. 0. 0. 1. ]] SLAMing on 126.96313336499999 meters Centerline goodness : 0.109904 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.07, Z:-0.32 [[ 0.99916642 0.00823186 -0.03998367 -1.21990371] [-0.00813882 0.99996378 0.0024892 -0.07443397] [ 0.04000271 -0.00216171 0.99919723 -0.31942591] [ 0. 0. 0. 1. ]] SLAMing on 126.99313336499999 meters Centerline goodness : 0.170684 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 0.99916053 0.00842859 -0.04008975 -1.21946782] [-0.00831941 0.99996122 0.00288954 -0.07620737] [ 0.04011255 -0.00255359 0.9991919 -0.31963994] [ 0. 0. 0. 1. ]] SLAMing on 127.02313336499999 meters Centerline goodness : 0.055460 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 0.99915724 0.00845866 -0.04016541 -1.21949232] [-0.0083405 0.99996039 0.00310861 -0.0777838 ] [ 0.04019012 -0.00277099 0.99918821 -0.31924001] [ 0. 0. 0. 1. ]] SLAMing on 127.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.083133365 meters Centerline goodness : 0.126628 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99216636e-01 5.45404168e-03 -3.91965214e-02 -1.22200009e+00] [-5.42416699e-03 9.99984912e-01 8.68482536e-04 -8.32609333e-02] [ 3.92006668e-02 -6.55193720e-04 9.99231144e-01 -3.18924202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.113133365 meters Centerline goodness : 0.101912 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99209464e-01 5.64742648e-03 -3.93516747e-02 -1.22145925e+00] [-5.60756980e-03 9.99983647e-01 1.12313666e-03 -8.41892016e-02] [ 3.93573740e-02 -9.01581518e-04 9.99224792e-01 -3.19067980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.143133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.173133365 meters Centerline goodness : 0.176320 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99161467e-01 6.13612457e-03 -4.04809834e-02 -1.21793654e+00] [-6.09282759e-03 9.99980727e-01 1.19285050e-03 -8.39799694e-02] [ 4.04875227e-02 -9.45206606e-04 9.99179597e-01 -3.19834496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20313336499999 meters Centerline goodness : 0.088201 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99157629e-01 6.08107404e-03 -4.05839065e-02 -1.21736787e+00] [-6.04764718e-03 9.99981265e-01 9.46367487e-04 -8.28128910e-02] [ 4.05889011e-02 -7.00133146e-04 9.99175686e-01 -3.20347873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23313336499999 meters Centerline goodness : 0.082921 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99187605e-01 6.32979223e-03 -3.98003054e-02 -1.21916561e+00] [-6.30279988e-03 9.99979814e-01 8.03635537e-04 -8.07533803e-02] [ 3.98045888e-02 -5.52129307e-04 9.99207331e-01 -3.20582592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26313336499999 meters Centerline goodness : 0.082921 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99187605e-01 6.32979223e-03 -3.98003054e-02 -1.21916561e+00] [-6.30279988e-03 9.99979814e-01 8.03635537e-04 -8.07533803e-02] [ 3.98045888e-02 -5.52129307e-04 9.99207331e-01 -3.20582592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29313336499999 meters Centerline goodness : 0.181281 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99201792e-01 6.32496521e-03 -3.94432918e-02 -1.22005235e+00] [-6.30473507e-03 9.99979922e-01 6.37260255e-04 -7.95535552e-02] [ 3.94465305e-02 -3.88072084e-04 9.99221607e-01 -3.20595410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32313336499999 meters Centerline goodness : 0.057694 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:-0.32 [[ 9.99218812e-01 6.25843111e-03 -3.90204824e-02 -1.22155019e+00] [-6.24257577e-03 9.99980375e-01 5.28162409e-04 -7.90428801e-02] [ 3.90230221e-02 -2.84161496e-04 9.99238271e-01 -3.19900278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35313336499999 meters Centerline goodness : 0.144137 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.08, Z:-0.32 [[ 9.99221878e-01 -1.19270561e-03 -3.94235513e-02 -1.20258329e+00] [ 1.24696730e-03 9.99998309e-01 1.35181656e-03 -7.51056514e-02] [ 3.94218723e-02 -1.39992456e-03 9.99221675e-01 -3.17518926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.413133365 meters Centerline goodness : 0.089474 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.08, Z:-0.32 [[ 0.99919137 -0.00169104 -0.04017138 -1.20043521] [ 0.00174757 0.99999753 0.00137223 -0.07712784] [ 0.04016896 -0.00144132 0.99919186 -0.31789881] [ 0. 0. 0. 1. ]] SLAMing on 127.443133365 meters Centerline goodness : 0.110676 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.08, Z:-0.32 [[ 0.99917854 -0.00176968 -0.04048606 -1.19956909] [ 0.00183681 0.999997 0.00162112 -0.07902792] [ 0.04048307 -0.00169415 0.99917879 -0.3179784 ] [ 0. 0. 0. 1. ]] SLAMing on 127.473133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.503133365 meters Centerline goodness : 0.149767 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.09, Z:-0.32 [[ 9.99158978e-01 -4.31597558e-03 -4.07763276e-02 -1.19720670e+00] [ 4.32452138e-03 9.99990642e-01 1.21373670e-04 -8.62341718e-02] [ 4.07754222e-02 -2.97609693e-04 9.99168292e-01 -3.19562742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.533133365 meters Centerline goodness : 0.160635 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.09, Z:-0.32 [[ 9.99162071e-01 -4.08708254e-03 -4.07241010e-02 -1.19718835e+00] [ 4.11842937e-03 9.99991284e-01 6.85871462e-04 -8.80812487e-02] [ 4.07209428e-02 -8.53016084e-04 9.99170194e-01 -3.19930735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.563133365 meters Centerline goodness : 0.140464 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.09, Z:-0.32 [[ 9.99192866e-01 4.74321867e-03 -3.98888252e-02 -1.17865105e+00] [-4.76525943e-03 9.99988541e-01 -4.57494255e-04 -9.19545553e-02] [ 3.98861981e-02 6.47205597e-04 9.99204019e-01 -3.17987802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.62313336499999 meters Centerline goodness : 0.141335 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.09, Z:-0.32 [[ 9.99210266e-01 4.75775253e-03 -3.94488137e-02 -1.17958648e+00] [-4.78620222e-03 9.99988350e-01 -6.26768960e-04 -9.11417180e-02] [ 3.94453721e-02 8.15083979e-04 9.99221396e-01 -3.17927494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65313336499999 meters Centerline goodness : 0.125946 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.09, Z:-0.32 [[ 9.99135036e-01 6.59182953e-03 -4.10576207e-02 -1.17401175e+00] [-6.58819931e-03 9.99978273e-01 2.23723685e-04 -8.60058511e-02] [ 4.10582033e-02 4.69656160e-05 9.99156755e-01 -3.19200249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68313336499999 meters Centerline goodness : 0.041766 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99116648e-01 6.84613979e-03 -4.14614837e-02 -1.17263912e+00] [-6.84629987e-03 9.99976554e-01 1.38130776e-04 -8.49297424e-02] [ 4.14614573e-02 1.45848993e-04 9.99140093e-01 -3.19622726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71313336499999 meters Centerline goodness : 0.126515 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99111538e-01 6.90867446e-03 -4.15740949e-02 -1.17235663e+00] [-6.92071517e-03 9.99976041e-01 -1.45702212e-04 -8.31385675e-02] [ 4.15720922e-02 4.33295231e-04 9.99135413e-01 -3.19551709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74313336499999 meters Centerline goodness : 0.091677 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99119058e-01 6.80523218e-03 -4.14101131e-02 -1.17274800e+00] [-6.83254663e-03 9.99976524e-01 -5.18113323e-04 -8.11424726e-02] [ 4.14056151e-02 8.00593424e-04 9.99142099e-01 -3.19631888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77313336499999 meters Centerline goodness : 0.147663 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 9.99121747e-01 6.64062175e-03 -4.13719253e-02 -1.17265195e+00] [-6.68471188e-03 9.99977227e-01 -9.27452542e-04 -7.92859215e-02] [ 4.13648242e-02 1.20319740e-03 9.99143385e-01 -3.19960833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.803133365 meters Centerline goodness : 0.146926 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 0.9991217 0.00650548 -0.04139453 -1.17232712] [-0.00656303 0.99997768 -0.0012545 -0.07778957] [ 0.04138544 0.00152508 0.99914209 -0.32040857] [ 0. 0. 0. 1. ]] SLAMing on 127.833133365 meters Centerline goodness : 0.148414 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:-0.32 [[ 0.99912588 0.00638857 -0.04131171 -1.17239437] [-0.00645665 0.99997801 -0.00151491 -0.0764955 ] [ 0.04130113 0.00178032 0.99914516 -0.32066009] [ 0. 0. 0. 1. ]] SLAMing on 127.863133365 meters Centerline goodness : 0.169340 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.9991355 0.00621336 -0.04110527 -1.17315493] [-0.00629748 0.99997833 -0.00191737 -0.07422549] [ 0.04109246 0.00217458 0.99915298 -0.32032525] [ 0. 0. 0. 1. ]] SLAMing on 127.893133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 127.923133365 meters Centerline goodness : 0.144200 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99912791 0.00581527 -0.04134728 -1.17265064] [-0.00592774 0.99997906 -0.00259799 -0.07152765] [ 0.04133131 0.00284082 0.99914146 -0.32021865] [ 0. 0. 0. 1. ]] SLAMing on 127.95313336499999 meters Centerline goodness : 0.121833 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99911836 0.0055827 -0.04160936 -1.17185066] [-0.00571447 0.99997903 -0.00304837 -0.06960693] [ 0.04159147 0.00328346 0.99912931 -0.32051295] [ 0. 0. 0. 1. ]] SLAMing on 127.98313336499999 meters Centerline goodness : 0.145405 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99911231 0.00540565 -0.04177755 -1.17122242] [-0.00555429 0.99997865 -0.00344259 -0.06762761] [ 0.04175805 0.00367157 0.99912101 -0.32087221] [ 0. 0. 0. 1. ]] SLAMing on 128.013133365 meters Centerline goodness : 0.119400 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.07, Z:-0.32 [[ 0.99911135 0.0052886 -0.04181558 -1.17106555] [-0.00544915 0.99997821 -0.00372641 -0.06611911] [ 0.04179496 0.00395096 0.9991184 -0.32101201] [ 0. 0. 0. 1. ]] SLAMing on 128.043133365 meters Centerline goodness : 0.121773 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.06, Z:-0.32 [[ 0.99911212 -0.0036525 -0.04197172 -1.19077609] [ 0.00354724 0.99999037 -0.0025822 -0.06147683] [ 0.04198075 0.00243103 0.99911546 -0.32283033] [ 0. 0. 0. 1. ]] SLAMing on 128.073133365 meters Centerline goodness : 0.122157 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.06, Z:-0.32 [[ 0.99924399 0.00328258 -0.03873865 -1.17429686] [-0.00348935 0.99998002 -0.00527106 -0.06305021] [ 0.03872057 0.00540225 0.99923547 -0.32070898] [ 0. 0. 0. 1. ]] SLAMing on 128.103133365 meters Centerline goodness : 0.146624 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.06, Z:-0.32 [[ 0.99925832 0.00326091 -0.03836902 -1.17567217] [-0.00346132 0.99998071 -0.00515807 -0.06370963] [ 0.03835146 0.00528705 0.99925033 -0.31998401] [ 0. 0. 0. 1. ]] SLAMing on 128.133133365 meters Centerline goodness : 0.146916 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99930185 -0.00440468 -0.03710001 -1.15664741] [ 0.00425743 0.99998275 -0.00404689 -0.060268 ] [ 0.03711719 0.00388611 0.99930336 -0.31787683] [ 0. 0. 0. 1. ]] SLAMing on 128.163133365 meters Centerline goodness : 0.141804 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99930334 -0.00441381 -0.03705875 -1.15693193] [ 0.00427413 0.99998346 -0.0038474 -0.06149075] [ 0.03707512 0.00368633 0.99930568 -0.31758886] [ 0. 0. 0. 1. ]] SLAMing on 128.193133365 meters Centerline goodness : 0.145846 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99929599 -0.004433 -0.03725408 -1.15642205] [ 0.00429781 0.99998389 -0.0037081 -0.06245895] [ 0.03726992 0.00354538 0.99929895 -0.3176539 ] [ 0. 0. 0. 1. ]] SLAMing on 128.223133365 meters Centerline goodness : 0.115164 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99929034 -0.00441151 -0.03740795 -1.1558544 ] [ 0.00428139 0.99998451 -0.00355779 -0.06331412] [ 0.03742307 0.00339511 0.99929374 -0.31799578] [ 0. 0. 0. 1. ]] SLAMing on 128.253133365 meters Centerline goodness : 0.187198 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 0.99931137 -0.00429397 -0.03685564 -1.15719951] [ 0.00418462 0.99998661 -0.00304378 -0.06453716] [ 0.03686821 0.00288746 0.99931596 -0.3183688 ] [ 0. 0. 0. 1. ]] SLAMing on 128.283133365 meters Centerline goodness : 0.139959 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99328871e-01 -1.59230327e-03 -3.65960666e-02 -1.15859284e+00] [ 1.57838345e-03 9.99998671e-01 -4.09251769e-04 -6.27013614e-02] [ 3.65966697e-02 3.51214483e-04 9.99330056e-01 -3.17645245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.313133365 meters Centerline goodness : 0.132754 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99331069e-01 -1.61311397e-03 -3.65350803e-02 -1.15876836e+00] [ 1.59792659e-03 9.99998624e-01 -4.44888967e-04 -6.25456434e-02] [ 3.65357476e-02 3.86210991e-04 9.99332272e-01 -3.17606058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.343133365 meters Centerline goodness : 0.147252 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99324034e-01 -1.58952207e-03 -3.67280224e-02 -1.15801531e+00] [ 1.57526098e-03 9.99998672e-01 -4.17223826e-04 -6.26314949e-02] [ 3.67286368e-02 3.59085576e-04 9.99325211e-01 -3.18015145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.373133365 meters Centerline goodness : 0.142247 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99310330e-01 -1.49339296e-03 -3.71030170e-02 -1.15679515e+00] [ 1.48091435e-03 9.99998837e-01 -3.63803659e-04 -6.28167387e-02] [ 3.71035172e-02 3.08606364e-04 9.99311380e-01 -3.18445985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.403133365 meters Centerline goodness : 0.143386 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99305503e-01 -1.35552620e-03 -3.72380718e-02 -1.15609257e+00] [ 1.35226775e-03 9.99999079e-01 -1.12689683e-04 -6.35180926e-02] [ 3.72381903e-02 6.22555767e-05 9.99306416e-01 -3.19117119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.433133365 meters Centerline goodness : 0.146890 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:-0.32 [[ 9.99314972e-01 -1.23248226e-03 -3.69874122e-02 -1.15654705e+00] [ 1.24590543e-03 9.99999166e-01 3.39864753e-04 -6.47848564e-02] [ 3.69869625e-02 -3.85714754e-04 9.99315674e-01 -3.19645717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.463133365 meters Centerline goodness : 0.144838 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.07, Z:-0.32 [[ 9.99319047e-01 -1.26975981e-03 -3.68758766e-02 -1.15669276e+00] [ 1.28612328e-03 9.99999085e-01 4.20026370e-04 -6.51012482e-02] [ 3.68753095e-02 -4.67167275e-04 9.99319765e-01 -3.19953441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.493133365 meters Centerline goodness : 0.146603 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.07, Z:-0.32 [[ 9.99309830e-01 -1.31941019e-03 -3.71230828e-02 -1.15588188e+00] [ 1.33504937e-03 9.99999030e-01 3.96493158e-04 -6.52375339e-02] [ 3.71225237e-02 -4.45780658e-04 9.99310622e-01 -3.20307033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52313336499998 meters Centerline goodness : 0.129474 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99295696e-01 -1.19682682e-03 -3.75057275e-02 -1.15459204e+00] [ 1.21874969e-03 9.99999100e-01 5.61662972e-04 -6.56932741e-02] [ 3.75050215e-02 -6.06977484e-04 9.99296255e-01 -3.20963709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55313336499998 meters Centerline goodness : 0.126777 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99289488e-01 -1.09705606e-03 -3.76738184e-02 -1.15396896e+00] [ 1.12326561e-03 9.99999142e-01 6.74537358e-04 -6.58050207e-02] [ 3.76730461e-02 -7.16375795e-04 9.99289862e-01 -3.21373689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58313336499998 meters Centerline goodness : 0.150569 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99283374e-01 -1.04499082e-03 -3.78370961e-02 -1.15346080e+00] [ 1.07315388e-03 9.99999162e-01 7.24021865e-04 -6.58581525e-02] [ 3.78363078e-02 -7.64108039e-04 9.99283658e-01 -3.21610128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61313336499998 meters Centerline goodness : 0.150612 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99270082e-01 -1.22827556e-03 -3.81810864e-02 -1.15248613e+00] [ 1.25263253e-03 9.99999027e-01 6.14017346e-04 -6.58541072e-02] [ 3.81802951e-02 -6.61396035e-04 9.99270648e-01 -3.21883371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64313336499998 meters Centerline goodness : 0.149206 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99270881e-01 -1.25150415e-03 -3.81593948e-02 -1.15266426e+00] [ 1.28069249e-03 9.99998906e-01 7.40471191e-04 -6.67284831e-02] [ 3.81584263e-02 -7.88801750e-04 9.99271391e-01 -3.21716609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67313336499998 meters Centerline goodness : 0.128923 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99269804e-01 -1.39013760e-03 -3.81828037e-02 -1.15288354e+00] [ 1.42233072e-03 9.99998656e-01 8.15980138e-04 -6.77304609e-02] [ 3.81816181e-02 -8.69692887e-04 9.99270438e-01 -3.21292739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70313336499999 meters Centerline goodness : 0.161857 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99257157e-01 -1.65928841e-03 -3.85017078e-02 -1.15235310e+00] [ 1.69254236e-03 9.99998222e-01 8.31121758e-04 -6.88447803e-02] [ 3.85002603e-02 -8.95670136e-04 9.99258189e-01 -3.20949489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.733133365 meters Centerline goodness : 0.171323 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99232677e-01 -1.97232537e-03 -3.91173559e-02 -1.15076213e+00] [ 2.00809938e-03 9.99997601e-01 8.75260624e-04 -7.02213385e-02] [ 3.91155358e-02 -9.53140555e-04 9.99234240e-01 -3.21141666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763133365 meters Centerline goodness : 0.171323 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99232677e-01 -1.97232537e-03 -3.91173559e-02 -1.15076213e+00] [ 2.00809938e-03 9.99997601e-01 8.75260624e-04 -7.02213385e-02] [ 3.91155358e-02 -9.53140555e-04 9.99234240e-01 -3.21141666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.793133365 meters Centerline goodness : 0.124688 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.07, Z:-0.32 [[ 9.99204401e-01 -2.13428749e-03 -3.98247505e-02 -1.14883115e+00] [ 2.18138926e-03 9.99996972e-01 1.13930946e-03 -7.22799352e-02] [ 3.98221983e-02 -1.22527631e-03 9.99206030e-01 -3.21563351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823133365 meters Centerline goodness : 0.153151 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.99918149 -0.00270243 -0.04036156 -1.14681246] [ 0.0027632 0.99999513 0.00144988 -0.07648388] [ 0.04035745 -0.00156022 0.99918409 -0.32251111] [ 0. 0. 0. 1. ]] SLAMing on 128.853133365 meters Centerline goodness : 0.143823 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.99916686 -0.00283021 -0.04071344 -1.14606465] [ 0.00290356 0.99999427 0.0017427 -0.07891099] [ 0.04070828 -0.00185946 0.99916934 -0.32233697] [ 0. 0. 0. 1. ]] SLAMing on 128.883133365 meters Centerline goodness : 0.162707 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.9991627 -0.00280694 -0.04081689 -1.14602043] [ 0.00289681 0.99999351 0.00214285 -0.08139746] [ 0.04081061 -0.00225929 0.99916435 -0.32202235] [ 0. 0. 0. 1. ]] SLAMing on 128.913133365 meters Centerline goodness : 0.127231 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.08, Z:-0.32 [[ 0.9991635 -0.00265143 -0.04080763 -1.14617599] [ 0.0027625 0.99999263 0.00266553 -0.08402745] [ 0.04080026 -0.00277603 0.99916347 -0.3218636 ] [ 0. 0. 0. 1. ]] SLAMing on 128.943133365 meters Centerline goodness : 0.166794 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.09, Z:-0.32 [[ 0.99916244 -0.00247078 -0.04084499 -1.14625977] [ 0.00260398 0.99999146 0.00320829 -0.08667322] [ 0.04083672 -0.00331196 0.99916034 -0.32160608] [ 0. 0. 0. 1. ]] SLAMing on 128.973133365 meters Centerline goodness : 0.129636 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.09, Z:-0.32 [[ 0.99916372 -0.0022771 -0.04082504 -1.14641427] [ 0.00243146 0.99999008 0.00373181 -0.08931102] [ 0.04081613 -0.00382795 0.99915934 -0.32141171] [ 0. 0. 0. 1. ]] SLAMing on 129.003133365 meters Centerline goodness : 0.129779 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:-0.32 [[ 0.99918848 0.00618747 -0.03980082 -1.12776321] [-0.00609129 0.99997823 0.00253738 -0.09757375] [ 0.03981565 -0.00229288 0.99920441 -0.31925583] [ 0. 0. 0. 1. ]] SLAMing on 129.033133365 meters Centerline goodness : 0.130431 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:-0.32 [[ 0.99919748 0.00631164 -0.03955455 -1.12863553] [-0.00621059 0.99997713 0.00267718 -0.09806288] [ 0.03957054 -0.00242938 0.99921383 -0.31877657] [ 0. 0. 0. 1. ]] SLAMing on 129.063133365 meters Centerline goodness : 0.121809 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.10, Z:-0.32 [[ 0.99920886 0.00645366 -0.03924284 -1.12962577] [-0.00635139 0.9999761 0.0027303 -0.09789893] [ 0.03925952 -0.00247889 0.99922597 -0.31831452] [ 0. 0. 0. 1. ]] SLAMing on 129.093133365 meters Centerline goodness : 0.138866 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:-0.32 [[ 9.99251701e-01 3.43427496e-06 -3.86786423e-02 -1.11230674e+00] [ 1.50925847e-04 9.99992037e-01 3.98791551e-03 -9.28353715e-02] [ 3.86783480e-02 -3.99076896e-03 9.99243744e-01 -3.15952538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.123133365 meters Centerline goodness : 0.167163 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:-0.32 [[ 9.99265558e-01 1.25655292e-04 -3.83187817e-02 -1.11321794e+00] [ 1.99369918e-05 9.99992783e-01 3.79909611e-03 -9.14421238e-02] [ 3.83189825e-02 -3.79706986e-03 9.99258344e-01 -3.15805048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.153133365 meters Centerline goodness : 0.181537 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.09, Z:-0.32 [[ 9.99284787e-01 3.03014136e-04 -3.78129849e-02 -1.11443588e+00] [-1.68152287e-04 9.99993615e-01 3.56967796e-03 -8.95359704e-02] [ 3.78138251e-02 -3.56076654e-03 9.99278457e-01 -3.15764405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.183133365 meters Centerline goodness : 0.128467 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.09, Z:-0.32 [[ 0.99928102 0.00429719 -0.03766927 -1.11510422] [-0.00404127 0.99996825 0.00686745 -0.08579744] [ 0.03769759 -0.00671028 0.99926666 -0.31530258] [ 0. 0. 0. 1. ]] SLAMing on 129.213133365 meters Centerline goodness : 0.133555 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:-0.32 [[ 0.99928642 0.00425235 -0.03753103 -1.11535092] [-0.00401077 0.99997077 0.00650966 -0.08357767] [ 0.03755761 -0.00635449 0.99927426 -0.31547376] [ 0. 0. 0. 1. ]] SLAMing on 129.243133365 meters Centerline goodness : 0.136590 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.08, Z:-0.32 [[ 0.99928308 0.00410389 -0.03763619 -1.11505165] [-0.0038767 0.99997383 0.00610765 -0.08164466] [ 0.03766027 -0.00595737 0.99927284 -0.31555777] [ 0. 0. 0. 1. ]] SLAMing on 129.27313336499998 meters Centerline goodness : 0.170695 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.08, Z:-0.32 [[ 0.99927793 0.00393138 -0.03779115 -1.11459887] [-0.00371597 0.99997646 0.00576857 -0.08026882] [ 0.03781293 -0.00562398 0.99926901 -0.31567608] [ 0. 0. 0. 1. ]] SLAMing on 129.30313336499998 meters Centerline goodness : 0.131856 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99924977 -0.00337793 -0.03858088 -1.09497289] [ 0.00362362 0.99997359 0.00630012 -0.07422077] [ 0.03855858 -0.0064352 0.99923562 -0.31345677] [ 0. 0. 0. 1. ]] SLAMing on 129.33313336499998 meters Centerline goodness : 0.134637 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99924571 -0.00346935 -0.03867781 -1.0947406 ] [ 0.00370747 0.9999746 0.00608661 -0.07311658] [ 0.03865571 -0.00622542 0.9992332 -0.31348757] [ 0. 0. 0. 1. ]] SLAMing on 129.36313336499998 meters Centerline goodness : 0.158838 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99924152 -0.0035691 -0.03877681 -1.09448925] [ 0.00379951 0.99997555 0.00586988 -0.07203269] [ 0.03875491 -0.00601277 0.99923066 -0.31355189] [ 0. 0. 0. 1. ]] SLAMing on 129.39313336499998 meters Centerline goodness : 0.143376 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.9992341 -0.003708 -0.03895456 -1.09391586] [ 0.00392929 0.99997657 0.00560549 -0.07085314] [ 0.03893286 -0.00575426 0.99922526 -0.31380178] [ 0. 0. 0. 1. ]] SLAMing on 129.42313336499998 meters Centerline goodness : 0.169744 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.07, Z:-0.31 [[ 0.99922945 -0.00392902 -0.039052 -1.09326751] [ 0.00412809 0.99997889 0.00501828 -0.06769066] [ 0.03903146 -0.00517562 0.99922458 -0.31450075] [ 0. 0. 0. 1. ]] SLAMing on 129.45313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 129.483133365 meters Centerline goodness : 0.182125 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.07, Z:-0.31 [[ 0.99927656 0.00467826 -0.03774216 -1.07375892] [-0.00454943 0.99998353 0.0034986 -0.06659956] [ 0.03775791 -0.00332437 0.99928139 -0.31353527] [ 0. 0. 0. 1. ]] SLAMing on 129.513133365 meters Centerline goodness : 0.089488 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99927197 0.00444599 -0.03789141 -1.07341655] [-0.0043391 0.99998637 0.00290273 -0.06369634] [ 0.0379038 -0.0027362 0.99927765 -0.31351523] [ 0. 0. 0. 1. ]] SLAMing on 129.543133365 meters Centerline goodness : 0.127297 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99926269 0.00430113 -0.03815209 -1.07249839] [-0.00420476 0.99998777 0.00260562 -0.06248173] [ 0.03816283 -0.00244328 0.99926855 -0.31394098] [ 0. 0. 0. 1. ]] SLAMing on 129.573133365 meters Centerline goodness : 0.127900 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925631 0.00419755 -0.03833029 -1.07189031] [-0.00411151 0.99998885 0.00232311 -0.06114615] [ 0.03833962 -0.00216378 0.99926242 -0.31418434] [ 0. 0. 0. 1. ]] SLAMing on 129.603133365 meters Centerline goodness : 0.134406 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925283 0.00412971 -0.03842816 -1.07146546] [-0.00405493 0.99998973 0.0020238 -0.0594588 ] [ 0.03843613 -0.00186647 0.99925932 -0.31444853] [ 0. 0. 0. 1. ]] SLAMing on 129.633133365 meters Centerline goodness : 0.132735 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925162 0.0041 -0.0384628 -1.07135642] [-0.00403695 0.99999038 0.00171665 -0.05762827] [ 0.03846947 -0.00156009 0.99925856 -0.31449532] [ 0. 0. 0. 1. ]] SLAMing on 129.663133365 meters Centerline goodness : 0.133545 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.06, Z:-0.31 [[ 0.99925916 0.00406463 -0.03827019 -1.07184263] [-0.00401436 0.99999098 0.0013905 -0.05580502] [ 0.0382755 -0.00123584 0.99926646 -0.31442124] [ 0. 0. 0. 1. ]] SLAMing on 129.693133365 meters Centerline goodness : 0.124986 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99266723e-01 4.03825220e-03 -3.80750432e-02 -1.07256589e+00] [-3.99812583e-03 9.99991369e-01 1.12995932e-03 -5.43658849e-02] [ 3.80792776e-02 -9.76901937e-04 9.99274244e-01 -3.14028624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.723133365 meters Centerline goodness : 0.128486 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99272790e-01 3.99511602e-03 -3.79200386e-02 -1.07315434e+00] [-3.96544534e-03 9.99991770e-01 8.57633838e-04 -5.29383299e-02] [ 3.79231528e-02 -7.06640318e-04 9.99280409e-01 -3.13670804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.753133365 meters Centerline goodness : 0.144531 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99273430e-01 3.94864586e-03 -3.79080458e-02 -1.07333275e+00] [-3.92922984e-03 9.99992108e-01 5.86675547e-04 -5.14692107e-02] [ 3.79100632e-02 -4.37299862e-04 9.99281059e-01 -3.13430048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.783133365 meters Centerline goodness : 0.138692 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99262493e-01 4.13404186e-03 -3.81756335e-02 -1.07240630e+00] [-4.11508364e-03 9.99991368e-01 5.75168659e-04 -5.06525599e-02] [ 3.81776817e-02 -4.17648544e-04 9.99270879e-01 -3.13917940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.813133365 meters Centerline goodness : 0.132531 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99253358e-01 4.16453194e-03 -3.84107061e-02 -1.07145336e+00] [-4.14371755e-03 9.99991222e-01 6.21485506e-04 -5.09096168e-02] [ 3.84129571e-02 -4.61858362e-04 9.99261843e-01 -3.14508171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.843133365 meters Centerline goodness : 0.131559 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99247381e-01 4.21146293e-03 -3.85607950e-02 -1.07099861e+00] [-4.18563380e-03 9.99990959e-01 7.50535251e-04 -5.17826720e-02] [ 3.85636072e-02 -5.88569017e-04 9.99255974e-01 -3.14638564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.873133365 meters Centerline goodness : 0.150620 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.05, Z:-0.31 [[ 9.99247537e-01 4.30583915e-03 -3.85463172e-02 -1.07128725e+00] [-4.27142231e-03 9.99990402e-01 9.75179953e-04 -5.28893776e-02] [ 3.85501462e-02 -8.09798567e-04 9.99256339e-01 -3.14228094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.903133365 meters Centerline goodness : 0.129720 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99929552 -0.00278235 -0.03742614 -1.05294427] [ 0.00287102 0.9999932 0.00231576 -0.04924998] [ 0.03741945 -0.00242158 0.99929671 -0.31201114] [ 0. 0. 0. 1. ]] SLAMing on 129.933133365 meters Centerline goodness : 0.144220 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99929862 -0.00265979 -0.03735236 -1.05328575] [ 0.00275242 0.99999326 0.0024285 -0.04944434] [ 0.03734565 -0.00252961 0.99929921 -0.31174774] [ 0. 0. 0. 1. ]] SLAMing on 129.963133365 meters Centerline goodness : 0.131900 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.9992862 -0.00246257 -0.03769642 -1.0523195 ] [ 0.00255203 0.99999404 0.00232506 -0.04840394] [ 0.03769047 -0.0024196 0.99928653 -0.31200779] [ 0. 0. 0. 1. ]] SLAMing on 129.993133365 meters Centerline goodness : 0.146069 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99928263 -0.00242713 -0.03779327 -1.05184804] [ 0.00251185 0.99999444 0.00219456 -0.04751148] [ 0.03778773 -0.00228792 0.99928317 -0.31239883] [ 0. 0. 0. 1. ]] SLAMing on 130.02313336499998 meters Centerline goodness : 0.136796 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.9992869 -0.0022824 -0.0376892 -1.05202718] [ 0.00236525 0.99999488 0.00215392 -0.04667871] [ 0.0376841 -0.00224153 0.99928719 -0.31260341] [ 0. 0. 0. 1. ]] SLAMing on 130.05313336499998 meters Centerline goodness : 0.155773 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99930076 -0.00213061 -0.03732898 -1.05291816] [ 0.00221212 0.99999526 0.00214237 -0.04586505] [ 0.03732423 -0.00222345 0.99930073 -0.31261064] [ 0. 0. 0. 1. ]] SLAMing on 130.08313336499998 meters Centerline goodness : 0.132067 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99931555 -0.00206704 -0.03693458 -1.05403678] [ 0.00214581 0.99999551 0.00209299 -0.04520704] [ 0.03693008 -0.00217082 0.99931549 -0.3123832 ] [ 0. 0. 0. 1. ]] SLAMing on 130.11313336499998 meters Centerline goodness : 0.139626 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.05, Z:-0.31 [[ 0.99932863 -0.0021021 -0.036577 -1.05547458] [ 0.00217747 0.99999559 0.00202086 -0.04512526] [ 0.0365726 -0.00209915 0.99932879 -0.31151395] [ 0. 0. 0. 1. ]] SLAMing on 130.14313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 130.17313336499998 meters Centerline goodness : 0.120198 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.05, Z:-0.31 [[ 0.99932283 -0.00208446 -0.03673613 -1.05527873] [ 0.00216892 0.9999951 0.00225958 -0.04658143] [ 0.03673124 -0.00233773 0.99932245 -0.31123608] [ 0. 0. 0. 1. ]] SLAMing on 130.20313336499999 meters Centerline goodness : 0.144303 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.9993152 -0.00199476 -0.03694789 -1.05463391] [ 0.00209036 0.99999457 0.00254901 -0.04795786] [ 0.0369426 -0.0026245 0.99931394 -0.31142202] [ 0. 0. 0. 1. ]] SLAMing on 130.233133365 meters Centerline goodness : 0.127974 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99310647e-01 4.79931659e-03 -3.68129964e-02 -1.03189676e+00] [-4.79668517e-03 9.99988483e-01 1.59801171e-04 -5.06763525e-02] [ 3.68133394e-02 1.68893416e-05 9.99322159e-01 -3.11455386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263133365 meters Centerline goodness : 0.138968 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99925709 -0.00451006 -0.03827449 -1.05287403] [ 0.0045574 0.99998895 0.0011498 -0.05027493] [ 0.03826889 -0.00132338 0.9992666 -0.31237899] [ 0. 0. 0. 1. ]] SLAMing on 130.293133365 meters Centerline goodness : 0.119830 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.05, Z:-0.31 [[ 0.99926554 -0.00447052 -0.03805772 -1.05384461] [ 0.0045348 0.99998843 0.0016029 -0.05319479] [ 0.03805011 -0.00177431 0.99927426 -0.31157377] [ 0. 0. 0. 1. ]] SLAMing on 130.323133365 meters Centerline goodness : 0.131549 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:-0.31 [[ 9.99339414e-01 3.89533346e-03 -3.61325685e-02 -1.03564269e+00] [-3.89560122e-03 9.99992410e-01 6.29918824e-05 -5.65690213e-02] [ 3.61325396e-02 7.78078071e-05 9.99347004e-01 -3.09632934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.353133365 meters Centerline goodness : 0.162658 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:-0.31 [[ 9.99342773e-01 3.93584861e-03 -3.60351431e-02 -1.03618797e+00] [-3.93541972e-03 9.99992253e-01 8.28320478e-05 -5.64736599e-02] [ 3.60351899e-02 5.90358044e-05 9.99350520e-01 -3.09163399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.383133365 meters Centerline goodness : 0.120979 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.06, Z:-0.31 [[ 9.99332093e-01 3.98120733e-03 -3.63251664e-02 -1.03536235e+00] [-3.98568383e-03 9.99992056e-01 -5.08203691e-05 -5.56595725e-02] [ 3.63246755e-02 1.95567054e-04 9.99340022e-01 -3.09208882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.413133365 meters Centerline goodness : 0.159998 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99310514e-01 4.06657323e-03 -3.69047308e-02 -1.03347078e+00] [-4.07959031e-03 9.99991640e-01 -2.77424027e-04 -5.43713082e-02] [ 3.69032941e-02 4.27788929e-04 9.99318750e-01 -3.09736628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.443133365 meters Centerline goodness : 0.151733 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99302783e-01 4.04262112e-03 -3.71161098e-02 -1.03259042e+00] [-4.06387192e-03 9.99991619e-01 -4.97123030e-04 -5.31495895e-02] [ 3.71137890e-02 6.47611543e-04 9.99310836e-01 -3.10321683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.473133365 meters Centerline goodness : 0.146317 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99309914e-01 4.06384318e-03 -3.69212932e-02 -1.03304505e+00] [-4.09769281e-03 9.99991251e-01 -8.41179190e-04 -5.09706222e-02] [ 3.69175518e-02 9.91890822e-04 9.99317823e-01 -3.10449259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.503133365 meters Centerline goodness : 0.143111 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.05, Z:-0.31 [[ 9.99316783e-01 4.04791351e-03 -3.67366441e-02 -1.03367307e+00] [-4.08419106e-03 9.99991243e-01 -9.12511398e-04 -5.05178472e-02] [ 3.67326286e-02 1.06192743e-03 9.99324565e-01 -3.10167877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.533133365 meters Centerline goodness : 0.153803 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 9.99312380e-01 -3.12694902e-03 -3.69457677e-02 -1.01557063e+00] [ 3.12493532e-03 9.99995111e-01 -1.12250388e-04 -4.52245410e-02] [ 3.69459380e-02 -3.27993200e-06 9.99317266e-01 -3.07732664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.563133365 meters Centerline goodness : 0.119598 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 9.99312312e-01 -3.15249229e-03 -3.69454290e-02 -1.01564063e+00] [ 3.15002190e-03 9.99995031e-01 -1.25075122e-04 -4.52944685e-02] [ 3.69456397e-02 8.61019898e-06 9.99317277e-01 -3.07623619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.593133365 meters Centerline goodness : 0.113398 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 9.99309494e-01 -3.14782703e-03 -3.70219727e-02 -1.01541866e+00] [ 3.14684707e-03 9.99995045e-01 -8.47409994e-05 -4.55114462e-02] [ 3.70220560e-02 -3.18200012e-05 9.99314448e-01 -3.07691753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.623133365 meters Centerline goodness : 0.134017 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99303327e-01 -3.08471618e-03 -3.71933533e-02 -1.01473995e+00] [ 3.09012675e-03 9.99995222e-01 8.79862203e-05 -4.61902938e-02] [ 3.71929042e-02 -2.02857099e-04 9.99308084e-01 -3.08126710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.653133365 meters Centerline goodness : 0.120549 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99301102e-01 -3.05699220e-03 -3.72553734e-02 -1.01455808e+00] [ 3.06542317e-03 9.99995287e-01 1.69182644e-04 -4.65961377e-02] [ 3.72546807e-02 -2.83267887e-04 9.99305763e-01 -3.08194820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.683133365 meters Centerline goodness : 0.120549 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99301102e-01 -3.05699220e-03 -3.72553734e-02 -1.01455808e+00] [ 3.06542317e-03 9.99995287e-01 1.69182644e-04 -4.65961377e-02] [ 3.72546807e-02 -2.83267887e-04 9.99305763e-01 -3.08194820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.713133365 meters Centerline goodness : 0.154506 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99302140e-01 -3.02033105e-03 -3.72305079e-02 -1.01474461e+00] [ 3.03550120e-03 9.99995331e-01 3.50945763e-04 -4.76597899e-02] [ 3.72292741e-02 -4.63714103e-04 9.99306643e-01 -3.08004814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.743133365 meters Centerline goodness : 0.128085 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99298384e-01 -2.95480664e-03 -3.73364353e-02 -1.01464791e+00] [ 2.97969117e-03 9.99995374e-01 6.10867012e-04 -4.90963858e-02] [ 3.73344575e-02 -7.21689464e-04 9.99302566e-01 -3.07735153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77313336499998 meters Centerline goodness : 0.160976 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 9.99295526e-01 -2.88045344e-03 -3.74186367e-02 -1.01432843e+00] [ 2.91519191e-03 9.99995369e-01 8.73846286e-04 -5.05327600e-02] [ 3.74159463e-02 -9.82313191e-04 9.99299296e-01 -3.07901331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80313336499998 meters Centerline goodness : 0.129535 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99929442 -0.00279467 -0.03745477 -1.01405777] [ 0.00283863 0.99999534 0.00112055 -0.05182502] [ 0.03745146 -0.00122608 0.9992977 -0.30818393] [ 0. 0. 0. 1. ]] SLAMing on 130.83313336499998 meters Centerline goodness : 0.155515 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99929803 -0.00270897 -0.03736441 -1.0141234 ] [ 0.00275978 0.99999534 0.00130854 -0.05274542] [ 0.0373607 -0.00141074 0.99930085 -0.30842086] [ 0. 0. 0. 1. ]] SLAMing on 130.86313336499998 meters Centerline goodness : 0.174935 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930068 -0.00267763 -0.03729579 -1.01430601] [ 0.00272884 0.9999954 0.00132229 -0.05262731] [ 0.03729208 -0.00142314 0.9993034 -0.30839485] [ 0. 0. 0. 1. ]] SLAMing on 130.89313336499998 meters Centerline goodness : 0.145218 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930138 -0.00265669 -0.03727873 -1.01446431] [ 0.00270614 0.99999552 0.00127621 -0.05217262] [ 0.03727517 -0.0013762 0.99930409 -0.30825645] [ 0. 0. 0. 1. ]] SLAMing on 130.92313336499998 meters Centerline goodness : 0.162688 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930401 -0.00263442 -0.0372097 -1.01476222] [ 0.00268243 0.99999563 0.00124021 -0.05174296] [ 0.03720627 -0.00133916 0.99930671 -0.30811463] [ 0. 0. 0. 1. ]] SLAMing on 130.95313336499999 meters Centerline goodness : 0.157063 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.99930315 -0.00264761 -0.0372318 -1.01483489] [ 0.00269225 0.99999572 0.00114895 -0.05105492] [ 0.0372286 -0.00124839 0.999306 -0.307956 ] [ 0. 0. 0. 1. ]] SLAMing on 130.983133365 meters Centerline goodness : 0.154418 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.05, Z:-0.31 [[ 0.999304 -0.00263776 -0.03720957 -1.01494235] [ 0.00268057 0.9999958 0.00110065 -0.05060651] [ 0.03720651 -0.00119963 0.99930688 -0.30792174] [ 0. 0. 0. 1. ]] SLAMing on 131.013133365 meters Centerline goodness : 0.127890 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.05, Z:-0.31 [[ 0.99930196 -0.00269958 -0.03725992 -1.01526475] [ 0.00274013 0.99999571 0.00103722 -0.0505323 ] [ 0.03725696 -0.00113859 0.99930507 -0.30728584] [ 0. 0. 0. 1. ]] SLAMing on 131.043133365 meters Centerline goodness : 0.157485 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99934771 0.00394995 -0.03589633 -0.99381785] [-0.00402046 0.99999013 -0.00189227 -0.05173273] [ 0.0358885 0.00203536 0.99935373 -0.30690888] [ 0. 0. 0. 1. ]] SLAMing on 131.073133365 meters Centerline goodness : 0.129211 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99934718 0.00394063 -0.03591224 -0.9939397 ] [-0.00400926 0.99999027 -0.00183922 -0.0522432 ] [ 0.03590464 0.001982 0.99935326 -0.30669422] [ 0. 0. 0. 1. ]] SLAMing on 131.103133365 meters Centerline goodness : 0.159180 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99934392 0.00393737 -0.03600303 -0.99359176] [-0.004006 0.99999029 -0.00183437 -0.05247403] [ 0.03599546 0.0019774 0.99935 -0.30684043] [ 0. 0. 0. 1. ]] SLAMing on 131.133133365 meters Centerline goodness : 0.115206 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99933951 0.00390562 -0.03612884 -0.99305314] [-0.00397415 0.99999044 -0.00182534 -0.05222156] [ 0.03612136 0.00196771 0.99934547 -0.30734865] [ 0. 0. 0. 1. ]] SLAMing on 131.163133365 meters Centerline goodness : 0.162084 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99933761 0.0038948 -0.03618254 -0.99276497] [-0.00396895 0.99999017 -0.00197767 -0.05120957] [ 0.03617448 0.00211997 0.99934324 -0.30762791] [ 0. 0. 0. 1. ]] SLAMing on 131.193133365 meters Centerline goodness : 0.134846 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.05, Z:-0.31 [[ 0.99933783 0.00403523 -0.03616098 -0.99278026] [-0.00411665 0.99998916 -0.0021776 -0.04912 ] [ 0.0361518 0.00232502 0.99934361 -0.30779277] [ 0. 0. 0. 1. ]] SLAMing on 131.223133365 meters Centerline goodness : 0.155089 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.31 [[ 0.99931439 -0.00241751 -0.03694476 -0.97600282] [ 0.00237073 0.99999633 -0.0013101 -0.04288174] [ 0.03694779 0.00122161 0.99931645 -0.30511221] [ 0. 0. 0. 1. ]] SLAMing on 131.253133365 meters Centerline goodness : 0.158510 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99932047 -0.00247833 -0.03677578 -0.97664698] [ 0.00242708 0.99999602 -0.00143835 -0.04243628] [ 0.0367792 0.00134811 0.99932251 -0.30477629] [ 0. 0. 0. 1. ]] SLAMing on 131.283133365 meters Centerline goodness : 0.108730 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99932543 -0.0025148 -0.03663822 -0.97715579] [ 0.0024607 0.99999581 -0.00152171 -0.04211847] [ 0.03664189 0.00143053 0.99932744 -0.30452617] [ 0. 0. 0. 1. ]] SLAMing on 131.313133365 meters Centerline goodness : 0.128962 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99933086 -0.0024594 -0.03649357 -0.97755059] [ 0.0024066 0.99999599 -0.00149068 -0.04191478] [ 0.03649709 0.00140186 0.99933278 -0.30449953] [ 0. 0. 0. 1. ]] SLAMing on 131.343133365 meters Centerline goodness : 0.148730 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.04, Z:-0.30 [[ 0.99933612 -0.00237885 -0.03635465 -0.97780453] [ 0.00232716 0.99999622 -0.00146415 -0.04148012] [ 0.036358 0.00137858 0.99933788 -0.30465959] [ 0. 0. 0. 1. ]] SLAMing on 131.373133365 meters Centerline goodness : 0.154442 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99934769 0.00603189 -0.03560636 -0.95826903] [-0.00615349 0.9999756 -0.00330669 -0.0432757 ] [ 0.03558554 0.00352364 0.99936042 -0.30299764] [ 0. 0. 0. 1. ]] SLAMing on 131.403133365 meters Centerline goodness : 0.120978 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.9993471 0.00593524 -0.03563904 -0.95842954] [-0.00606299 0.99997557 -0.00347748 -0.04276958] [ 0.03561753 0.00369129 0.99935868 -0.30265403] [ 0. 0. 0. 1. ]] SLAMing on 131.433133365 meters Centerline goodness : 0.156159 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99934881 0.00594134 -0.03559024 -0.95877838] [-0.00607153 0.99997526 -0.00355106 -0.04217541] [ 0.03556827 0.00376483 0.99936016 -0.30236544] [ 0. 0. 0. 1. ]] SLAMing on 131.463133365 meters Centerline goodness : 0.136356 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935371 0.00598356 -0.0354452 -0.95910078] [-0.00611587 0.99997473 -0.00362564 -0.0411928 ] [ 0.03542261 0.00384007 0.99936504 -0.30244861] [ 0. 0. 0. 1. ]] SLAMing on 131.493133365 meters Centerline goodness : 0.126761 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935926 0.00593463 -0.03529666 -0.95927231] [-0.00607326 0.99997425 -0.00382188 -0.0400266 ] [ 0.03527307 0.0040338 0.99936957 -0.3027355 ] [ 0. 0. 0. 1. ]] SLAMing on 131.52313336499998 meters Centerline goodness : 0.121165 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99936332 0.00582613 -0.03519964 -0.95945598] [-0.0059715 0.99997407 -0.00402589 -0.03931262] [ 0.03517527 0.00423352 0.99937219 -0.30283003] [ 0. 0. 0. 1. ]] SLAMing on 131.55313336499998 meters Centerline goodness : 0.121689 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935787 0.00561282 -0.03538848 -0.95921237] [-0.00576835 0.99997414 -0.00429433 -0.03870346] [ 0.03536346 0.00449571 0.99936441 -0.3025702 ] [ 0. 0. 0. 1. ]] SLAMing on 131.58313336499998 meters Centerline goodness : 0.122989 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.04, Z:-0.30 [[ 0.99935419 0.00564817 -0.0354865 -0.95900852] [-0.00580346 0.99997402 -0.0042746 -0.03841484] [ 0.03546144 0.00447778 0.99936101 -0.30257825] [ 0. 0. 0. 1. ]] SLAMing on 131.61313336499998 meters Centerline goodness : 0.152089 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936574 -0.00120555 -0.03559018 -0.94050683] [ 0.00110243 0.99999514 -0.00291711 -0.0324843 ] [ 0.03559352 0.00287603 0.99936221 -0.30021572] [ 0. 0. 0. 1. ]] SLAMing on 131.64313336499998 meters Centerline goodness : 0.156506 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936701 -0.0012398 -0.03555335 -0.94073173] [ 0.00113557 0.999995 -0.00295147 -0.03238624] [ 0.03555683 0.00290923 0.99936342 -0.3000073 ] [ 0. 0. 0. 1. ]] SLAMing on 131.67313336499998 meters Centerline goodness : 0.129888 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936649 -0.00133099 -0.03556458 -0.94082948] [ 0.00122455 0.99999471 -0.00301472 -0.03257664] [ 0.0355684 0.00296926 0.99936283 -0.29982574] [ 0. 0. 0. 1. ]] SLAMing on 131.70313336499999 meters Centerline goodness : 0.131949 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99935916 -0.0014408 -0.03576571 -0.94032158] [ 0.00132812 0.99999408 -0.00317418 -0.03216886] [ 0.03577007 0.00312465 0.99935516 -0.29988463] [ 0. 0. 0. 1. ]] SLAMing on 131.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 131.763133365 meters Centerline goodness : 0.130190 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99934669 -0.0014635 -0.03611176 -0.93914242] [ 0.00134006 0.99999318 -0.00344226 -0.03009939] [ 0.03611655 0.00339161 0.99934183 -0.30053917] [ 0. 0. 0. 1. ]] SLAMing on 131.793133365 meters Centerline goodness : 0.158066 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99934835 -0.00154934 -0.0360621 -0.93927144] [ 0.00141123 0.99999157 -0.0038548 -0.02747767] [ 0.03606776 0.0038014 0.99934212 -0.30061489] [ 0. 0. 0. 1. ]] SLAMing on 131.823133365 meters Centerline goodness : 0.123837 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99935469 -0.00162865 -0.03588259 -0.94008898] [ 0.00148237 0.99999048 -0.00410278 -0.02620956] [ 0.03588893 0.00404694 0.99934759 -0.3000496 ] [ 0. 0. 0. 1. ]] SLAMing on 131.853133365 meters Centerline goodness : 0.149582 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.03, Z:-0.30 [[ 0.99936027 -0.0016867 -0.03572401 -0.94084066] [ 0.00153368 0.99998953 -0.00431034 -0.02511138] [ 0.0357309 0.00425279 0.9993524 -0.29951783] [ 0. 0. 0. 1. ]] SLAMing on 131.883133365 meters Centerline goodness : 0.154972 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99936242 -0.00171686 -0.03566248 -0.9410735 ] [ 0.00155885 0.99998885 -0.00445807 -0.02416181] [ 0.03566974 0.00439963 0.99935395 -0.29944428] [ 0. 0. 0. 1. ]] SLAMing on 131.913133365 meters Centerline goodness : 0.134021 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99936306 -0.00167685 -0.03564649 -0.94110697] [ 0.00151679 0.99998865 -0.00451689 -0.02340099] [ 0.03565366 0.00445994 0.99935425 -0.29951531] [ 0. 0. 0. 1. ]] SLAMing on 131.943133365 meters Centerline goodness : 0.142436 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938017 -0.0015279 -0.03517012 -0.94228498] [ 0.00137511 0.99998952 -0.00436794 -0.02344459] [ 0.03517643 0.00431687 0.99937179 -0.29951264] [ 0. 0. 0. 1. ]] SLAMing on 131.973133365 meters Centerline goodness : 0.154887 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938867 -0.00156422 -0.03492627 -0.94308341] [ 0.00141219 0.99998942 -0.00437721 -0.02378617] [ 0.03493275 0.00432521 0.99938031 -0.29919673] [ 0. 0. 0. 1. ]] SLAMing on 132.003133365 meters Centerline goodness : 0.155158 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99939062 -0.00168412 -0.03486479 -0.9433897 ] [ 0.00152704 0.99998857 -0.00453151 -0.02363761] [ 0.03487203 0.00447551 0.99938176 -0.29895193] [ 0. 0. 0. 1. ]] SLAMing on 132.033133365 meters Centerline goodness : 0.148809 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938773 -0.00176741 -0.03494337 -0.94322918] [ 0.00160326 0.99998755 -0.00472493 -0.02293424] [ 0.03495128 0.00466601 0.99937812 -0.2989296 ] [ 0. 0. 0. 1. ]] SLAMing on 132.063133365 meters Centerline goodness : 0.138587 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938426 -0.00176443 -0.03504258 -0.94281477] [ 0.00159396 0.99998676 -0.004892 -0.02177117] [ 0.03505075 0.00483313 0.99937385 -0.29929094] [ 0. 0. 0. 1. ]] SLAMing on 132.093133365 meters Centerline goodness : 0.120532 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99938501 -0.00169234 -0.03502496 -0.94247229] [ 0.00151631 0.99998609 -0.00505182 -0.02012759] [ 0.03503302 0.0049956 0.99937367 -0.29997008] [ 0. 0. 0. 1. ]] SLAMing on 132.123133365 meters Centerline goodness : 0.121435 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.02, Z:-0.30 [[ 0.99939958 -0.00119227 -0.03462728 -0.94293508] [ 0.00101609 0.99998645 -0.00510512 -0.01683933] [ 0.0346329 0.00506687 0.99938726 -0.30079564] [ 0. 0. 0. 1. ]] SLAMing on 132.153133365 meters Centerline goodness : 0.152396 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99939971 -0.00136125 -0.03461741 -0.94285695] [ 0.00116936 0.99998384 -0.00556268 -0.01466256] [ 0.03462443 0.00551886 0.99938516 -0.30101789] [ 0. 0. 0. 1. ]] SLAMing on 132.183133365 meters Centerline goodness : 0.154035 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99939183 -0.00154998 -0.03483624 -0.94221636] [ 0.00134036 0.99998086 -0.00603976 -0.01251881] [ 0.03484494 0.00598939 0.99937478 -0.30128222] [ 0. 0. 0. 1. ]] SLAMing on 132.213133365 meters Centerline goodness : 0.154480 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99937962 -0.00175043 -0.03517553 -0.94117626] [ 0.0015217 0.99997753 -0.00652811 -0.01029536] [ 0.03518617 0.00647053 0.99935983 -0.30169884] [ 0. 0. 0. 1. ]] SLAMing on 132.243133365 meters Centerline goodness : 0.136102 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99937473 -0.00187488 -0.03530764 -0.9408037 ] [ 0.00163242 0.9999749 -0.00689455 -0.00823848] [ 0.03531968 0.0068326 0.99935271 -0.3018996 ] [ 0. 0. 0. 1. ]] SLAMing on 132.27313336499998 meters Centerline goodness : 0.132383 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.01, Z:-0.30 [[ 0.99938289 -0.00196769 -0.03507095 -0.94153522] [ 0.00171579 0.99997253 -0.00721124 -0.00627874] [ 0.03508418 0.00714662 0.99935881 -0.30173979] [ 0. 0. 0. 1. ]] SLAMing on 132.30313336499998 meters Centerline goodness : 0.154371 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:-0.30 [[ 0.99941205 -0.00188349 -0.03423469 -0.94495279] [ 0.00163374 0.99997186 -0.00732179 -0.0039462 ] [ 0.03424752 0.00726155 0.999387 -0.29984184] [ 0. 0. 0. 1. ]] SLAMing on 132.33313336499998 meters Centerline goodness : 0.139783 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:-0.30 [[ 0.99941733 -0.00199191 -0.03407381 -0.94580487] [ 0.0017366 0.99997021 -0.00752069 -0.00293457] [ 0.03408777 0.00745714 0.99939102 -0.29916378] [ 0. 0. 0. 1. ]] SLAMing on 132.36313336499998 meters Centerline goodness : 0.137590 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.00, Z:-0.30 [[ 0.99940897 -0.00214097 -0.03430927 -0.94514598] [ 0.00187609 0.9999682 -0.00775085 -0.00208576] [ 0.03432478 0.0076819 0.99938121 -0.29932245] [ 0. 0. 0. 1. ]] SLAMing on 132.39313336499998 meters Centerline goodness : 0.139063 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.00, Z:-0.30 [[ 0.99939257 -0.00229577 -0.03477371 -0.94360545] [ 0.00201861 0.99996594 -0.00800333 -0.00109865] [ 0.0347909 0.00792827 0.99936317 -0.29998365] [ 0. 0. 0. 1. ]] SLAMing on 132.42313336499998 meters Centerline goodness : 0.121666 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 9.99382712e-01 -2.40683988e-03 -3.50485653e-02 -9.42536457e-01] [ 2.11900021e-03 9.99963744e-01 -8.24742570e-03 4.34356045e-05] [ 3.50671448e-02 8.16806675e-03 9.99351579e-01 -3.00641198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45313336499999 meters Centerline goodness : 0.131190 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99937988 -0.0025822 -0.0351169 -0.94238133] [ 0.00227526 0.99995889 -0.00877764 0.00307854] [ 0.03513813 0.00869229 0.99934466 -0.30070212] [ 0. 0. 0. 1. ]] SLAMing on 132.483133365 meters Centerline goodness : 0.141563 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99938206 -0.00265737 -0.03504905 -0.94270669] [ 0.00234221 0.99995649 -0.00902997 0.00454878] [ 0.03507152 0.00894229 0.9993448 -0.30049501] [ 0. 0. 0. 1. ]] SLAMing on 132.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 132.543133365 meters Centerline goodness : 0.115259 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937737 -0.00283736 -0.03516835 -0.9422358 ] [ 0.00250286 0.99995125 -0.00955195 0.00717962] [ 0.03519373 0.00945799 0.99933575 -0.30085041] [ 0. 0. 0. 1. ]] SLAMing on 132.573133365 meters Centerline goodness : 0.115259 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937737 -0.00283736 -0.03516835 -0.9422358 ] [ 0.00250286 0.99995125 -0.00955195 0.00717962] [ 0.03519373 0.00945799 0.99933575 -0.30085041] [ 0. 0. 0. 1. ]] SLAMing on 132.603133365 meters Centerline goodness : 0.039104 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937493 -0.00293066 -0.03523017 -0.94200724] [ 0.00258784 0.9999489 -0.00977229 0.00815293] [ 0.03525701 0.00967501 0.99933145 -0.30101539] [ 0. 0. 0. 1. ]] SLAMing on 132.633133365 meters Centerline goodness : 0.141107 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.01, Z:-0.30 [[ 0.99937218 -0.00298573 -0.03530339 -0.94181602] [ 0.00263855 0.99994774 -0.00987681 0.00856691] [ 0.03533103 0.00977746 0.99932783 -0.3010761 ] [ 0. 0. 0. 1. ]] SLAMing on 132.663133365 meters Centerline goodness : 0.117442 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:-0.30 [[ 0.9993406 -0.01069548 -0.03469841 -0.92252274] [ 0.01038807 0.99990529 -0.00902781 0.01335356] [ 0.03479168 0.00866141 0.99935705 -0.29874118] [ 0. 0. 0. 1. ]] SLAMing on 132.693133365 meters Centerline goodness : 0.140905 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.01, Z:-0.30 [[ 0.99935026 -0.01062403 -0.03444103 -0.92358751] [ 0.01032497 0.99990754 -0.00884952 0.01267167] [ 0.03453186 0.00848817 0.99936755 -0.29806746] [ 0. 0. 0. 1. ]] SLAMing on 132.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 132.753133365 meters Centerline goodness : 0.140869 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99947574 -0.00376565 -0.03215689 -0.94331149] [ 0.00347645 0.99995305 -0.00904457 0.00493029] [ 0.03218944 0.00892804 0.99944191 -0.29990331] [ 0. 0. 0. 1. ]] SLAMing on 132.783133365 meters Centerline goodness : 0.146954 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.00, Z:-0.30 [[ 0.99947358 -0.00372597 -0.03222843 -0.9429904 ] [ 0.00344146 0.99995466 -0.0088789 0.00405322] [ 0.03226005 0.00876331 0.99944109 -0.30011069] [ 0. 0. 0. 1. ]] SLAMing on 132.813133365 meters Centerline goodness : 0.134762 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.00, Z:-0.30 [[ 9.99391475e-01 -4.36672600e-03 -3.46065195e-02 -9.88955056e-01] [ 4.08939105e-03 9.99958989e-01 -8.08068443e-03 -7.57165158e-04] [ 3.46403864e-02 7.93424754e-03 9.99368346e-01 -2.99902258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.843133365 meters Centerline goodness : 0.124855 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99938274 0.00362682 -0.03494254 -0.97003253] [-0.00395792 0.99994788 -0.00941099 -0.0058328 ] [ 0.03490658 0.00954348 0.99934501 -0.29749982] [ 0. 0. 0. 1. ]] SLAMing on 132.873133365 meters Centerline goodness : 0.128676 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99937556 0.00366003 -0.03514391 -0.9694767 ] [-0.00399041 0.99994846 -0.00933548 -0.00624524] [ 0.03510793 0.00946989 0.99933866 -0.29761675] [ 0. 0. 0. 1. ]] SLAMing on 132.903133365 meters Centerline goodness : 0.141025 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99937463 0.00369065 -0.03516727 -0.96937595] [-0.00401945 0.99994883 -0.00928366 -0.00649569] [ 0.0351312 0.0094192 0.99933832 -0.29765422] [ 0. 0. 0. 1. ]] SLAMing on 132.933133365 meters Centerline goodness : 0.129982 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99938313 0.00374982 -0.03491833 -0.97023831] [-0.00407555 0.9999488 -0.00926167 -0.00644785] [ 0.03488181 0.00939827 0.99934725 -0.29725364] [ 0. 0. 0. 1. ]] SLAMing on 132.963133365 meters Centerline goodness : 0.127415 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.01, Z:-0.30 [[ 0.99939413 0.003753 -0.03460194 -0.97126134] [-0.00407991 0.99994767 -0.00938197 -0.00576282] [ 0.03456492 0.00951746 0.99935714 -0.29685239] [ 0. 0. 0. 1. ]] SLAMing on 132.993133365 meters Centerline goodness : 0.131288 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:-0.30 [[ 0.99940499 0.00380738 -0.03428068 -0.97207717] [-0.00413723 0.99994578 -0.00955627 -0.00453301] [ 0.03424244 0.00969241 0.99936656 -0.29681317] [ 0. 0. 0. 1. ]] SLAMing on 133.02313336499998 meters Centerline goodness : 0.132257 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:-0.30 [[ 0.99939651 0.00424974 -0.03447535 -0.97127498] [-0.00458712 0.99994231 -0.00971312 -0.00180372] [ 0.03443209 0.0098654 0.99935835 -0.29752294] [ 0. 0. 0. 1. ]] SLAMing on 133.05313336499998 meters Centerline goodness : 0.132257 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.00, Z:-0.30 [[ 0.99939651 0.00424974 -0.03447535 -0.97127498] [-0.00458712 0.99994231 -0.00971312 -0.00180372] [ 0.03443209 0.0098654 0.99935835 -0.29752294] [ 0. 0. 0. 1. ]] SLAMing on 133.08313336499998 meters Centerline goodness : 0.129620 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.00, Z:-0.30 [[ 9.99394232e-01 4.17278722e-03 -3.45507836e-02 -9.70761368e-01] [-4.52260915e-03 9.99939241e-01 -1.00529071e-02 7.93366845e-05] [ 3.45067357e-02 1.02030771e-02 9.99352382e-01 -2.98076528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11313336499998 meters Centerline goodness : 0.135373 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.00, Z:-0.30 [[ 0.99938393 0.00418287 -0.03484617 -0.96965932] [-0.00455525 0.9999333 -0.01061382 0.00364565] [ 0.03479945 0.01076601 0.99933633 -0.29880974] [ 0. 0. 0. 1. ]] SLAMing on 133.14313336499998 meters Centerline goodness : 0.148085 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.01, Z:-0.30 [[ 0.99938681 0.0040714 -0.03477676 -0.96987148] [-0.00445428 0.99993024 -0.01093933 0.00534023] [ 0.0347298 0.01108753 0.99933523 -0.29881687] [ 0. 0. 0. 1. ]] SLAMing on 133.17313336499998 meters Centerline goodness : 0.130401 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.9994079 -0.00413638 -0.03415748 -0.99024967] [ 0.00381089 0.99994676 -0.0095888 0.01037904] [ 0.03419532 0.00945296 0.99937046 -0.30072478] [ 0. 0. 0. 1. ]] SLAMing on 133.20313336499999 meters Centerline goodness : 0.130241 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99941622 -0.0041116 -0.03391628 -0.99117117] [ 0.00378594 0.99994617 -0.00966039 0.01125944] [ 0.03395418 0.00952634 0.99937799 -0.30025003] [ 0. 0. 0. 1. ]] SLAMing on 133.233133365 meters Centerline goodness : 0.138024 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99942305 -0.00409702 -0.03371624 -0.99178239] [ 0.00377183 0.99994581 -0.00970276 0.01182468] [ 0.03375416 0.00956999 0.99938435 -0.30010913] [ 0. 0. 0. 1. ]] SLAMing on 133.263133365 meters Centerline goodness : 0.136660 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.01, Z:-0.30 [[ 0.99944376 0.00315855 -0.03319929 -1.01039809] [-0.00352533 0.99993334 -0.01099493 0.00761233] [ 0.03316235 0.01110585 0.99938827 -0.30258495] [ 0. 0. 0. 1. ]] SLAMing on 133.293133365 meters Centerline goodness : 0.139431 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99944091 -0.00427395 -0.03316008 -0.99149477] [ 0.0039419 0.9999415 -0.01007244 0.01339099] [ 0.03320119 0.0099361 0.9993993 -0.30063611] [ 0. 0. 0. 1. ]] SLAMing on 133.323133365 meters Centerline goodness : 0.132055 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99944467 -0.00425043 -0.03304961 -0.99186536] [ 0.00391814 0.99994119 -0.01011259 0.01399784] [ 0.03309065 0.00997748 0.99940255 -0.30053748] [ 0. 0. 0. 1. ]] SLAMing on 133.353133365 meters Centerline goodness : 0.136114 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.01, Z:-0.30 [[ 0.99944888 -0.00421452 -0.03292672 -0.99221146] [ 0.00388134 0.99994069 -0.01017603 0.01491585] [ 0.03296765 0.01004262 0.99940596 -0.30049677] [ 0. 0. 0. 1. ]] SLAMing on 133.383133365 meters Centerline goodness : 0.144595 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99945202 -0.00424855 -0.03282696 -0.99232137] [ 0.00391104 0.9999389 -0.010339 0.01601646] [ 0.03286888 0.01020495 0.99940757 -0.3007319 ] [ 0. 0. 0. 1. ]] SLAMing on 133.413133365 meters Centerline goodness : 0.102351 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99945185 -0.00430815 -0.03282423 -0.99209805] [ 0.00396494 0.99993687 -0.01051391 0.0169555 ] [ 0.03286745 0.010378 0.99940584 -0.30112921] [ 0. 0. 0. 1. ]] SLAMing on 133.443133365 meters Centerline goodness : 0.138514 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99943383 -0.0045207 -0.03334053 -0.990283 ] [ 0.00415691 0.99993116 -0.01097273 0.01883035] [ 0.03338784 0.01082792 0.99938381 -0.30202696] [ 0. 0. 0. 1. ]] SLAMing on 133.473133365 meters Centerline goodness : 0.154327 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.9994299 -0.00454735 -0.03345429 -0.98990655] [ 0.00417718 0.99992937 -0.01112651 0.01981907] [ 0.03350252 0.01098042 0.99937831 -0.30225918] [ 0. 0. 0. 1. ]] SLAMing on 133.503133365 meters Centerline goodness : 0.123957 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.02, Z:-0.30 [[ 0.99943111 -0.00454199 -0.03341889 -0.99002137] [ 0.00416694 0.99992765 -0.01128389 0.0211283 ] [ 0.03346772 0.01113822 0.99937773 -0.30224376] [ 0. 0. 0. 1. ]] SLAMing on 133.533133365 meters Centerline goodness : 0.144932 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99948404 0.00301151 -0.03197782 -1.0100658 ] [-0.00339936 0.99992124 -0.01208115 0.01701411] [ 0.03193892 0.01218362 0.99941556 -0.30450636] [ 0. 0. 0. 1. ]] SLAMing on 133.563133365 meters Centerline goodness : 0.134102 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99949394 0.00292518 -0.03167488 -1.01092018] [-0.00331697 0.99991856 -0.01232353 0.01823282] [ 0.03163625 0.01242236 0.99942225 -0.30432006] [ 0. 0. 0. 1. ]] SLAMing on 133.593133365 meters Centerline goodness : 0.131881 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99950062 0.00281431 -0.03147378 -1.01145179] [-0.00321073 0.99991607 -0.01255191 0.01927469] [ 0.03143582 0.0126467 0.99942576 -0.30425128] [ 0. 0. 0. 1. ]] SLAMing on 133.623133365 meters Centerline goodness : 0.123301 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99950514 0.00266101 -0.03134319 -1.01157727] [-0.00306608 0.99991231 -0.01288298 0.02097011] [ 0.03130616 0.01297271 0.99942565 -0.30457735] [ 0. 0. 0. 1. ]] SLAMing on 133.653133365 meters Centerline goodness : 0.125030 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99950789 0.00265043 -0.0312561 -1.01184043] [-0.00305707 0.99991122 -0.01296933 0.02171122] [ 0.03121895 0.0130585 0.99942726 -0.30452389] [ 0. 0. 0. 1. ]] SLAMing on 133.683133365 meters Centerline goodness : 0.122886 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99951432 0.00258817 -0.0310551 -1.01251063] [-0.0029967 0.9999095 -0.01311554 0.02254357] [ 0.03101835 0.01320223 0.99943162 -0.30424994] [ 0. 0. 0. 1. ]] SLAMing on 133.713133365 meters Centerline goodness : 0.145111 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.02, Z:-0.30 [[ 0.99952015 0.00248492 -0.03087536 -1.01311414] [-0.00289775 0.99990691 -0.01333308 0.02358072] [ 0.03083935 0.01341615 0.99943431 -0.30402312] [ 0. 0. 0. 1. ]] SLAMing on 133.743133365 meters Centerline goodness : 0.134904 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:-0.30 [[ 0.99952403 0.00232327 -0.03076236 -1.01352012] [-0.00274584 0.99990236 -0.01370176 0.02528091] [ 0.03072753 0.0137797 0.99943281 -0.30384694] [ 0. 0. 0. 1. ]] SLAMing on 133.77313336499998 meters Centerline goodness : 0.122012 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:-0.30 [[ 0.99952593 0.0022092 -0.03070901 -1.01363428] [-0.00264224 0.99989755 -0.01406803 0.02728485] [ 0.03067478 0.01414251 0.99942936 -0.30391077] [ 0. 0. 0. 1. ]] SLAMing on 133.80313336499998 meters Centerline goodness : 0.122072 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.03, Z:-0.30 [[ 0.99951709 0.00202622 -0.03100765 -1.01257579] [-0.00248841 0.99988628 -0.0148742 0.0322488 ] [ 0.03097399 0.01494418 0.99940847 -0.30447056] [ 0. 0. 0. 1. ]] SLAMing on 133.83313336499998 meters Centerline goodness : 0.145980 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.04, Z:-0.30 [[ 0.99951938 0.00180031 -0.03094784 -1.01269599] [-0.00228053 0.99987744 -0.01548876 0.03524875] [ 0.03091616 0.01555189 0.99940099 -0.30456723] [ 0. 0. 0. 1. ]] SLAMing on 133.86313336499998 meters Centerline goodness : 0.121683 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.04, Z:-0.30 [[ 0.99949265 -0.00498911 -0.03145726 -0.99555898] [ 0.00453015 0.9998825 -0.01464451 0.04432901] [ 0.03152663 0.01449457 0.99939781 -0.3018217 ] [ 0. 0. 0. 1. ]] SLAMing on 133.89313336499998 meters Centerline goodness : 0.120195 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.05, Z:-0.30 [[ 0.99949789 -0.00518063 -0.03125893 -0.9961148 ] [ 0.00470595 0.99987279 -0.01523989 0.04749705] [ 0.0313339 0.01508514 0.99939513 -0.30178424] [ 0. 0. 0. 1. ]] SLAMing on 133.92313336499998 meters Centerline goodness : 0.120819 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.05, Z:-0.30 [[ 0.99953059 -0.00343092 -0.03044374 -0.99976211] [ 0.00300976 0.99989929 -0.01386909 0.05186867] [ 0.03048826 0.01377095 0.99944026 -0.30007331] [ 0. 0. 0. 1. ]] SLAMing on 133.95313336499999 meters Centerline goodness : 0.143375 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.05, Z:-0.30 [[ 9.99538496e-01 1.59911705e-04 -3.03771161e-02 -1.00003330e+00] [-4.80812742e-04 9.99944159e-01 -1.05568965e-02 5.36199093e-02] [ 3.03737316e-02 1.05666301e-02 9.99482758e-01 -2.99889310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.983133365 meters Centerline goodness : 0.302317 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.06, Z:-0.30 [[ 0.99953325 0.00371884 -0.03032262 -1.00033439] [-0.00395621 0.99996197 -0.00777198 0.05903579] [ 0.03029256 0.00788832 0.99950995 -0.29966731] [ 0. 0. 0. 1. ]] SLAMing on 134.013133365 meters Centerline goodness : 0.246407 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.06, Z:-0.30 [[ 0.99953804 0.00346153 -0.03019489 -1.0006623 ] [-0.00371898 0.99995718 -0.00847419 0.06257078] [ 0.03016427 0.00858257 0.99950811 -0.2997192 ] [ 0. 0. 0. 1. ]] SLAMing on 134.043133365 meters Centerline goodness : 0.245146 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.07, Z:-0.30 [[ 0.99954199 0.00318611 -0.03009429 -1.00094742] [-0.00346424 0.99995173 -0.00919413 0.06624882] [ 0.03006355 0.00929418 0.99950478 -0.29974339] [ 0. 0. 0. 1. ]] SLAMing on 134.073133365 meters Centerline goodness : 0.152531 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.07, Z:-0.30 [[ 0.99954333 0.00295861 -0.03007291 -1.00095661] [-0.00325699 0.99994591 -0.00987771 0.069912 ] [ 0.03004206 0.00997114 0.9994989 -0.29991356] [ 0. 0. 0. 1. ]] SLAMing on 134.103133365 meters Centerline goodness : 0.156793 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.07, Z:-0.30 [[ 0.9995402 0.00275659 -0.03019573 -1.00055994] [-0.00307576 0.99993984 -0.01052869 0.07352675] [ 0.03016489 0.01061672 0.99948855 -0.30016104] [ 0. 0. 0. 1. ]] SLAMing on 134.133133365 meters Centerline goodness : 0.145965 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99953873 0.00254098 -0.03026328 -1.00022864] [-0.0028801 0.9999335 -0.01116735 0.07695604] [ 0.03023289 0.01124936 0.99947958 -0.30046366] [ 0. 0. 0. 1. ]] SLAMing on 134.163133365 meters Centerline goodness : 0.151200 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99954641 0.0020728 -0.03004474 -1.0010491 ] [-0.00244065 0.99992245 -0.01221185 0.08187419] [ 0.0300171 0.01227963 0.99947395 -0.30008014] [ 0. 0. 0. 1. ]] SLAMing on 134.193133365 meters Centerline goodness : 0.102727 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99954747 0.00193967 -0.03001813 -1.00131582] [-0.00231663 0.99991884 -0.012528 0.08353259] [ 0.02999139 0.01259188 0.99947084 -0.29979737] [ 0. 0. 0. 1. ]] SLAMing on 134.223133365 meters Centerline goodness : 0.152233 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99955051 -0.00389376 -0.02972577 -0.97977445] [ 0.00360541 0.99994599 -0.00974784 0.08867135] [ 0.02976212 0.00963629 0.99951056 -0.29912295] [ 0. 0. 0. 1. ]] SLAMing on 134.253133365 meters Centerline goodness : 0.154239 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99954928 -0.00397502 -0.02975642 -0.97957035] [ 0.00368082 0.99994387 -0.0099351 0.08974811] [ 0.02979425 0.0098211 0.9995078 -0.29934074] [ 0. 0. 0. 1. ]] SLAMing on 134.283133365 meters Centerline goodness : 0.155350 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99954709 -0.00405024 -0.02981962 -0.9791335 ] [ 0.00375148 0.99994228 -0.01006798 0.09032594] [ 0.02985868 0.00995155 0.99950459 -0.2997648 ] [ 0. 0. 0. 1. ]] SLAMing on 134.313133365 meters Centerline goodness : 0.106959 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99955473 0.00200098 -0.02977133 -1.00152266] [-0.0023803 0.99991638 -0.01271094 0.08641323] [ 0.0297434 0.01277615 0.99947591 -0.30060883] [ 0. 0. 0. 1. ]] SLAMing on 134.343133365 meters Centerline goodness : 0.166346 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99958272 -0.00644429 -0.02815763 -0.98195388] [ 0.00610373 0.99990739 -0.01216404 0.0907034 ] [ 0.02823341 0.0119871 0.99952948 -0.29912258] [ 0. 0. 0. 1. ]] SLAMing on 134.373133365 meters Centerline goodness : 0.259342 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99958678 -0.00644031 -0.02801416 -0.98249206] [ 0.00610202 0.99990764 -0.0121444 0.0907052 ] [ 0.02808979 0.01196844 0.99953375 -0.29884841] [ 0. 0. 0. 1. ]] SLAMing on 134.403133365 meters Centerline goodness : 0.156556 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99958653 -0.00647077 -0.02801611 -0.98251848] [ 0.00612959 0.99990622 -0.01224669 0.09132199] [ 0.02809272 0.0120699 0.99953245 -0.29884063] [ 0. 0. 0. 1. ]] SLAMing on 134.433133365 meters Centerline goodness : 0.200700 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99961091 0.00146483 -0.02785461 -1.00156388] [-0.00183515 0.99991022 -0.0132738 0.08618529] [ 0.02783266 0.01331975 0.99952385 -0.30131594] [ 0. 0. 0. 1. ]] SLAMing on 134.463133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 134.493133365 meters Centerline goodness : 0.159262 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99960906 0.00141696 -0.02792348 -1.00099562] [-0.00178883 0.99990999 -0.01329726 0.08572823] [ 0.02790212 0.01334201 0.99952162 -0.30193666] [ 0. 0. 0. 1. ]] SLAMing on 134.52313336499998 meters Centerline goodness : 0.159262 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99960906 0.00141696 -0.02792348 -1.00099562] [-0.00178883 0.99990999 -0.01329726 0.08572823] [ 0.02790212 0.01334201 0.99952162 -0.30193666] [ 0. 0. 0. 1. ]] SLAMing on 134.55313336499998 meters Centerline goodness : 0.155698 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99957534 -0.00599371 -0.02851698 -0.98230251] [ 0.00564872 0.99991007 -0.0121629 0.09028782] [ 0.02858731 0.01199666 0.99951931 -0.29970719] [ 0. 0. 0. 1. ]] SLAMing on 134.58313336499998 meters Centerline goodness : 0.090641 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.9995327 0.00206614 -0.03049778 -1.00074178] [-0.00246129 0.99991344 -0.01292488 0.08242299] [ 0.03046844 0.01299391 0.99945127 -0.30178958] [ 0. 0. 0. 1. ]] SLAMing on 134.61313336499998 meters Centerline goodness : 0.115421 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99952115 0.00214863 -0.0308682 -0.99942566] [-0.0025414 0.99991624 -0.01269067 0.08113824] [ 0.03083835 0.01276304 0.9994429 -0.30248016] [ 0. 0. 0. 1. ]] SLAMing on 134.64313336499998 meters Centerline goodness : 0.149853 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.08, Z:-0.30 [[ 0.99942952 0.00149389 -0.03374031 -1.04289159] [-0.00192187 0.99991807 -0.01265543 0.07605373] [ 0.03371864 0.01271305 0.9993505 -0.30361737] [ 0. 0. 0. 1. ]] SLAMing on 134.67313336499998 meters Centerline goodness : 0.148864 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.30 [[ 0.99944489 -0.00611686 -0.03274896 -1.02377848] [ 0.00574646 0.99991859 -0.01139227 0.07939909] [ 0.03281598 0.01119775 0.99939868 -0.30214185] [ 0. 0. 0. 1. ]] SLAMing on 134.70313336499999 meters Centerline goodness : 0.094259 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99952516 0.00220607 -0.03073417 -1.00525001] [-0.00259193 0.99991825 -0.01252077 0.07619118] [ 0.03070404 0.01259448 0.99944917 -0.30021432] [ 0. 0. 0. 1. ]] SLAMing on 134.733133365 meters Centerline goodness : 0.148845 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99954663 0.00238689 -0.03001386 -1.00749786] [-0.0027581 0.99992014 -0.0123328 0.07581453] [ 0.02998203 0.01240999 0.9994734 -0.29947119] [ 0. 0. 0. 1. ]] SLAMing on 134.763133365 meters Centerline goodness : 0.162562 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99957848 0.0029153 -0.02888536 -1.01032108] [-0.00326912 0.99992012 -0.01220942 0.0771425 ] [ 0.02884746 0.0122987 0.99950816 -0.2994027 ] [ 0. 0. 0. 1. ]] SLAMing on 134.793133365 meters Centerline goodness : 0.151597 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99956474 0.00296177 -0.02935242 -1.0087544 ] [-0.00333195 0.99991543 -0.01257065 0.07945277] [ 0.0293127 0.01266298 0.99949008 -0.30025632] [ 0. 0. 0. 1. ]] SLAMing on 134.823133365 meters Centerline goodness : 0.149586 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.08, Z:-0.30 [[ 0.99953743 0.00306299 -0.03025786 -1.00595967] [-0.00345627 0.99991012 -0.01295403 0.08209657] [ 0.03021546 0.01305262 0.99945818 -0.30139132] [ 0. 0. 0. 1. ]] SLAMing on 134.853133365 meters Centerline goodness : 0.152698 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.08, Z:-0.30 [[ 0.99952067 0.00300938 -0.03081191 -1.00418662] [-0.0034253 0.99990361 -0.01345474 0.08497591] [ 0.03076845 0.01355383 0.99943464 -0.30222271] [ 0. 0. 0. 1. ]] SLAMing on 134.883133365 meters Centerline goodness : 0.155724 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.09, Z:-0.30 [[ 0.99951234 0.00290971 -0.03109046 -1.00318086] [-0.00334379 0.99989754 -0.01391892 0.087584 ] [ 0.03104677 0.01401609 0.99941966 -0.30288596] [ 0. 0. 0. 1. ]] SLAMing on 134.913133365 meters Centerline goodness : 0.159539 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99946406 -0.00260789 -0.03263115 -0.98306352] [ 0.0022284 0.99992953 -0.01166063 0.09522317] [ 0.03265926 0.01158167 0.99939944 -0.30089715] [ 0. 0. 0. 1. ]] SLAMing on 134.943133365 meters Centerline goodness : 0.127302 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99947536 -0.00283666 -0.03226388 -0.98432045] [ 0.00243867 0.99992054 -0.01236817 0.09931065] [ 0.0322964 0.012283 0.99940286 -0.30045115] [ 0. 0. 0. 1. ]] SLAMing on 134.973133365 meters Centerline goodness : 0.163403 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99948217 -0.0029798 -0.03203932 -0.98498869] [ 0.00257289 0.99991561 -0.01273402 0.10123861] [ 0.03207456 0.01264499 0.99940549 -0.30030272] [ 0. 0. 0. 1. ]] SLAMing on 135.003133365 meters Centerline goodness : 0.157491 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.99946678 -0.0089702 -0.03139574 -0.96391082] [ 0.00864995 0.99990932 -0.01032137 0.10785271] [ 0.03148548 0.01004429 0.99945374 -0.29973483] [ 0. 0. 0. 1. ]] SLAMing on 135.033133365 meters Centerline goodness : 0.136267 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.99946505 -0.00912996 -0.03140462 -0.96385781] [ 0.0087961 0.9999035 -0.01075273 0.11016424] [ 0.03149976 0.01047074 0.99944891 -0.29987167] [ 0. 0. 0. 1. ]] SLAMing on 135.063133365 meters Centerline goodness : 0.169032 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.99945724 -0.00931007 -0.03159966 -0.96328787] [ 0.00895937 0.99989689 -0.01122185 0.11259133] [ 0.03170088 0.01093265 0.99943761 -0.30008757] [ 0. 0. 0. 1. ]] SLAMing on 135.093133365 meters Centerline goodness : 0.158753 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.9994505 -0.00946582 -0.03176625 -0.96288627] [ 0.0090995 0.99989065 -0.01165669 0.11496739] [ 0.03187311 0.01136123 0.99942735 -0.30012973] [ 0. 0. 0. 1. ]] SLAMing on 135.123133365 meters Centerline goodness : 0.161628 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.12, Z:-0.30 [[ 0.99937064 -0.00886075 -0.03434832 -1.00808243] [ 0.00848905 0.99990398 -0.01095248 0.11662195] [ 0.03444207 0.01065401 0.99934991 -0.30005489] [ 0. 0. 0. 1. ]] SLAMing on 135.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.183133365 meters Centerline goodness : 0.160210 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99421160e-01 -1.04489644e-03 -3.40037174e-02 -9.87772972e-01] [ 6.17239053e-04 9.99920617e-01 -1.25848513e-02 1.18897482e-01] [ 3.40141680e-02 1.25565783e-02 9.99342468e-01 -2.99013933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.213133365 meters Centerline goodness : 0.089565 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.13, Z:-0.30 [[ 0.99935589 -0.0086379 -0.03483091 -0.96919152] [ 0.00822806 0.99989542 -0.01189279 0.12664673] [ 0.03493 0.01159854 0.99932246 -0.29672452] [ 0. 0. 0. 1. ]] SLAMing on 135.243133365 meters Centerline goodness : 0.088125 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99415486e-01 -8.82578710e-04 -3.41746559e-02 -9.87979154e-01] [ 4.40817997e-04 9.99916282e-01 -1.29319367e-02 1.22027256e-01] [ 3.41832084e-02 1.29093130e-02 9.99332206e-01 -2.98950025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27313336499998 meters Centerline goodness : 0.098795 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99445111e-01 -1.19208588e-03 -3.32873666e-02 -9.90803183e-01] [ 7.57397063e-04 9.99914320e-01 -1.30682297e-02 1.22110300e-01] [ 3.33000930e-02 1.30357665e-02 9.99360382e-01 -2.97748273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30313336499998 meters Centerline goodness : 0.098795 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99445111e-01 -1.19208588e-03 -3.32873666e-02 -9.90803183e-01] [ 7.57397063e-04 9.99914320e-01 -1.30682297e-02 1.22110300e-01] [ 3.33000930e-02 1.30357665e-02 9.99360382e-01 -2.97748273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33313336499998 meters Centerline goodness : 0.136321 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99451296e-01 -1.28429378e-03 -3.30977073e-02 -9.91560459e-01] [ 8.55619416e-04 9.99915615e-01 -1.29626944e-02 1.20946612e-01] [ 3.31115623e-02 1.29272627e-02 9.99368055e-01 -2.97209925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.39313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.42313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.45313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 135.483133365 meters Centerline goodness : 0.096717 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 0.99939514 -0.0036615 -0.03458235 -0.98519864] [ 0.00312946 0.99987611 -0.0154265 0.12251348] [ 0.03463455 0.01530895 0.99928278 -0.30028462] [ 0. 0. 0. 1. ]] SLAMing on 135.513133365 meters Centerline goodness : 0.096717 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 0.99939514 -0.0036615 -0.03458235 -0.98519864] [ 0.00312946 0.99987611 -0.0154265 0.12251348] [ 0.03463455 0.01530895 0.99928278 -0.30028462] [ 0. 0. 0. 1. ]] SLAMing on 135.543133365 meters Centerline goodness : 0.105439 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99380619e-01 2.95714117e-04 -3.51893635e-02 -9.83702425e-01] [-7.04420377e-04 9.99932439e-01 -1.16026519e-02 1.22647299e-01] [ 3.51835550e-02 1.16202535e-02 9.99313308e-01 -3.00396262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.573133365 meters Centerline goodness : 0.187820 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99377176e-01 3.68485903e-04 -3.52863255e-02 -9.83246477e-01] [-7.77707740e-04 9.99932599e-01 -1.15841560e-02 1.23006398e-01] [ 3.52796785e-02 1.16043835e-02 9.99310103e-01 -3.00784301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.603133365 meters Centerline goodness : 0.115719 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99370808e-01 3.84320160e-04 -3.54660552e-02 -9.82623708e-01] [-7.94005009e-04 9.99933119e-01 -1.15381023e-02 1.22645626e-01] [ 3.54592488e-02 1.15590028e-02 9.99304274e-01 -3.01066303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.633133365 meters Centerline goodness : 0.164234 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99365356e-01 3.79865669e-04 -3.56193932e-02 -9.82132345e-01] [-7.87845494e-04 9.99934245e-01 -1.14405318e-02 1.21684751e-01] [ 3.56127051e-02 1.14613338e-02 9.99299941e-01 -3.01226027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.663133365 meters Centerline goodness : 0.180042 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.12, Z:-0.30 [[ 9.99370024e-01 4.43694313e-04 -3.54874437e-02 -9.82648075e-01] [-8.40914536e-04 9.99937158e-01 -1.11791188e-02 1.20114432e-01] [ 3.54802534e-02 1.12019182e-02 9.99307595e-01 -3.00888119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.693133365 meters Centerline goodness : 0.176847 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.12, Z:-0.30 [[ 9.99418407e-01 4.91316753e-04 -3.40970259e-02 -9.86762061e-01] [-8.48864911e-04 9.99944801e-01 -1.04725141e-02 1.16006888e-01] [ 3.40899985e-02 1.04953671e-02 9.99363657e-01 -2.99503624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.723133365 meters Centerline goodness : 0.134139 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.11, Z:-0.30 [[ 9.99434289e-01 6.17024113e-04 -3.36262114e-02 -9.88293407e-01] [-9.52968154e-04 9.99949790e-01 -9.97542996e-03 1.13331042e-01] [ 3.36183680e-02 1.00018315e-02 9.99384695e-01 -2.98795694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.753133365 meters Centerline goodness : 0.088300 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.11, Z:-0.30 [[ 0.99942932 -0.00754167 -0.03292657 -0.96801595] [ 0.00725139 0.99993387 -0.00892652 0.11462934] [ 0.03299171 0.00868266 0.99941791 -0.29742369] [ 0. 0. 0. 1. ]] SLAMing on 135.783133365 meters Centerline goodness : 0.151588 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.11, Z:-0.30 [[ 0.99941604 -0.00733936 -0.03337223 -0.96654284] [ 0.00706414 0.99994012 -0.00835746 0.11160734] [ 0.03343157 0.00811683 0.99940805 -0.2979568 ] [ 0. 0. 0. 1. ]] SLAMing on 135.813133365 meters Centerline goodness : 0.171396 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.30 [[ 0.9993938 -0.00717928 -0.03406598 -0.96432196] [ 0.00691506 0.99994514 -0.00786742 0.10891752] [ 0.03412059 0.00762708 0.99938862 -0.29873077] [ 0. 0. 0. 1. ]] SLAMing on 135.843133365 meters Centerline goodness : 0.150194 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 9.99378306e-01 7.87896342e-04 -3.52474188e-02 -9.81851367e-01] [-1.09711034e-03 9.99961079e-01 -8.75419000e-03 1.00432934e-01] [ 3.52391495e-02 8.78741788e-03 9.99340274e-01 -3.01445461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.873133365 meters Centerline goodness : 0.146551 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.10, Z:-0.30 [[ 0.99937277 0.00130091 -0.0353888 -0.98118666] [-0.00157583 0.99996879 -0.00774189 0.09607999] [ 0.03537763 0.0077928 0.99934363 -0.30189894] [ 0. 0. 0. 1. ]] SLAMing on 135.903133365 meters Centerline goodness : 0.128941 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937771 0.00151848 -0.0352404 -0.98141207] [-0.00177915 0.99997128 -0.00736685 0.09456825] [ 0.03522821 0.00742496 0.99935171 -0.30210169] [ 0. 0. 0. 1. ]] SLAMing on 135.933133365 meters Centerline goodness : 0.146193 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937812 0.001668 -0.03522189 -0.98139608] [-0.00192054 0.99997268 -0.0071374 0.09351667] [ 0.03520902 0.0072006 0.99935403 -0.30222484] [ 0. 0. 0. 1. ]] SLAMing on 135.963133365 meters Centerline goodness : 0.154824 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937299 0.00176773 -0.0353623 -0.98079719] [-0.00201799 0.99997317 -0.00704237 0.09303407] [ 0.0353489 0.00710932 0.99934974 -0.30268157] [ 0. 0. 0. 1. ]] SLAMing on 135.993133365 meters Centerline goodness : 0.144709 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99936368 0.00182308 -0.03562174 -0.97974458] [-0.00207502 0.99997309 -0.00703703 0.09299817] [ 0.03560795 0.00710647 0.99934057 -0.30341123] [ 0. 0. 0. 1. ]] SLAMing on 136.02313336499998 meters Centerline goodness : 0.151842 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99935972 0.00192357 -0.03572754 -0.97910179] [-0.00217787 0.99997256 -0.00708015 0.09359167] [ 0.03571294 0.00715343 0.99933649 -0.30409858] [ 0. 0. 0. 1. ]] SLAMing on 136.05313336499998 meters Centerline goodness : 0.154547 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937807 0.00219743 -0.03519439 -0.98052265] [-0.00244543 0.99997247 -0.00700511 0.09435265] [ 0.03517803 0.00708681 0.99935593 -0.30397933] [ 0. 0. 0. 1. ]] SLAMing on 136.08313336499998 meters Centerline goodness : 0.150999 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99938642 0.00221851 -0.03495507 -0.98142309] [-0.00246424 0.99997254 -0.00698835 0.0943689 ] [ 0.03493861 0.0070702 0.99936445 -0.30351586] [ 0. 0. 0. 1. ]] SLAMing on 136.11313336499998 meters Centerline goodness : 0.101559 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.9993873 0.00217827 -0.03493243 -0.98165335] [-0.00242271 0.99997287 -0.00695668 0.09389551] [ 0.03491632 0.00703705 0.99936546 -0.30323785] [ 0. 0. 0. 1. ]] SLAMing on 136.14313336499998 meters Centerline goodness : 0.156216 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99937383 0.00199274 -0.03532677 -0.98047419] [-0.00224275 0.99997271 -0.00703897 0.09333756] [ 0.03531178 0.0071138 0.99935103 -0.30354695] [ 0. 0. 0. 1. ]] SLAMing on 136.17313336499998 meters Centerline goodness : 0.114993 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99934843 0.00178489 -0.03604906 -0.97836007] [-0.00204245 0.99997264 -0.00710912 0.09265797] [ 0.03603539 0.00717811 0.99932473 -0.30400984] [ 0. 0. 0. 1. ]] SLAMing on 136.20313336499999 meters Centerline goodness : 0.148962 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.09, Z:-0.30 [[ 0.99932646 0.00164245 -0.03665963 -0.97661966] [-0.00190294 0.99997318 -0.00707184 0.09179453] [ 0.03664703 0.00713684 0.99930279 -0.30440486] [ 0. 0. 0. 1. ]] SLAMing on 136.233133365 meters Centerline goodness : 0.120187 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99931882 -0.00686758 -0.03625934 -0.9565748 ] [ 0.0066545 0.99995989 -0.00599399 0.09493509] [ 0.03629905 0.00574862 0.99932444 -0.30210388] [ 0. 0. 0. 1. ]] SLAMing on 136.263133365 meters Centerline goodness : 0.150905 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99932628 -0.00687959 -0.03605063 -0.95746048] [ 0.00667612 0.99996112 -0.00576112 0.09354181] [ 0.03608887 0.00551656 0.99933336 -0.30142752] [ 0. 0. 0. 1. ]] SLAMing on 136.293133365 meters Centerline goodness : 0.160571 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99933077 -0.00692809 -0.03591678 -0.95807665] [ 0.00673347 0.999962 -0.0055367 0.09194481] [ 0.03595377 0.00529115 0.99933945 -0.30087807] [ 0. 0. 0. 1. ]] SLAMing on 136.323133365 meters Centerline goodness : 0.148782 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.09, Z:-0.30 [[ 0.99933344 -0.00701201 -0.03582601 -0.95842546] [ 0.00682509 0.99996247 -0.00533705 0.0902627 ] [ 0.03586209 0.00508897 0.99934379 -0.30061326] [ 0. 0. 0. 1. ]] SLAMing on 136.353133365 meters Centerline goodness : 0.256722 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.08, Z:-0.30 [[ 9.99379543e-01 -2.54225323e-04 -3.52202263e-02 -9.76068702e-01] [ 1.65410577e-05 9.99977228e-01 -6.74864317e-03 8.21686235e-02] [ 3.52211399e-02 6.74387334e-03 9.99356789e-01 -3.03509120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.383133365 meters Centerline goodness : 0.256722 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.08, Z:-0.30 [[ 9.99379543e-01 -2.54225323e-04 -3.52202263e-02 -9.76068702e-01] [ 1.65410577e-05 9.99977228e-01 -6.74864317e-03 8.21686235e-02] [ 3.52211399e-02 6.74387334e-03 9.99356789e-01 -3.03509120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.413133365 meters Centerline goodness : 0.128992 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.08, Z:-0.30 [[ 9.99361721e-01 -4.42036494e-04 -3.57205137e-02 -9.74584587e-01] [ 2.15782209e-04 9.99979894e-01 -6.33762234e-03 7.88843361e-02] [ 3.57225970e-02 6.32586932e-03 9.99341723e-01 -3.03859319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.443133365 meters Centerline goodness : 0.126829 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.08, Z:-0.30 [[ 9.99361657e-01 -3.10158339e-04 -3.57236970e-02 -9.74698806e-01] [ 1.00018813e-04 9.99982684e-01 -5.88399353e-03 7.65431184e-02] [ 3.57249034e-02 5.87666448e-03 9.99344383e-01 -3.03612469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.473133365 meters Centerline goodness : 0.135594 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.08, Z:-0.30 [[ 0.99935293 -0.00832559 -0.03499161 -0.95506041] [ 0.00816616 0.99995563 -0.0046968 0.07875536] [ 0.03502917 0.00440802 0.99937657 -0.30165746] [ 0. 0. 0. 1. ]] SLAMing on 136.503133365 meters Centerline goodness : 0.153492 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.07, Z:-0.30 [[ 9.99422641e-01 -8.51010175e-04 -3.39655757e-02 -9.74976990e-01] [ 6.71697755e-04 9.99985781e-01 -5.29030134e-03 7.02166022e-02] [ 3.39695948e-02 5.26443233e-03 9.99409002e-01 -3.03407209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.533133365 meters Centerline goodness : 0.314848 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.07, Z:-0.30 [[ 9.99424121e-01 -6.76244553e-04 -3.39259382e-02 -9.75176273e-01] [ 5.12168247e-04 9.99988133e-01 -4.84476588e-03 6.80246062e-02] [ 3.39288118e-02 4.82460009e-03 9.99412607e-01 -3.03214703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.563133365 meters Centerline goodness : 0.139904 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.07, Z:-0.30 [[ 9.99428945e-01 -4.92694065e-04 -3.37867060e-02 -9.75688056e-01] [ 3.43535208e-04 9.99990171e-01 -4.42038332e-03 6.60263015e-02] [ 3.37885518e-02 4.40625212e-03 9.99419291e-01 -3.02906109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.593133365 meters Centerline goodness : 0.134194 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.06, Z:-0.30 [[ 9.99429960e-01 -1.81251680e-04 -3.37597819e-02 -9.75802346e-01] [ 5.89311898e-05 9.99993431e-01 -3.62422046e-03 6.18035348e-02] [ 3.37602170e-02 3.62016500e-03 9.99423405e-01 -3.02731236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.623133365 meters Centerline goodness : 0.138598 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.06, Z:-0.30 [[ 9.99425376e-01 -1.72350017e-05 -3.38956790e-02 -9.75375097e-01] [-9.32082690e-05 9.99994692e-01 -3.25674608e-03 5.99615932e-02] [ 3.38955552e-02 3.25803403e-03 9.99420070e-01 -3.02860329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.653133365 meters Centerline goodness : 0.133694 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99419298e-01 1.34621937e-04 -3.40741699e-02 -9.74735317e-01] [-2.36894387e-04 9.99995480e-01 -2.99744628e-03 5.88225054e-02] [ 3.40736123e-02 3.00377764e-03 9.99414812e-01 -3.03195055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.683133365 meters Centerline goodness : 0.136047 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99416156e-01 2.61488650e-04 -3.41654645e-02 -9.74316416e-01] [-3.58639521e-04 9.99995910e-01 -2.83744279e-03 5.82810641e-02] [ 3.41645828e-02 2.84803925e-03 9.99412162e-01 -3.03525166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.713133365 meters Centerline goodness : 0.122239 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99410318e-01 4.38290563e-04 -3.43340023e-02 -9.73713889e-01] [-5.33378329e-04 9.99996048e-01 -2.76038239e-03 5.84168558e-02] [ 3.43326567e-02 2.77706765e-03 9.99406602e-01 -3.03912846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.743133365 meters Centerline goodness : 0.120560 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.06, Z:-0.30 [[ 9.99408432e-01 4.77922228e-04 -3.43883343e-02 -9.73321870e-01] [-5.76597221e-04 9.99995745e-01 -2.85957234e-03 5.91070723e-02] [ 3.43868214e-02 2.87770893e-03 9.99404455e-01 -3.04345334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77313336499998 meters Centerline goodness : 0.134786 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.31 [[ 9.99316941e-01 5.95632653e-04 -3.69499143e-02 -1.01828367e+00] [-6.87638401e-04 9.99996695e-01 -2.47735403e-03 5.66986734e-02] [ 3.69483166e-02 2.50107003e-03 9.99314048e-01 -3.05019395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80313336499998 meters Centerline goodness : 0.136912 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.31 [[ 9.99320698e-01 6.20592999e-04 -3.68477669e-02 -1.01835919e+00] [-7.16255163e-04 9.99996408e-01 -2.58300155e-03 5.74162218e-02] [ 3.68460316e-02 2.60763932e-03 9.99317552e-01 -3.05361782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83313336499998 meters Centerline goodness : 0.133043 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.31 [[ 9.99326894e-01 6.44982052e-04 -3.66789084e-02 -1.01881295e+00] [-7.42657633e-04 9.99996214e-01 -2.64942823e-03 5.79589515e-02] [ 3.66770607e-02 2.67488475e-03 9.99323590e-01 -3.05344717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86313336499998 meters Centerline goodness : 0.139330 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 9.99345678e-01 8.60107234e-04 -3.61590465e-02 -1.02045600e+00] [-9.55874809e-04 9.99996081e-01 -2.63130544e-03 5.89673339e-02] [ 3.61566416e-02 2.66414724e-03 9.99342584e-01 -3.04837997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89313336499998 meters Centerline goodness : 0.136373 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 9.99349011e-01 8.86379881e-04 -3.60661701e-02 -1.02077862e+00] [-9.82466024e-04 9.99996015e-01 -2.64652720e-03 5.92888536e-02] [ 3.60636806e-02 2.68023813e-03 9.99345900e-01 -3.04718821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92313336499998 meters Centerline goodness : 0.128654 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 9.99346933e-01 8.92944009e-04 -3.61235522e-02 -1.02086789e+00] [-9.87914739e-04 9.99996103e-01 -2.61128900e-03 5.89139228e-02] [ 3.61210797e-02 2.64527064e-03 9.99343920e-01 -3.04360594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95313336499999 meters Centerline goodness : 0.132836 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.05, Z:-0.30 [[ 0.99932582 0.00634857 -0.03616065 -1.04405585] [-0.00655885 0.99996225 -0.00569971 0.05439617] [ 0.0361231 0.00593304 0.99932974 -0.30460087] [ 0. 0. 0. 1. ]] SLAMing on 136.983133365 meters Centerline goodness : 0.139690 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.30 [[ 0.99933185 -0.0014783 -0.03651939 -1.02502532] [ 0.00130261 0.99998747 -0.00483445 0.05808539] [ 0.03652608 0.00478365 0.99932125 -0.30233371] [ 0. 0. 0. 1. ]] SLAMing on 137.013133365 meters Centerline goodness : 0.132694 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 0.99932221 -0.00136918 -0.03678646 -1.02419492] [ 0.00120752 0.99998952 -0.00441661 0.05586156] [ 0.03679212 0.00436919 0.99931339 -0.30257941] [ 0. 0. 0. 1. ]] SLAMing on 137.043133365 meters Centerline goodness : 0.134963 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.06, Z:-0.30 [[ 0.99931998 -0.00130248 -0.03684957 -1.02399574] [ 0.00114692 0.99999034 -0.00424226 0.0550426 ] [ 0.03685474 0.00419711 0.99931182 -0.30263345] [ 0. 0. 0. 1. ]] SLAMing on 137.073133365 meters Centerline goodness : 0.141174 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.05, Z:-0.30 [[ 0.99931991 -0.00126759 -0.03685248 -1.0239228 ] [ 0.00111599 0.99999083 -0.00413392 0.05432718] [ 0.03685738 0.00408998 0.99931217 -0.30271117] [ 0. 0. 0. 1. ]] SLAMing on 137.103133365 meters Centerline goodness : 0.117368 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.05, Z:-0.30 [[ 0.99931805 -0.00126561 -0.03690295 -1.02380106] [ 0.00111755 0.99999125 -0.00403233 0.05344942] [ 0.03690773 0.00398834 0.99931072 -0.30268698] [ 0. 0. 0. 1. ]] SLAMing on 137.133133365 meters Centerline goodness : 0.133914 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.30 [[ 0.9992199 -0.00238051 -0.03941978 -1.06908198] [ 0.0022162 0.99998868 -0.00421143 0.04862086] [ 0.03942936 0.00412079 0.99921386 -0.3029303 ] [ 0. 0. 0. 1. ]] SLAMing on 137.163133365 meters Centerline goodness : 0.146049 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.30 [[ 0.99921786 -0.00226161 -0.03947861 -1.06892579] [ 0.00210868 0.99999011 -0.00391482 0.04718651] [ 0.03948707 0.00382851 0.99921275 -0.30295504] [ 0. 0. 0. 1. ]] SLAMing on 137.193133365 meters Centerline goodness : 0.119198 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.30 [[ 0.99921227 -0.00212607 -0.03962736 -1.06847244] [ 0.001985 0.99999155 -0.0035989 0.0457367 ] [ 0.03963468 0.00351741 0.99920805 -0.30305057] [ 0. 0. 0. 1. ]] SLAMing on 137.223133365 meters Centerline goodness : 0.117780 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99920433 -0.00201558 -0.03983272 -1.06798498] [ 0.00188613 0.99999282 -0.00328701 0.04411684] [ 0.03983906 0.00320927 0.99920096 -0.302973 ] [ 0. 0. 0. 1. ]] SLAMing on 137.253133365 meters Centerline goodness : 0.120200 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99919316 -0.00194995 -0.04011512 -1.06765025] [ 0.00183621 0.99999419 -0.00287211 0.04129115] [ 0.04012049 0.00279613 0.99919094 -0.30239558] [ 0. 0. 0. 1. ]] SLAMing on 137.283133365 meters Centerline goodness : 0.108616 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99919514 -0.0018939 -0.04006849 -1.06787465] [ 0.00178575 0.99999467 -0.0027349 0.04056822] [ 0.04007346 0.00266115 0.99919319 -0.30222801] [ 0. 0. 0. 1. ]] SLAMing on 137.313133365 meters Centerline goodness : 0.119065 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99920003 -0.00178821 -0.03995122 -1.06812778] [ 0.00168567 0.9999952 -0.00260032 0.0402293 ] [ 0.03995568 0.00253089 0.99919825 -0.30228209] [ 0. 0. 0. 1. ]] SLAMing on 137.343133365 meters Centerline goodness : 0.130405 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99920939 -0.00168315 -0.03972103 -1.06865693] [ 0.00158514 0.99999562 -0.00249886 0.04022608] [ 0.03972506 0.00243392 0.99920768 -0.30236308] [ 0. 0. 0. 1. ]] SLAMing on 137.373133365 meters Centerline goodness : 0.129970 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99921499 -0.00160701 -0.03958315 -1.06899642] [ 0.00151158 0.99999588 -0.00244051 0.04035086] [ 0.0395869 0.00237876 0.9992133 -0.30236375] [ 0. 0. 0. 1. ]] SLAMing on 137.403133365 meters Centerline goodness : 0.132472 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99921987 -0.0016042 -0.03945986 -1.06941258] [ 0.00150636 0.99999572 -0.00250904 0.04081731] [ 0.03946372 0.00244764 0.99921801 -0.30220152] [ 0. 0. 0. 1. ]] SLAMing on 137.433133365 meters Centerline goodness : 0.130091 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99922788 -0.0014123 -0.03926388 -1.07060693] [ 0.001321 0.99999636 -0.00235115 0.04060329] [ 0.03926705 0.00229747 0.99922611 -0.30118077] [ 0. 0. 0. 1. ]] SLAMing on 137.463133365 meters Centerline goodness : 0.132210 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99923727 -0.00127326 -0.03902881 -1.07141368] [ 0.00118921 0.99999692 -0.00217677 0.04032008] [ 0.03903147 0.00212869 0.99923571 -0.30087512] [ 0. 0. 0. 1. ]] SLAMing on 137.493133365 meters Centerline goodness : 0.130707 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99924557 -0.00120738 -0.03881787 -1.07195394] [ 0.00112647 0.99999715 -0.00210611 0.04027482] [ 0.0388203 0.00206079 0.99924408 -0.30086846] [ 0. 0. 0. 1. ]] SLAMing on 137.52313336499998 meters Centerline goodness : 0.170353 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.04, Z:-0.30 [[ 0.99927078 0.00703722 -0.03752858 -1.05231451] [-0.00717236 0.99996827 -0.0034676 0.03777373] [ 0.03750299 0.00373424 0.99928954 -0.29960382] [ 0. 0. 0. 1. ]] SLAMing on 137.55313336499998 meters Centerline goodness : 0.139781 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99930033 -0.00164434 -0.03736509 -1.07207826] [ 0.00154481 0.99999518 -0.00269248 0.04113687] [ 0.03736934 0.00263288 0.99929805 -0.30174113] [ 0. 0. 0. 1. ]] SLAMing on 137.58313336499998 meters Centerline goodness : 0.135171 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99931135 -0.00159258 -0.03707142 -1.07300547] [ 0.00149226 0.99999515 -0.00273369 0.04159129] [ 0.03707559 0.00267649 0.99930888 -0.30149595] [ 0. 0. 0. 1. ]] SLAMing on 137.61313336499998 meters Centerline goodness : 0.140045 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99931886 -0.00150778 -0.03687194 -1.07360403] [ 0.00140901 0.99999535 -0.00270456 0.04196665] [ 0.03687584 0.00265076 0.99931634 -0.30139241] [ 0. 0. 0. 1. ]] SLAMing on 137.64313336499998 meters Centerline goodness : 0.130797 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99932063 -0.00150525 -0.0368242 -1.07367753] [ 0.00140428 0.99999518 -0.00276754 0.04238988] [ 0.03682819 0.00271395 0.99931793 -0.30150402] [ 0. 0. 0. 1. ]] SLAMing on 137.67313336499998 meters Centerline goodness : 0.128857 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99931369 -0.00156274 -0.03700953 -1.07314007] [ 0.00145776 0.99999484 -0.00286333 0.04253385] [ 0.03701382 0.00280742 0.99931081 -0.30166401] [ 0. 0. 0. 1. ]] SLAMing on 137.70313336499999 meters Centerline goodness : 0.133812 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.9993031 -0.00164304 -0.03729104 -1.0721495 ] [ 0.00153291 0.99999438 -0.00298167 0.0426462 ] [ 0.03729573 0.00292243 0.9993 -0.30215172] [ 0. 0. 0. 1. ]] SLAMing on 137.733133365 meters Centerline goodness : 0.144711 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.30 [[ 0.99929247 -0.00167936 -0.03757323 -1.07092988] [ 0.00156351 0.99999393 -0.00311272 0.04316294] [ 0.03757823 0.00305177 0.99928903 -0.30304108] [ 0. 0. 0. 1. ]] SLAMing on 137.763133365 meters Centerline goodness : 0.133693 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.04, Z:-0.31 [[ 0.99922222 0.00625032 -0.03893429 -1.09042572] [-0.00641533 0.99997096 -0.00411464 0.03872758] [ 0.03890744 0.00436122 0.9992333 -0.30507534] [ 0. 0. 0. 1. ]] SLAMing on 137.793133365 meters Centerline goodness : 0.117580 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.05, Z:-0.31 [[ 0.99917433 0.00148347 -0.04060121 -1.06763158] [-0.00155161 0.99999744 -0.00164675 0.045492 ] [ 0.04059867 0.00170839 0.99917407 -0.30505244] [ 0. 0. 0. 1. ]] SLAMing on 137.823133365 meters Centerline goodness : 0.134511 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99071112e-01 9.41329614e-04 -4.30816289e-02 -1.11330450e+00] [-1.00850391e-03 9.99998309e-01 -1.53752553e-03 4.29978325e-02] [ 4.30801087e-02 1.57954533e-03 9.99070373e-01 -3.05381597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.853133365 meters Centerline goodness : 0.119580 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99071832e-01 8.81633774e-04 -4.30662057e-02 -1.11342113e+00] [-9.58771013e-04 9.99997973e-01 -1.77050947e-03 4.42963632e-02] [ 4.30645574e-02 1.81015677e-03 9.99070652e-01 -3.05363361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.883133365 meters Centerline goodness : 0.132742 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99071627e-01 8.07451245e-04 -4.30724065e-02 -1.11343249e+00] [-8.94310908e-04 9.99997605e-01 -1.99736557e-03 4.55784641e-02] [ 4.30706906e-02 2.03403139e-03 9.99069957e-01 -3.05363066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.913133365 meters Centerline goodness : 0.136336 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99069790e-01 6.86609927e-04 -4.31170891e-02 -1.11305145e+00] [-7.88171191e-04 9.99996955e-01 -2.33852034e-03 4.74047123e-02] [ 4.31153522e-02 2.37032867e-03 9.99067289e-01 -3.05875845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.943133365 meters Centerline goodness : 0.119101 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99059641e-01 5.64074828e-04 -4.33533726e-02 -1.11213108e+00] [-6.81197957e-04 9.99996158e-01 -2.68686652e-03 4.92891563e-02] [ 4.33516905e-02 2.71387213e-03 9.99056188e-01 -3.06453952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.973133365 meters Centerline goodness : 0.133336 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99049827e-01 4.20994342e-04 -4.35805781e-02 -1.11110503e+00] [-5.55290268e-04 9.99995135e-01 -3.06949466e-03 5.12011281e-02] [ 4.35790739e-02 3.09077798e-03 9.99045200e-01 -3.07255836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.003133365 meters Centerline goodness : 0.131010 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.05, Z:-0.31 [[ 9.99039895e-01 2.94524845e-04 -4.38086839e-02 -1.11036571e+00] [-4.44923014e-04 9.99994041e-01 -3.42335669e-03 5.30740469e-02] [ 4.38074146e-02 3.43956140e-03 9.99034073e-01 -3.07617628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.033133365 meters Centerline goodness : 0.144063 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99043807e-01 1.31533995e-04 -4.37201918e-02 -1.11079035e+00] [-3.08041397e-04 9.99991830e-01 -4.03049304e-03 5.66865315e-02] [ 4.37193045e-02 4.04010674e-03 9.99035685e-01 -3.07475134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.063133365 meters Centerline goodness : 0.171061 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99053182e-01 -5.54243976e-06 -4.35056323e-02 -1.11160395e+00] [-1.85680462e-04 9.99990341e-01 -4.39131745e-03 5.86169149e-02] [ 4.35052364e-02 4.39523782e-03 9.99043531e-01 -3.07115127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.093133365 meters Centerline goodness : 0.141251 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99063196e-01 -1.54471818e-04 -4.32747694e-02 -1.11243242e+00] [-5.09359610e-05 9.99988739e-01 -4.74545156e-03 6.04227519e-02] [ 4.32750152e-02 4.74321024e-03 9.99051938e-01 -3.06769549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.123133365 meters Centerline goodness : 0.144532 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.06, Z:-0.31 [[ 9.99068092e-01 -3.38197212e-04 -4.31605497e-02 -1.11283013e+00] [ 1.14253407e-04 9.99986520e-01 -5.19098393e-03 6.26386705e-02] [ 4.31617235e-02 5.18121517e-03 9.99054663e-01 -3.06680130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.153133365 meters Centerline goodness : 0.147547 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98957084e-01 -8.82368707e-04 -4.56504835e-02 -1.15783655e+00] [ 6.48987538e-04 9.99986647e-01 -5.12691670e-03 6.13183423e-02] [ 4.56543977e-02 5.09194316e-03 9.98944317e-01 -3.07710880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.183133365 meters Centerline goodness : 0.145734 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98954545e-01 -1.03214519e-03 -4.57028622e-02 -1.15763513e+00] [ 7.78179780e-04 9.99984161e-01 -5.57432505e-03 6.37929305e-02] [ 4.57078918e-02 5.53293230e-03 9.98939525e-01 -3.07931759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.213133365 meters Centerline goodness : 0.143330 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98973508e-01 -1.24635640e-03 -4.52810964e-02 -1.15961313e+00] [ 9.69796211e-04 9.99980747e-01 -6.12908491e-03 6.71868105e-02] [ 4.52878636e-02 6.07888002e-03 9.98955483e-01 -3.06702913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.243133365 meters Centerline goodness : 0.141213 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98987789e-01 -1.32700998e-03 -4.49626129e-02 -1.16093933e+00] [ 1.04865917e-03 9.99980145e-01 -6.21373852e-03 6.77075826e-02] [ 4.49699658e-02 6.16029845e-03 9.98969345e-01 -3.05863248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27313336499998 meters Centerline goodness : 0.143389 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98993928e-01 -1.39173835e-03 -4.48240357e-02 -1.16157321e+00] [ 1.11465414e-03 9.99980121e-01 -6.20599992e-03 6.75708105e-02] [ 4.48317818e-02 6.14979295e-03 9.98975621e-01 -3.05421866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30313336499998 meters Centerline goodness : 0.143389 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 9.98993928e-01 -1.39173835e-03 -4.48240357e-02 -1.16157321e+00] [ 1.11465414e-03 9.99980121e-01 -6.20599992e-03 6.75708105e-02] [ 4.48317818e-02 6.14979295e-03 9.98975621e-01 -3.05421866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33313336499998 meters Centerline goodness : 0.141540 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.31 [[ 0.99899609 -0.00146152 -0.04477359 -1.16185425] [ 0.00118649 0.99998027 -0.00616862 0.06703321] [ 0.04478172 0.0061093 0.99897812 -0.30514135] [ 0. 0. 0. 1. ]] SLAMing on 138.36313336499998 meters Centerline goodness : 0.130335 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.07, Z:-0.30 [[ 0.99900404 -0.00151749 -0.04459399 -1.16254273] [ 0.0012485 0.99998086 -0.00605918 0.06607362] [ 0.04460233 0.00599746 0.99898682 -0.30469292] [ 0. 0. 0. 1. ]] SLAMing on 138.39313336499998 meters Centerline goodness : 0.142073 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 0.99901565 -0.00152143 -0.04433301 -1.16356152] [ 0.00126204 0.99998193 -0.00587834 0.06491133] [ 0.04434115 0.0058166 0.99899951 -0.30409633] [ 0. 0. 0. 1. ]] SLAMing on 138.42313336499998 meters Centerline goodness : 0.125392 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 0.99902667 -0.00144828 -0.04408642 -1.16463258] [ 0.00120037 0.99998332 -0.00564924 0.06389521] [ 0.04409387 0.00559082 0.99901175 -0.30336996] [ 0. 0. 0. 1. ]] SLAMing on 138.45313336499999 meters Centerline goodness : 0.130339 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99037507e-01 -1.39822774e-03 -4.38418162e-02 -1.16566405e+00] [ 1.15885389e-03 9.99984286e-01 -5.48488380e-03 6.31460013e-02] [ 4.38487964e-02 5.42879838e-03 9.99023429e-01 -3.02717506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.483133365 meters Centerline goodness : 0.129586 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99044139e-01 -1.38535740e-03 -4.36908271e-02 -1.16641553e+00] [ 1.14909486e-03 9.99984585e-01 -5.43225151e-03 6.28616703e-02] [ 4.36976792e-02 5.37685413e-03 9.99030331e-01 -3.02129746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.513133365 meters Centerline goodness : 0.130388 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99049273e-01 -1.33453040e-03 -4.35748688e-02 -1.16693607e+00] [ 1.09771018e-03 9.99984501e-01 -5.45826436e-03 6.32196483e-02] [ 4.35814776e-02 5.40524246e-03 9.99035254e-01 -3.01810532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543133365 meters Centerline goodness : 0.131615 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99033404e-01 -1.31329207e-03 -4.39378251e-02 -1.16579001e+00] [ 1.06864232e-03 9.99983799e-01 -5.59111457e-03 6.40675067e-02] [ 4.39444560e-02 5.53875640e-03 9.99018622e-01 -3.02310908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.573133365 meters Centerline goodness : 0.131221 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99019595e-01 -1.33910093e-03 -4.42499315e-02 -1.16455485e+00] [ 1.08662168e-03 9.99982997e-01 -5.72931537e-03 6.46406099e-02] [ 4.42568513e-02 5.67561539e-03 9.99004063e-01 -3.03109831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.603133365 meters Centerline goodness : 0.132105 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99009756e-01 -1.38272192e-03 -4.44701637e-02 -1.16375027e+00] [ 1.12513468e-03 9.99982449e-01 -5.81686941e-03 6.47381336e-02] [ 4.44774263e-02 5.76107437e-03 9.98993778e-01 -3.03499656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.633133365 meters Centerline goodness : 0.130719 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99010266e-01 -1.41694692e-03 -4.44576216e-02 -1.16387740e+00] [ 1.15874661e-03 9.99982316e-01 -5.83301784e-03 6.44971042e-02] [ 4.44651005e-02 5.77572959e-03 9.98994242e-01 -3.03391360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.663133365 meters Centerline goodness : 0.124846 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.06, Z:-0.30 [[ 9.99026756e-01 -1.29933572e-03 -4.40891435e-02 -1.16510429e+00] [ 1.05172918e-03 9.99983549e-01 -5.63877467e-03 6.38108971e-02] [ 4.40957449e-02 5.58691693e-03 9.99011687e-01 -3.02948168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.693133365 meters Centerline goodness : 0.133658 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99025407e-01 -1.31367551e-03 -4.41192828e-02 -1.16473996e+00] [ 1.06587124e-03 9.99983528e-01 -5.63974307e-03 6.37052166e-02] [ 4.41259649e-02 5.58722113e-03 9.99010351e-01 -3.03376902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.723133365 meters Centerline goodness : 0.129757 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 9.99011115e-01 -1.36685046e-03 -4.44401145e-02 -1.16340474e+00] [ 1.11631173e-03 9.99983348e-01 -5.66199880e-03 6.34127643e-02] [ 4.44471136e-02 5.60679071e-03 9.98996005e-01 -3.04187478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.753133365 meters Centerline goodness : 0.129693 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.30 [[ 0.99899065 -0.00143815 -0.04489554 -1.16175444] [ 0.00118285 0.99998298 -0.00571249 0.06324787] [ 0.04490299 0.00565362 0.99897535 -0.3049914 ] [ 0. 0. 0. 1. ]] SLAMing on 138.783133365 meters Centerline goodness : 0.132887 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98976785e-01 -1.41286778e-03 -4.52038301e-02 -1.16069742e+00] [ 1.15742614e-03 9.99983218e-01 -5.67655933e-03 6.31813658e-02] [ 4.52110917e-02 5.61843090e-03 9.98961656e-01 -3.05478102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.813133365 meters Centerline goodness : 0.133395 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 9.98970555e-01 -1.36777466e-03 -4.53426867e-02 -1.16007098e+00] [ 1.11335799e-03 9.99983499e-01 -5.63575435e-03 6.33121092e-02] [ 4.53496469e-02 5.57947001e-03 9.98955594e-01 -3.05901380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.843133365 meters Centerline goodness : 0.131816 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 0.99895998 -0.00146664 -0.04557206 -1.15934474] [ 0.00121201 0.9999835 -0.00561436 0.06275394] [ 0.04557954 0.00555328 0.99894528 -0.30615321] [ 0. 0. 0. 1. ]] SLAMing on 138.873133365 meters Centerline goodness : 0.141182 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.06, Z:-0.31 [[ 0.99894962 -0.00150044 -0.0457974 -1.1588049 ] [ 0.00125238 0.99998439 -0.00544471 0.06128205] [ 0.04580485 0.00538164 0.99893591 -0.30608362] [ 0. 0. 0. 1. ]] SLAMing on 138.903133365 meters Centerline goodness : 0.136811 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.06, Z:-0.31 [[ 0.99882244 -0.0030247 -0.04842096 -1.20356022] [ 0.00274152 0.99997876 -0.00591362 0.05615313] [ 0.04843781 0.00577391 0.99880951 -0.30693801] [ 0. 0. 0. 1. ]] SLAMing on 138.933133365 meters Centerline goodness : 0.132192 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.06, Z:-0.30 [[ 0.99877497 -0.01110211 -0.04822131 -1.18314388] [ 0.01087683 0.99992868 -0.00493174 0.05925067] [ 0.04827262 0.0044012 0.9988245 -0.30497447] [ 0. 0. 0. 1. ]] SLAMing on 138.963133365 meters Centerline goodness : 0.133302 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.06, Z:-0.30 [[ 0.99877822 -0.01096914 -0.04818451 -1.18346898] [ 0.01076492 0.99993195 -0.0044957 0.057201 ] [ 0.04823055 0.0039715 0.99882833 -0.30457046] [ 0. 0. 0. 1. ]] SLAMing on 138.99313336499998 meters Centerline goodness : 0.132702 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.06, Z:-0.30 [[ 0.99878969 -0.01082407 -0.04797921 -1.18433367] [ 0.01064023 0.99993505 -0.00408531 0.05535608] [ 0.04802031 0.00356986 0.99883998 -0.30397776] [ 0. 0. 0. 1. ]] SLAMing on 139.02313336499998 meters Centerline goodness : 0.130001 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99881784 -0.01085832 -0.04738171 -1.18583669] [ 0.01069776 0.99993615 -0.00364112 0.05245526] [ 0.04741822 0.00312994 0.99887022 -0.30371199] [ 0. 0. 0. 1. ]] SLAMing on 139.05313336499998 meters Centerline goodness : 0.130803 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99881813 -0.01077846 -0.04739386 -1.18578776] [ 0.01062884 0.99993771 -0.00340779 0.05119309] [ 0.04742764 0.00290002 0.99887047 -0.30370534] [ 0. 0. 0. 1. ]] SLAMing on 139.08313336499998 meters Centerline goodness : 0.134406 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99881323 -0.01067569 -0.04752016 -1.18555554] [ 0.01053656 0.99993944 -0.00317752 0.05004435] [ 0.0475512 0.00267305 0.99886523 -0.30357157] [ 0. 0. 0. 1. ]] SLAMing on 139.11313336499998 meters Centerline goodness : 0.131038 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.05, Z:-0.30 [[ 0.99880858 -0.0106022 -0.04763415 -1.18536617] [ 0.01047096 0.99994067 -0.00300385 0.0491628 ] [ 0.04766317 0.00250149 0.99886033 -0.30343151] [ 0. 0. 0. 1. ]] SLAMing on 139.14313336499998 meters Centerline goodness : 0.135554 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.05, Z:-0.30 [[ 0.99879903 -0.01049691 -0.0478572 -1.18492147] [ 0.01037698 0.99994237 -0.0027538 0.04790144] [ 0.04788335 0.00225388 0.99885039 -0.30329978] [ 0. 0. 0. 1. ]] SLAMing on 139.17313336499998 meters Centerline goodness : 0.128016 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.04, Z:-0.31 [[ 0.99882767 -0.00269327 -0.04833257 -1.20290485] [ 0.00253266 0.99999107 -0.00338414 0.03888157] [ 0.04834125 0.00325776 0.99882557 -0.30575806] [ 0. 0. 0. 1. ]] SLAMing on 139.20313336499999 meters Centerline goodness : 0.129666 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.04, Z:-0.31 [[ 0.9988317 -0.0025422 -0.04825741 -1.20311947] [ 0.00239982 0.9999926 -0.00300809 0.03689416] [ 0.0482647 0.00288876 0.9988304 -0.30569659] [ 0. 0. 0. 1. ]] SLAMing on 139.233133365 meters Centerline goodness : 0.131375 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.04, Z:-0.31 [[ 0.99883909 -0.00244553 -0.04810922 -1.20370445] [ 0.00231569 0.99999353 -0.00275453 0.03553551] [ 0.04811564 0.00263993 0.99883828 -0.30533738] [ 0. 0. 0. 1. ]] SLAMing on 139.263133365 meters Centerline goodness : 0.116981 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 0.99884611 -0.00237567 -0.04796673 -1.20420751] [ 0.00225222 0.99999401 -0.00262745 0.0349454 ] [ 0.04797269 0.00251639 0.99884548 -0.30510257] [ 0. 0. 0. 1. ]] SLAMing on 139.293133365 meters Centerline goodness : 0.130575 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 0.99884948 -0.00232677 -0.04789886 -1.20444771] [ 0.00220644 0.99999428 -0.00256494 0.03476012] [ 0.04790455 0.0024563 0.9988489 -0.30500115] [ 0. 0. 0. 1. ]] SLAMing on 139.323133365 meters Centerline goodness : 0.127579 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 0.9988547 -0.0023 -0.04779113 -1.20472913] [ 0.00218064 0.99999437 -0.0025496 0.03469882] [ 0.04779672 0.00244246 0.9988541 -0.30501626] [ 0. 0. 0. 1. ]] SLAMing on 139.353133365 meters Centerline goodness : 0.130160 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99885327 -0.00224518 -0.04782377 -1.20504175] [ 0.00213298 0.99999485 -0.00239715 0.03368922] [ 0.04782891 0.00229239 0.99885291 -0.30444479] [ 0. 0. 0. 1. ]] SLAMing on 139.383133365 meters Centerline goodness : 0.129059 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99885852 -0.00220655 -0.04771577 -1.20538148] [ 0.0021023 0.99999529 -0.00223503 0.03259597] [ 0.04772047 0.00213217 0.99885845 -0.30431937] [ 0. 0. 0. 1. ]] SLAMing on 139.413133365 meters Centerline goodness : 0.131456 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99886166 -0.00210855 -0.04765434 -1.205704 ] [ 0.00201745 0.99999604 -0.00195976 0.03102401] [ 0.04765828 0.00186139 0.99886196 -0.30407956] [ 0. 0. 0. 1. ]] SLAMing on 139.443133365 meters Centerline goodness : 0.126509 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99886917 -0.00197252 -0.04750263 -1.20638169] [ 0.00189614 0.99999684 -0.00165285 0.02963288] [ 0.04750574 0.00156091 0.99886975 -0.30361586] [ 0. 0. 0. 1. ]] SLAMing on 139.473133365 meters Centerline goodness : 0.128727 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99888447 -0.00179602 -0.04718672 -1.20738238] [ 0.00173621 0.99999764 -0.0013084 0.02831142] [ 0.04718896 0.00122502 0.99888523 -0.30327312] [ 0. 0. 0. 1. ]] SLAMing on 139.503133365 meters Centerline goodness : 0.130549 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 9.98893118e-01 -1.67145240e-03 -4.70079198e-02 -1.20788939e+00] [ 1.62381846e-03 9.99998129e-01 -1.05148643e-03 2.72032351e-02] [ 4.70095893e-02 9.73990236e-04 9.98893963e-01 -3.03150800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.533133365 meters Centerline goodness : 0.113469 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 9.98893467e-01 -1.69820099e-03 -4.69995586e-02 -1.20792722e+00] [ 1.65047714e-03 9.99998082e-01 -1.05419938e-03 2.68576110e-02] [ 4.70012587e-02 9.75461177e-04 9.98894354e-01 -3.03068157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.563133365 meters Centerline goodness : 0.127952 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.03, Z:-0.30 [[ 0.99888457 -0.00182227 -0.04718356 -1.20731487] [ 0.00176239 0.99999759 -0.00131066 0.02761065] [ 0.04718584 0.00122604 0.99888538 -0.30334586] [ 0. 0. 0. 1. ]] SLAMing on 139.593133365 meters Centerline goodness : 0.128023 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.30 [[ 0.99881933 -0.00145188 -0.04855751 -1.20349551] [ 0.00137837 0.99999785 -0.0015472 0.03016379] [ 0.04855965 0.00147844 0.99881919 -0.30439127] [ 0. 0. 0. 1. ]] SLAMing on 139.623133365 meters Centerline goodness : 0.126662 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.30 [[ 9.98798006e-01 -1.28278957e-03 -4.89989488e-02 -1.20213363e+00] [ 1.19888352e-03 9.99997764e-01 -1.74175643e-03 3.22521599e-02] [ 4.90010736e-02 1.68091882e-03 9.98797311e-01 -3.04947733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.653133365 meters Centerline goodness : 0.128562 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.03, Z:-0.31 [[ 9.98793777e-01 -1.29382956e-03 -4.90848027e-02 -1.20182010e+00] [ 1.19529043e-03 9.99997211e-01 -2.03682822e-03 3.41631200e-02] [ 4.90873011e-02 1.97570075e-03 9.98792538e-01 -3.05223823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.683133365 meters Centerline goodness : 0.125652 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99881706 0.00708689 -0.04810681 -1.18189393] [-0.00726552 0.99996734 -0.00353949 0.03318855] [ 0.04808015 0.00388482 0.99883593 -0.30323037] [ 0. 0. 0. 1. ]] SLAMing on 139.713133365 meters Centerline goodness : 0.126371 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99882277 0.00700851 -0.04799962 -1.18232286] [-0.00719404 0.9999673 -0.00369356 0.03365561] [ 0.04797216 0.00403452 0.99884052 -0.30306146] [ 0. 0. 0. 1. ]] SLAMing on 139.74313336499998 meters Centerline goodness : 0.126327 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99882366 0.00701038 -0.04798078 -1.18235263] [-0.00719734 0.99996716 -0.0037249 0.0338358 ] [ 0.04795309 0.00406586 0.99884131 -0.30313851] [ 0. 0. 0. 1. ]] SLAMing on 139.77313336499998 meters Centerline goodness : 0.128861 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99881339 0.00709248 -0.04818207 -1.18130827] [-0.00727922 0.99996666 -0.00370122 0.03429382] [ 0.04815421 0.00404755 0.99883171 -0.30401401] [ 0. 0. 0. 1. ]] SLAMing on 139.80313336499998 meters Centerline goodness : 0.127596 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.30 [[ 0.99880979 0.00703459 -0.04826505 -1.18097278] [-0.00722433 0.99996684 -0.00375798 0.03424469] [ 0.04823701 0.00410219 0.99882749 -0.30421427] [ 0. 0. 0. 1. ]] SLAMing on 139.83313336499998 meters Centerline goodness : 0.127629 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98836961e-01 -4.77994314e-04 -4.82130265e-02 -1.16248811e+00] [ 3.39610735e-04 9.99995800e-01 -2.87840366e-03 3.90525392e-02] [ 4.82141998e-02 2.85868231e-03 9.98832928e-01 -3.01828471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86313336499998 meters Centerline goodness : 0.127474 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98830682e-01 -5.38755517e-04 -4.83422994e-02 -1.16225509e+00] [ 3.93488400e-04 9.99995379e-01 -3.01443544e-03 3.96992940e-02] [ 4.83437001e-02 2.99188848e-03 9.98826279e-01 -3.01758849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89313336499998 meters Centerline goodness : 0.125855 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98822011e-01 -5.06183436e-04 -4.85214877e-02 -1.16167711e+00] [ 3.53487292e-04 9.99994959e-01 -3.15550910e-03 4.11623394e-02] [ 4.85228404e-02 3.13464022e-03 9.98817154e-01 -3.02072117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92313336499998 meters Centerline goodness : 0.131289 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98819473e-01 -5.07692625e-04 -4.85736759e-02 -1.16125081e+00] [ 3.43679196e-04 9.99994212e-01 -3.38488308e-03 4.31290924e-02] [ 4.85751132e-02 3.36419337e-03 9.98813867e-01 -3.02577452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95313336499999 meters Centerline goodness : 0.130553 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98830010e-01 -5.71651512e-04 -4.83558090e-02 -1.16185220e+00] [ 3.87009397e-04 9.99992600e-01 -3.82768245e-03 4.60786265e-02] [ 4.83576392e-02 3.80448995e-03 9.98822839e-01 -3.02569991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.983133365 meters Centerline goodness : 0.129233 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98842373e-01 -6.48268362e-04 -4.80987807e-02 -1.16294564e+00] [ 4.55125968e-04 9.99991791e-01 -4.02637936e-03 4.71160176e-02] [ 4.81009960e-02 3.99982731e-03 9.98834469e-01 -3.01948565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.013133365 meters Centerline goodness : 0.128672 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98852798e-01 -7.01000908e-04 -4.78810731e-02 -1.16411145e+00] [ 5.02107043e-04 9.99991197e-01 -4.16581541e-03 4.79962485e-02] [ 4.78835719e-02 4.13699495e-03 9.98844357e-01 -3.01059783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043133365 meters Centerline goodness : 0.126885 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98858529e-01 -7.62673298e-04 -4.77604097e-02 -1.16476812e+00] [ 5.59708794e-04 9.99990757e-01 -4.26286849e-03 4.84597199e-02] [ 4.77632195e-02 4.23127063e-03 9.98849724e-01 -3.00565947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.073133365 meters Centerline goodness : 0.127299 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 9.98859121e-01 -8.53491108e-04 -4.77464997e-02 -1.16495066e+00] [ 6.46599246e-04 9.99990337e-01 -4.34840894e-03 4.87701372e-02] [ 4.77497496e-02 4.31257508e-03 9.98850020e-01 -3.00342022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.103133365 meters Centerline goodness : 0.128061 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 9.98860470e-01 -9.79820541e-04 -4.77158375e-02 -1.16516209e+00] [ 7.70324490e-04 9.99989985e-01 -4.40868391e-03 4.86777465e-02] [ 4.77196793e-02 4.36690341e-03 9.98851221e-01 -3.00124025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.133133365 meters Centerline goodness : 0.130988 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886953 -0.00161353 -0.04750852 -1.16596303] [ 0.00138751 0.99998757 -0.00478996 0.04902002] [ 0.04751566 0.00471863 0.99885935 -0.29960757] [ 0. 0. 0. 1. ]] SLAMing on 140.163133365 meters Centerline goodness : 0.129538 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886678 -0.00172472 -0.04756241 -1.16588847] [ 0.00149827 0.99998737 -0.0047964 0.04868456] [ 0.04757008 0.0047197 0.99885675 -0.29949307] [ 0. 0. 0. 1. ]] SLAMing on 140.193133365 meters Centerline goodness : 0.129538 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886678 -0.00172472 -0.04756241 -1.16588847] [ 0.00149827 0.99998737 -0.0047964 0.04868456] [ 0.04757008 0.0047197 0.99885675 -0.29949307] [ 0. 0. 0. 1. ]] SLAMing on 140.223133365 meters Centerline goodness : 0.131164 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99886105 -0.00182838 -0.04767865 -1.16560418] [ 0.00159928 0.99998699 -0.00484285 0.04862924] [ 0.04768689 0.00476109 0.99885099 -0.29946373] [ 0. 0. 0. 1. ]] SLAMing on 140.253133365 meters Centerline goodness : 0.129237 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885465 -0.00187811 -0.04781077 -1.1651642 ] [ 0.001648 0.99998687 -0.00485187 0.04848698] [ 0.04781925 0.00476752 0.99884463 -0.29963149] [ 0. 0. 0. 1. ]] SLAMing on 140.283133365 meters Centerline goodness : 0.121278 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.9988547 -0.00194511 -0.04780688 -1.16526368] [ 0.00171525 0.99998677 -0.00484869 0.04813045] [ 0.04781568 0.00476113 0.99884483 -0.29945159] [ 0. 0. 0. 1. ]] SLAMing on 140.313133365 meters Centerline goodness : 0.131087 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885607 -0.00196415 -0.04777744 -1.16548921] [ 0.00173938 0.99998723 -0.00474549 0.04724816] [ 0.04778615 0.00465696 0.99884673 -0.29921602] [ 0. 0. 0. 1. ]] SLAMing on 140.343133365 meters Centerline goodness : 0.131529 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885721 -0.00199885 -0.04775224 -1.16574543] [ 0.00177684 0.99998742 -0.00469137 0.04670664] [ 0.04776102 0.00460116 0.99884819 -0.29891672] [ 0. 0. 0. 1. ]] SLAMing on 140.373133365 meters Centerline goodness : 0.135620 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.05, Z:-0.30 [[ 0.99885305 -0.00199981 -0.04783906 -1.16568253] [ 0.00178256 0.99998791 -0.00458352 0.04604033] [ 0.04784765 0.00449298 0.99884454 -0.29868168] [ 0. 0. 0. 1. ]] SLAMing on 140.403133365 meters Centerline goodness : 0.115485 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 0.99883771 -0.00209814 -0.04815415 -1.16466323] [ 0.00187983 0.99998775 -0.00457845 0.04528727] [ 0.04816316 0.0044826 0.99882942 -0.29905381] [ 0. 0. 0. 1. ]] SLAMing on 140.433133365 meters Centerline goodness : 0.117554 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 0.99883165 -0.00212667 -0.04827848 -1.16417289] [ 0.00190703 0.99998762 -0.00459499 0.04518077] [ 0.04828765 0.00449755 0.99882335 -0.29933888] [ 0. 0. 0. 1. ]] SLAMing on 140.463133365 meters Centerline goodness : 0.142172 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.05, Z:-0.30 [[ 0.99883026 -0.00211073 -0.04830791 -1.1640122 ] [ 0.00189241 0.99998779 -0.00456478 0.04503208] [ 0.04831695 0.00446802 0.99882206 -0.29949111] [ 0. 0. 0. 1. ]] SLAMing on 140.49313336499998 meters Centerline goodness : 0.131563 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99883023 -0.00205993 -0.04831071 -1.1641 ] [ 0.00184437 0.99998815 -0.0045061 0.04486296] [ 0.04831942 0.00441173 0.99882219 -0.29938438] [ 0. 0. 0. 1. ]] SLAMing on 140.52313336499998 meters Centerline goodness : 0.132137 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99883013 -0.00200647 -0.04831508 -1.1641298 ] [ 0.00179423 0.99998855 -0.00443576 0.04471019] [ 0.04832342 0.00434388 0.9988223 -0.29935804] [ 0. 0. 0. 1. ]] SLAMing on 140.55313336499998 meters Centerline goodness : 0.130876 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99882194 -0.00194824 -0.04848649 -1.16367564] [ 0.00173738 0.99998885 -0.00439054 0.04470658] [ 0.04849451 0.00430113 0.99881419 -0.29943525] [ 0. 0. 0. 1. ]] SLAMing on 140.58313336499998 meters Centerline goodness : 0.133512 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879504 -0.00183649 -0.04904183 -1.16176661] [ 0.00162773 0.99998945 -0.00429624 0.04460755] [ 0.0490492 0.00421123 0.99878749 -0.3003237 ] [ 0. 0. 0. 1. ]] SLAMing on 140.61313336499998 meters Centerline goodness : 0.134145 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99878944 -0.00182794 -0.04915592 -1.16106159] [ 0.00162011 0.99998958 -0.00426748 0.04436365] [ 0.04916321 0.00418268 0.998782 -0.3009515 ] [ 0. 0. 0. 1. ]] SLAMing on 140.64313336499998 meters Centerline goodness : 0.103751 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879003 -0.00179872 -0.04914502 -1.16077446] [ 0.00159538 0.99999001 -0.00417647 0.04372318] [ 0.04915205 0.00409301 0.99878292 -0.30137167] [ 0. 0. 0. 1. ]] SLAMing on 140.67313336499998 meters Centerline goodness : 0.140654 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879297 -0.00175518 -0.04908682 -1.1610423 ] [ 0.00156002 0.99999073 -0.00401386 0.04271496] [ 0.04909341 0.00393244 0.99878645 -0.30119221] [ 0. 0. 0. 1. ]] SLAMing on 140.70313336499999 meters Centerline goodness : 0.132766 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99879676 -0.00169391 -0.04901186 -1.16139983] [ 0.00150761 0.9999915 -0.00383791 0.04164116] [ 0.04901794 0.0037594 0.99879082 -0.30091927] [ 0. 0. 0. 1. ]] SLAMing on 140.733133365 meters Centerline goodness : 0.115652 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99880364 -0.00162655 -0.04887368 -1.16192013] [ 0.00144816 0.99999216 -0.00368517 0.04088366] [ 0.04887929 0.00360998 0.99879817 -0.30066047] [ 0. 0. 0. 1. ]] SLAMing on 140.763133365 meters Centerline goodness : 0.131377 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 0.99882539 -0.0013797 -0.04843484 -1.163346 ] [ 0.00121237 0.9999932 -0.0034838 0.04063011] [ 0.04843932 0.00342099 0.99882027 -0.30013189] [ 0. 0. 0. 1. ]] SLAMing on 140.793133365 meters Centerline goodness : 0.117269 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98839565e-01 -1.26782307e-03 -4.81447365e-02 -1.16424743e+00] [ 1.10280611e-03 9.99993427e-01 -3.45392600e-03 4.09299967e-02] [ 4.81487990e-02 3.39682363e-03 9.98834398e-01 -2.99859249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.823133365 meters Centerline goodness : 0.118701 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.04, Z:-0.30 [[ 9.98846843e-01 -1.20960042e-03 -4.79950207e-02 -1.16484371e+00] [ 1.04319493e-03 9.99993359e-01 -3.49203763e-03 4.14636766e-02] [ 4.79989259e-02 3.43794260e-03 9.98841471e-01 -2.99547451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.853133365 meters Centerline goodness : 0.132339 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98929349e-01 1.94312909e-04 -4.62614170e-02 -1.12194119e+00] [-3.43766959e-04 9.99994748e-01 -3.22270751e-03 4.46166487e-02] [ 4.62605478e-02 3.23516026e-03 9.98924169e-01 -2.97310621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.883133365 meters Centerline goodness : 0.134778 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98931538e-01 2.09107388e-04 -4.62140509e-02 -1.12219366e+00] [-3.64900569e-04 9.99994279e-01 -3.36271093e-03 4.56251848e-02] [ 4.62130834e-02 3.37598153e-03 9.98925900e-01 -2.97184705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.913133365 meters Centerline goodness : 0.132945 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98928853e-01 1.60028942e-04 -4.62722392e-02 -1.12198418e+00] [-3.28343174e-04 9.99993358e-01 -3.62989979e-03 4.70814166e-02] [ 4.62713510e-02 3.64120481e-03 9.98922271e-01 -2.97366720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.943133365 meters Centerline goodness : 0.129485 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98919676e-01 1.81639922e-04 -4.64698658e-02 -1.12117695e+00] [-3.64295360e-04 9.99992242e-01 -3.92218241e-03 4.88358348e-02] [ 4.64687929e-02 3.93487394e-03 9.98911992e-01 -2.97990281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.973133365 meters Centerline goodness : 0.126947 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98920796e-01 1.45985175e-04 -4.64459004e-02 -1.12116549e+00] [-3.33493361e-04 9.99991826e-01 -4.02940778e-03 4.94039855e-02] [ 4.64449326e-02 4.04054863e-03 9.98912680e-01 -2.98128137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.003133365 meters Centerline goodness : 0.130018 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98926151e-01 1.47699435e-04 -4.63305931e-02 -1.12163951e+00] [-3.36284666e-04 9.99991691e-01 -4.06265765e-03 4.96564122e-02] [ 4.63296081e-02 4.07387523e-03 9.98917900e-01 -2.97879555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.033133365 meters Centerline goodness : 0.131488 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98934862e-01 1.51303125e-04 -4.61423795e-02 -1.12253074e+00] [-3.40077255e-04 9.99991605e-01 -4.08329983e-03 4.98695733e-02] [ 4.61413743e-02 4.09464253e-03 9.98926528e-01 -2.97290717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.063133365 meters Centerline goodness : 0.126006 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98941106e-01 1.58825174e-04 -4.60069676e-02 -1.12311560e+00] [-3.46557907e-04 9.99991647e-01 -4.07258076e-03 4.98962893e-02] [ 4.60059365e-02 4.08421241e-03 9.98932817e-01 -2.96909243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.093133365 meters Centerline goodness : 0.128688 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98943778e-01 9.63623393e-05 -4.59490927e-02 -1.12309128e+00] [-2.90116760e-04 9.99991096e-01 -4.21006900e-03 5.05119545e-02] [ 4.59482779e-02 4.21895284e-03 9.98934911e-01 -2.97181418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.123133365 meters Centerline goodness : 0.131299 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98925916e-01 7.28339777e-06 -4.63358782e-02 -1.12151884e+00] [-2.19383855e-04 9.99989523e-01 -4.57237253e-03 5.24845066e-02] [ 4.63353594e-02 4.57762676e-03 9.98915452e-01 -2.98227290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.153133365 meters Centerline goodness : 0.129057 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98916288e-01 -5.03312343e-06 -4.65429952e-02 -1.12071062e+00] [-2.15140541e-04 9.99988811e-01 -4.72553296e-03 5.36038489e-02] [ 4.65424982e-02 4.73042512e-03 9.98905110e-01 -2.98731474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.183133365 meters Centerline goodness : 0.130611 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98916185e-01 -2.85264995e-05 -4.65451814e-02 -1.12064862e+00] [-1.97970679e-04 9.99988163e-01 -4.86156183e-03 5.45715435e-02] [ 4.65447691e-02 4.86550738e-03 9.98904355e-01 -2.98870662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.213133365 meters Centerline goodness : 0.133928 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98923103e-01 -4.39186019e-05 -4.63964748e-02 -1.12131026e+00] [-1.83666610e-04 9.99987973e-01 -4.90095194e-03 5.48100681e-02] [ 4.63961320e-02 4.90419560e-03 9.98911081e-01 -2.98453265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24313336499998 meters Centerline goodness : 0.134562 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98931453e-01 -7.97457259e-05 -4.62162952e-02 -1.12208266e+00] [-1.45312049e-04 9.99988149e-01 -4.86628269e-03 5.43541448e-02] [ 4.62161356e-02 4.86779862e-03 9.98919603e-01 -2.97963770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27313336499998 meters Centerline goodness : 0.116833 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98949342e-01 -3.56813879e-04 -4.58266734e-02 -1.12346615e+00] [ 1.40911130e-04 9.99988877e-01 -4.71443407e-03 5.23754139e-02] [ 4.58278458e-02 4.70302333e-03 9.98938281e-01 -2.97293332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30313336499998 meters Centerline goodness : 0.119518 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98950851e-01 -3.30016210e-04 -4.57939827e-02 -1.12346242e+00] [ 1.28732206e-04 9.99990319e-01 -4.39830425e-03 5.04981279e-02] [ 4.57949909e-02 4.38779462e-03 9.98941223e-01 -2.97364102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33313336499998 meters Centerline goodness : 0.121316 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98939459e-01 -3.92685772e-04 -4.60413275e-02 -1.12286610e+00] [ 2.01373945e-04 9.99991328e-01 -4.15978421e-03 4.86588840e-02] [ 4.60425617e-02 4.14610106e-03 9.98930875e-01 -2.97316340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36313336499998 meters Centerline goodness : 0.124141 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98931230e-01 -5.07224379e-04 -4.62184006e-02 -1.12231110e+00] [ 3.25189250e-04 9.99992162e-01 -3.94601939e-03 4.67848892e-02] [ 4.62200399e-02 3.92677227e-03 9.98923565e-01 -2.97440721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39313336499998 meters Centerline goodness : 0.120503 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.30 [[ 9.98922344e-01 -5.92847817e-04 -4.64090516e-02 -1.12192139e+00] [ 4.18809079e-04 9.99992844e-01 -3.75973700e-03 4.51435368e-02] [ 4.64109484e-02 3.73624877e-03 9.98915444e-01 -2.97277048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42313336499998 meters Centerline goodness : 0.121340 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98923737e-01 -6.16101856e-04 -4.63787525e-02 -1.12216131e+00] [ 4.47962735e-04 9.99993291e-01 -3.63565435e-03 4.42376812e-02] [ 4.63806812e-02 3.61096548e-03 9.98917311e-01 -2.97018993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45313336499999 meters Centerline goodness : 0.120647 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98924595e-01 -6.09910777e-04 -4.63603404e-02 -1.12231823e+00] [ 4.45037326e-04 9.99993541e-01 -3.56658524e-03 4.38897419e-02] [ 4.63622162e-02 3.54211764e-03 9.98918414e-01 -2.96844553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.483133365 meters Centerline goodness : 0.121333 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98924546e-01 -6.16696646e-04 -4.63613051e-02 -1.12223321e+00] [ 4.50849861e-04 9.99993463e-01 -3.58763891e-03 4.41623005e-02] [ 4.63632145e-02 3.56287858e-03 9.98918294e-01 -2.96969700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.513133365 meters Centerline goodness : 0.120744 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98924567e-01 -6.92318540e-04 -4.63597936e-02 -1.12212113e+00] [ 5.21179975e-04 9.99993006e-01 -3.70351557e-03 4.46659695e-02] [ 4.63620334e-02 3.67537089e-03 9.98917941e-01 -2.97138971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543133365 meters Centerline goodness : 0.124976 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98922191e-01 -7.45645424e-04 -4.64101219e-02 -1.12217228e+00] [ 5.72587576e-04 9.99992835e-01 -3.74206397e-03 4.45795321e-02] [ 4.64125796e-02 3.71145688e-03 9.98915461e-01 -2.96916023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.573133365 meters Centerline goodness : 0.128919 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98917728e-01 -7.62984110e-04 -4.65058048e-02 -1.12201848e+00] [ 5.92643333e-04 9.99993066e-01 -3.67646338e-03 4.39737332e-02] [ 4.65082874e-02 3.64492310e-03 9.98911254e-01 -2.96778276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.603133365 meters Centerline goodness : 0.126982 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98917775e-01 -7.59713924e-04 -4.65048550e-02 -1.12196107e+00] [ 5.94415594e-04 9.99993457e-01 -3.56815757e-03 4.32159809e-02] [ 4.65072616e-02 3.53665281e-03 9.98911691e-01 -2.96845087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.633133365 meters Centerline goodness : 0.122838 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98916564e-01 -7.54418961e-04 -4.65309557e-02 -1.12182214e+00] [ 5.93609801e-04 9.99993804e-01 -3.46968211e-03 4.25546809e-02] [ 4.65332850e-02 3.43830170e-03 9.98910823e-01 -2.96928704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.663133365 meters Centerline goodness : 0.123477 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98921213e-01 -6.87915705e-04 -4.64320738e-02 -1.12217107e+00] [ 5.36365707e-04 9.99994489e-01 -3.27628768e-03 4.15465107e-02] [ 4.64340717e-02 3.24784869e-03 9.98916077e-01 -2.96772967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.693133365 meters Centerline goodness : 0.123966 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98930821e-01 -5.25757630e-04 -4.62270288e-02 -1.12309292e+00] [ 3.96365329e-04 9.99995978e-01 -2.80818334e-03 3.91474831e-02] [ 4.62283194e-02 2.78685810e-03 9.98927012e-01 -2.96104210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.723133365 meters Centerline goodness : 0.140104 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98930586e-01 -3.90331236e-04 -4.62334501e-02 -1.12317606e+00] [ 2.76229410e-04 9.99996901e-01 -2.47431285e-03 3.74723893e-02] [ 4.62342726e-02 2.45889575e-03 9.98927598e-01 -2.95980270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.753133365 meters Centerline goodness : 0.125157 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.30 [[ 9.98927220e-01 -2.41648298e-04 -4.63071338e-02 -1.12295265e+00] [ 1.47454477e-04 9.99997913e-01 -2.03751549e-03 3.50658252e-02] [ 4.63075295e-02 2.02850149e-03 9.98925171e-01 -2.96023474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.783133365 meters Centerline goodness : 0.127413 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.30 [[ 0.99891922 -0.00392862 -0.04631373 -1.12271499] [ 0.00370062 0.99998061 -0.00500767 0.03060561] [ 0.04633251 0.00483087 0.99891439 -0.29625198] [ 0. 0. 0. 1. ]] SLAMing on 141.813133365 meters Centerline goodness : 0.106640 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.30 [[ 0.99891475 -0.00374834 -0.04642495 -1.12250686] [ 0.00354828 0.99998406 -0.00439111 0.02708097] [ 0.04644067 0.00422162 0.99891213 -0.29615791] [ 0. 0. 0. 1. ]] SLAMing on 141.843133365 meters Centerline goodness : 0.126687 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.02, Z:-0.30 [[ 0.99890991 -0.00351385 -0.04654718 -1.12222303] [ 0.00334457 0.99998751 -0.0037141 0.02345909] [ 0.04655965 0.00355437 0.99890919 -0.29611387] [ 0. 0. 0. 1. ]] SLAMing on 141.873133365 meters Centerline goodness : 0.124209 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.02, Z:-0.30 [[ 0.99890525 -0.00324703 -0.04666637 -1.1219659 ] [ 0.00310708 0.99999046 -0.00307131 0.02024917] [ 0.04667589 0.00292295 0.99890581 -0.29604284] [ 0. 0. 0. 1. ]] SLAMing on 141.903133365 meters Centerline goodness : 0.120265 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.02, Z:-0.30 [[ 0.99890474 -0.00296937 -0.04669592 -1.12194021] [ 0.00285797 0.99999291 -0.00245209 0.01731687] [ 0.04670287 0.00231595 0.99890614 -0.29596464] [ 0. 0. 0. 1. ]] SLAMing on 141.933133365 meters Centerline goodness : 0.152283 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 0.99890407 -0.00272246 -0.04672532 -1.1218948 ] [ 0.00263502 0.99999466 -0.0019329 0.01483982] [ 0.04673033 0.00180766 0.99890591 -0.29589629] [ 0. 0. 0. 1. ]] SLAMing on 141.963133365 meters Centerline goodness : 0.153655 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 0.99890326 -0.00241485 -0.04675946 -1.12180164] [ 0.00235781 0.99999641 -0.00127494 0.01126511] [ 0.04676237 0.00116329 0.99890536 -0.29586976] [ 0. 0. 0. 1. ]] SLAMing on 141.99313336499998 meters Centerline goodness : 0.153655 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 0.99890326 -0.00241485 -0.04675946 -1.12180164] [ 0.00235781 0.99999641 -0.00127494 0.01126511] [ 0.04676237 0.00116329 0.99890536 -0.29586976] [ 0. 0. 0. 1. ]] SLAMing on 142.02313336499998 meters Centerline goodness : 0.132542 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98901323e-01 -2.25099811e-03 -4.68089776e-02 -1.12155770e+00] [ 2.20965616e-03 9.99997122e-01 -9.34931141e-04 9.02941450e-03] [ 4.68109474e-02 8.30472208e-04 9.98903422e-01 -2.96014361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05313336499998 meters Centerline goodness : 0.144716 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98906589e-01 -2.12602131e-03 -4.67023117e-02 -1.12188237e+00] [ 2.09250037e-03 9.99997517e-01 -7.66634928e-04 8.29195818e-03] [ 4.67038256e-02 6.68072076e-04 9.98908558e-01 -2.95923343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08313336499998 meters Centerline goodness : 0.139160 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98910377e-01 -1.93796005e-03 -4.66294154e-02 -1.12219482e+00] [ 1.91679056e-03 9.99998039e-01 -4.98703865e-04 7.36192014e-03] [ 4.66302904e-02 4.08781643e-04 9.98912133e-01 -2.95727332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11313336499998 meters Centerline goodness : 0.139160 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98910377e-01 -1.93796005e-03 -4.66294154e-02 -1.12219482e+00] [ 1.91679056e-03 9.99998039e-01 -4.98703865e-04 7.36192014e-03] [ 4.66302904e-02 4.08781643e-04 9.98912133e-01 -2.95727332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14313336499998 meters Centerline goodness : 0.117222 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.01, Z:-0.30 [[ 9.98918045e-01 -1.74433168e-03 -4.64725293e-02 -1.12284635e+00] [ 1.73965353e-03 9.99998477e-01 -1.41109471e-04 5.84276464e-03] [ 4.64727047e-02 6.01106971e-05 9.98919558e-01 -2.95361457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17313336499998 meters Centerline goodness : 0.133019 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.00, Z:-0.29 [[ 9.98924477e-01 -1.53908362e-03 -4.63413377e-02 -1.12355996e+00] [ 1.55609284e-03 9.99998735e-01 3.30969083e-04 3.40990857e-03] [ 4.63407696e-02 -4.02724542e-04 9.98925608e-01 -2.94739736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20313336499999 meters Centerline goodness : 0.143645 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99894263 -0.00489078 -0.04571328 -1.12584438] [ 0.00479738 0.99998618 -0.00215283 -0.00285952] [ 0.04572318 0.00193125 0.99895228 -0.29367202] [ 0. 0. 0. 1. ]] SLAMing on 142.233133365 meters Centerline goodness : 0.040477 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.29 [[ 0.99893949 -0.00463398 -0.04580855 -1.12542893] [ 0.00457519 0.99998857 -0.001388 -0.00713284] [ 0.04581446 0.00117694 0.99894927 -0.29387996] [ 0. 0. 0. 1. ]] SLAMing on 142.263133365 meters Centerline goodness : 0.130021 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.01, Z:-0.29 [[ 9.98931380e-01 -4.32996077e-03 -4.60146580e-02 -1.12443517e+00] [ 4.30719737e-03 9.99990548e-01 -5.93837481e-04 -1.12401083e-02] [ 4.60167943e-02 3.95008681e-04 9.98940588e-01 -2.94551307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.293133365 meters Centerline goodness : 0.139744 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.01, Z:-0.30 [[ 9.98915273e-01 -4.08534278e-03 -4.63852083e-02 -1.12301202e+00] [ 4.09340264e-03 9.99991619e-01 7.87724222e-05 -1.49772445e-02] [ 4.63844977e-02 -2.68560310e-04 9.98923624e-01 -2.95243675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.323133365 meters Centerline goodness : 0.113028 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.02, Z:-0.30 [[ 9.98899445e-01 -3.82640165e-03 -4.67467390e-02 -1.12173285e+00] [ 3.86496170e-03 9.99992261e-01 7.34512372e-04 -1.85197802e-02] [ 4.67435667e-02 -9.14378357e-04 9.98906504e-01 -2.95762328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.353133365 meters Centerline goodness : 0.136991 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.02, Z:-0.30 [[ 0.9988855 -0.00358111 -0.04706313 -1.12071846] [ 0.00364696 0.99999249 0.00131342 -0.0215705 ] [ 0.04705807 -0.00148359 0.99889105 -0.29607003] [ 0. 0. 0. 1. ]] SLAMing on 142.383133365 meters Centerline goodness : 0.155364 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98799747e-01 5.16065817e-03 -4.87076223e-02 -1.09969267e+00] [-5.11837844e-03 9.99986408e-01 9.92718022e-04 -3.08119287e-02] [ 4.87120834e-02 -7.42222466e-04 9.98812586e-01 -2.93368822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.413133365 meters Centerline goodness : 0.139058 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98803976e-01 5.36211657e-03 -4.85990270e-02 -1.10001672e+00] [-5.30442427e-03 9.99985065e-01 1.31600241e-03 -3.22927749e-02] [ 4.86053577e-02 -1.05663858e-03 9.98817502e-01 -2.93266256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.443133365 meters Centerline goodness : 0.134414 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 0.99881194 0.00556034 -0.04841266 -1.10040987] [-0.00549239 0.99998374 0.00153649 -0.03309345] [ 0.04842042 -0.00126877 0.99882624 -0.2933419 ] [ 0. 0. 0. 1. ]] SLAMing on 142.473133365 meters Centerline goodness : 0.135074 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 0.99883597 0.00573395 -0.04789391 -1.10168497] [-0.00565814 0.99998252 0.0017184 -0.03369286] [ 0.04790293 -0.00144541 0.99885095 -0.29334393] [ 0. 0. 0. 1. ]] SLAMing on 142.503133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 142.533133365 meters Centerline goodness : 0.132329 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.03, Z:-0.29 [[ 0.99889706 0.00623171 -0.04653847 -1.10532705] [-0.00613868 0.99997886 0.00214154 -0.03446801] [ 0.04655083 -0.0018535 0.9989142 -0.29286775] [ 0. 0. 0. 1. ]] SLAMing on 142.563133365 meters Centerline goodness : 0.142817 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.03, Z:-0.29 [[ 0.99890331 0.00622514 -0.0464051 -1.10566588] [-0.00614032 0.99997921 0.00197017 -0.03354692] [ 0.0464164 -0.00168307 0.99892076 -0.29290416] [ 0. 0. 0. 1. ]] SLAMing on 142.593133365 meters Centerline goodness : 0.143996 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.04, Z:-0.29 [[ 0.99876657 0.00527052 -0.04937161 -1.14911333] [-0.0051638 0.99998405 0.00228891 -0.0358974 ] [ 0.04938289 -0.00203114 0.99877786 -0.29452834] [ 0. 0. 0. 1. ]] SLAMing on 142.623133365 meters Centerline goodness : 0.058835 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.30 [[ 0.9987559 0.00521625 -0.04959276 -1.14826387] [-0.00511905 0.99998472 0.00208672 -0.03476186] [ 0.04960288 -0.00183026 0.99876734 -0.29506696] [ 0. 0. 0. 1. ]] SLAMing on 142.653133365 meters Centerline goodness : 0.119032 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871204 -0.00161751 -0.05071133 -1.12869179] [ 0.00176208 0.99999451 0.0028061 -0.02765667] [ 0.05070651 -0.00289185 0.99870941 -0.2933389 ] [ 0. 0. 0. 1. ]] SLAMing on 142.683133365 meters Centerline goodness : 0.135029 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870862 -0.00169702 -0.05077603 -1.12844622] [ 0.00183134 0.99999495 0.00259896 -0.02649559] [ 0.05077137 -0.00268859 0.99870668 -0.29353068] [ 0. 0. 0. 1. ]] SLAMing on 142.713133365 meters Centerline goodness : 0.157419 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870934 -0.00176628 -0.0507596 -1.12858553] [ 0.00189324 0.9999952 0.00245317 -0.02562182] [ 0.05075502 -0.0025461 0.99870789 -0.29341304] [ 0. 0. 0. 1. ]] SLAMing on 142.74313336499998 meters Centerline goodness : 0.132726 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871371 -0.00184993 -0.05067062 -1.12907793] [ 0.00197184 0.99999528 0.00235588 -0.0252652 ] [ 0.05066602 -0.00245277 0.99871264 -0.2930231 ] [ 0. 0. 0. 1. ]] SLAMing on 142.77313336499998 meters Centerline goodness : 0.151923 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99872944 -0.00233156 -0.05033957 -1.13083616] [ 0.00243977 0.99999484 0.00208815 -0.02528944] [ 0.05033445 -0.00220831 0.99872998 -0.29158839] [ 0. 0. 0. 1. ]] SLAMing on 142.80313336499998 meters Centerline goodness : 0.156954 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871648 -0.00237596 -0.05059401 -1.13022689] [ 0.00248613 0.99999467 0.0021148 -0.0256194 ] [ 0.05058872 -0.00223787 0.99871706 -0.29156045] [ 0. 0. 0. 1. ]] SLAMing on 142.83313336499998 meters Centerline goodness : 0.137757 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870377 -0.00245275 -0.05084059 -1.12947369] [ 0.00256312 0.9999945 0.00210568 -0.02587172] [ 0.05083514 -0.00223326 0.99870456 -0.29176733] [ 0. 0. 0. 1. ]] SLAMing on 142.86313336499998 meters Centerline goodness : 0.136370 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99870414 -0.00255945 -0.05082803 -1.12936916] [ 0.00266804 0.9999943 0.00206866 -0.02618462] [ 0.05082245 -0.00220159 0.99870528 -0.29191537] [ 0. 0. 0. 1. ]] SLAMing on 142.89313336499998 meters Centerline goodness : 0.133368 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99871575 -0.00268307 -0.05059298 -1.13020566] [ 0.00278533 0.99999422 0.00195075 -0.02604366] [ 0.05058745 -0.00208917 0.99871745 -0.29155022] [ 0. 0. 0. 1. ]] SLAMing on 142.92313336499998 meters Centerline goodness : 0.136435 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.03, Z:-0.29 [[ 0.99872658 -0.00279528 -0.05037273 -1.13115098] [ 0.00288877 0.99999424 0.00178326 -0.02541985] [ 0.05036746 -0.00192651 0.9987289 -0.29098919] [ 0. 0. 0. 1. ]] SLAMing on 142.95313336499999 meters Centerline goodness : 0.134892 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.02, Z:-0.29 [[ 0.99872768 -0.00301599 -0.05033815 -1.13125762] [ 0.00307684 0.99999463 0.00113151 -0.02161481] [ 0.05033447 -0.00128495 0.99873159 -0.29102549] [ 0. 0. 0. 1. ]] SLAMing on 142.983133365 meters Centerline goodness : 0.134420 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.02, Z:-0.29 [[ 9.98723392e-01 -3.16092452e-03 -5.04142371e-02 -1.13082702e+00] [ 3.19950528e-03 9.99994647e-01 6.84591676e-04 -1.90976045e-02] [ 5.04118033e-02 -8.45018338e-04 9.98728159e-01 -2.91410066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.013133365 meters Centerline goodness : 0.155102 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.02, Z:-0.29 [[ 9.98722551e-01 -3.29050161e-03 -5.04226014e-02 -1.13070969e+00] [ 3.30315479e-03 9.99994531e-01 1.67614623e-04 -1.61097510e-02] [ 5.04217741e-02 -3.33954161e-04 9.98727958e-01 -2.91655288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043133365 meters Centerline goodness : 0.153163 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.29 [[ 9.98728569e-01 -3.45453665e-03 -5.02922700e-02 -1.13106227e+00] [ 3.43923479e-03 9.99994009e-01 -3.90793967e-04 -1.30010523e-02] [ 5.02933187e-02 2.17330175e-04 9.98734467e-01 -2.91705709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.073133365 meters Centerline goodness : 0.136132 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.29 [[ 9.98737323e-01 -3.60619186e-03 -5.01074335e-02 -1.13165082e+00] [ 3.56421023e-03 9.99993218e-01 -9.27160358e-04 -9.94229101e-03] [ 5.01104372e-02 7.47396227e-04 9.98743403e-01 -2.91590033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.103133365 meters Centerline goodness : 0.136192 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99876321 -0.00374966 -0.04957815 -1.13333841] [ 0.00366649 0.99999171 -0.00176844 -0.00351596] [ 0.04958437 0.00158448 0.99876868 -0.29124288] [ 0. 0. 0. 1. ]] SLAMing on 143.133133365 meters Centerline goodness : 0.135417 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 9.98768414e-01 -3.91901114e-03 -4.94600445e-02 -1.13373401e+00] [ 3.81184997e-03 9.99990179e-01 -2.26076038e-03 -8.04414642e-04] [ 4.94684187e-02 2.06944179e-03 9.98773544e-01 -2.91146194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.163133365 meters Centerline goodness : 0.131709 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99877312 -0.00408254 -0.04935168 -1.13416742] [ 0.00395454 0.99998856 -0.00269102 0.00155614] [ 0.0493621 0.00249256 0.99877784 -0.29101459] [ 0. 0. 0. 1. ]] SLAMing on 143.193133365 meters Centerline goodness : 0.137740 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99877689 -0.00415926 -0.0492689 -1.1343519 ] [ 0.00402011 0.99998765 -0.00292305 0.00309904] [ 0.04928045 0.00272141 0.99878127 -0.29109159] [ 0. 0. 0. 1. ]] SLAMing on 143.223133365 meters Centerline goodness : 0.133696 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99877579 -0.00423363 -0.04928483 -1.13435912] [ 0.00408501 0.9999868 -0.00311595 0.00432788] [ 0.04929737 0.00291081 0.9987799 -0.29104543] [ 0. 0. 0. 1. ]] SLAMing on 143.253133365 meters Centerline goodness : 0.135894 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99877682 -0.00428554 -0.04925944 -1.13432747] [ 0.00413111 0.99998623 -0.00323642 0.00510651] [ 0.04927264 0.00302897 0.99878077 -0.2911766 ] [ 0. 0. 0. 1. ]] SLAMing on 143.283133365 meters Centerline goodness : 0.136138 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99878031 -0.00450845 -0.04916873 -1.13473537] [ 0.00434198 0.99998448 -0.00349181 0.00581793] [ 0.04918371 0.00327406 0.99878438 -0.29092534] [ 0. 0. 0. 1. ]] SLAMing on 143.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 143.343133365 meters Centerline goodness : 0.129612 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99875598 -0.00458896 -0.04965316 -1.13318738] [ 0.0044149 0.99998372 -0.00361461 0.00638472] [ 0.04966894 0.0033909 0.99875998 -0.29147226] [ 0. 0. 0. 1. ]] SLAMing on 143.373133365 meters Centerline goodness : 0.141524 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99874535 -0.00457065 -0.0498681 -1.13237348] [ 0.00439458 0.99998372 -0.00363984 0.00679897] [ 0.04988392 0.00341612 0.99874918 -0.29190368] [ 0. 0. 0. 1. ]] SLAMing on 143.403133365 meters Centerline goodness : 0.136505 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.00, Z:-0.29 [[ 0.99876101 0.00289335 -0.04967962 -1.15083981] [-0.00313366 0.99998376 -0.00476007 0.00164387] [ 0.04966504 0.00490986 0.99875386 -0.29464091] [ 0. 0. 0. 1. ]] SLAMing on 143.433133365 meters Centerline goodness : 0.140982 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.29 [[ 0.99875175 -0.004543 -0.04974233 -1.13240142] [ 0.00436931 0.99998397 -0.00360006 0.00528496] [ 0.04975789 0.00337823 0.9987556 -0.29196052] [ 0. 0. 0. 1. ]] SLAMing on 143.463133365 meters Centerline goodness : 0.136306 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 0.99876001 -0.00450363 -0.04957978 -1.13309352] [ 0.004352 0.99998552 -0.00316598 0.0023633 ] [ 0.04959333 0.00294628 0.99876515 -0.2914308 ] [ 0. 0. 0. 1. ]] SLAMing on 143.49313336499998 meters Centerline goodness : 0.115578 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.00, Z:-0.29 [[ 9.98757264e-01 -4.43400361e-03 -4.96413797e-02 -1.13290171e+00] [ 4.29628453e-03 9.99986622e-01 -2.88063916e-03 5.38804836e-04] [ 4.96534884e-02 2.66378579e-03 9.98762953e-01 -2.91464491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52313336499998 meters Centerline goodness : 0.134466 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99875343 -0.0043976 -0.04972165 -1.13253544] [ 0.00427141 0.99998738 -0.00264379 -0.00116626] [ 0.04973265 0.00242811 0.99875961 -0.29165581] [ 0. 0. 0. 1. ]] SLAMing on 143.55313336499998 meters Centerline goodness : 0.118594 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.29 [[ 0.99874746 -0.0043269 -0.04984769 -1.13204768] [ 0.00421322 0.99998828 -0.00238533 -0.00292377] [ 0.04985743 0.00217232 0.99875398 -0.29186124] [ 0. 0. 0. 1. ]] SLAMing on 143.58313336499998 meters Centerline goodness : 0.113609 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.29 [[ 0.99878119 0.00278136 -0.0492787 -1.15014724] [-0.00295836 0.99998943 -0.00351921 -0.01006918] [ 0.04926839 0.00366071 0.99877887 -0.29498981] [ 0. 0. 0. 1. ]] SLAMing on 143.61313336499998 meters Centerline goodness : 0.146387 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99877099 0.00297682 -0.04947366 -1.14944152] [-0.0031317 0.99999043 -0.00305333 -0.01235998] [ 0.0494641 0.00320452 0.99877076 -0.2953447 ] [ 0. 0. 0. 1. ]] SLAMing on 143.64313336499998 meters Centerline goodness : 0.122381 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99876345 0.00304438 -0.0496215 -1.14894627] [-0.00319207 0.99999071 -0.0028975 -0.0132131 ] [ 0.04961222 0.00305232 0.99876389 -0.29553313] [ 0. 0. 0. 1. ]] SLAMing on 143.67313336499998 meters Centerline goodness : 0.109405 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.9987593 0.00307302 -0.04970325 -1.14864632] [-0.00321566 0.99999094 -0.0027903 -0.01402303] [ 0.04969423 0.00294666 0.99876013 -0.29566566] [ 0. 0. 0. 1. ]] SLAMing on 143.70313336499999 meters Centerline goodness : 0.143819 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99875623 0.00308217 -0.04976441 -1.14855662] [-0.00322112 0.99999113 -0.00271235 -0.01473374] [ 0.04975561 0.00286928 0.9987573 -0.29556145] [ 0. 0. 0. 1. ]] SLAMing on 143.733133365 meters Centerline goodness : 0.143297 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99875648 0.00311663 -0.04975731 -1.14869507] [-0.00325171 0.99999124 -0.00263414 -0.01528898] [ 0.04974866 0.00279266 0.99875786 -0.29540267] [ 0. 0. 0. 1. ]] SLAMing on 143.763133365 meters Centerline goodness : 0.138617 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99876126 0.0032372 -0.04965347 -1.1491474 ] [-0.00336252 0.99999137 -0.00244054 -0.01601312] [ 0.04964514 0.00260448 0.99876352 -0.29513263] [ 0. 0. 0. 1. ]] SLAMing on 143.793133365 meters Centerline goodness : 0.136854 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99878258 0.00341245 -0.04921087 -1.15062392] [-0.00352516 0.99999136 -0.00220382 -0.01692509] [ 0.04920292 0.00237461 0.99878598 -0.2945541 ] [ 0. 0. 0. 1. ]] SLAMing on 143.823133365 meters Centerline goodness : 0.154260 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99879322 0.00338687 -0.04899635 -1.15127499] [-0.00350155 0.99999133 -0.00225493 -0.01686865] [ 0.04898828 0.00242377 0.99879641 -0.29438925] [ 0. 0. 0. 1. ]] SLAMing on 143.853133365 meters Centerline goodness : 0.134436 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99879754 0.00340105 -0.04890723 -1.15137188] [-0.00351738 0.99999119 -0.00229274 -0.01651172] [ 0.048899 0.00246201 0.99880069 -0.29463106] [ 0. 0. 0. 1. ]] SLAMing on 143.883133365 meters Centerline goodness : 0.142217 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99879322 0.00345842 -0.04899128 -1.15098884] [-0.0035756 0.99999095 -0.0023045 -0.01593569] [ 0.04898286 0.00247689 0.99879655 -0.29494236] [ 0. 0. 0. 1. ]] SLAMing on 143.913133365 meters Centerline goodness : 0.136769 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99878841 0.00348769 -0.04908712 -1.15059738] [-0.00360658 0.99999077 -0.00233367 -0.01548123] [ 0.04907853 0.00250788 0.99879177 -0.29523601] [ 0. 0. 0. 1. ]] SLAMing on 143.943133365 meters Centerline goodness : 0.121266 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 0.99878448 0.00347369 -0.04916805 -1.15046013] [-0.00359106 0.99999091 -0.00229894 -0.01596142] [ 0.04915962 0.00247271 0.99878787 -0.29515393] [ 0. 0. 0. 1. ]] SLAMing on 143.973133365 meters Centerline goodness : 0.162293 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.29 [[ 9.98842620e-01 1.13039131e-03 -4.80847495e-02 -1.15545623e+00] [-1.33611217e-03 9.99990092e-01 -4.24637071e-03 -1.80769001e-02] [ 4.80794730e-02 4.30570266e-03 9.98834233e-01 -2.92648113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.003133365 meters Centerline goodness : 0.162293 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.29 [[ 9.98842620e-01 1.13039131e-03 -4.80847495e-02 -1.15545623e+00] [-1.33611217e-03 9.99990092e-01 -4.24637071e-03 -1.80769001e-02] [ 4.80794730e-02 4.30570266e-03 9.98834233e-01 -2.92648113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.033133365 meters Centerline goodness : 0.140311 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.29 [[ 0.99884296 0.00121896 -0.04807554 -1.1555034 ] [-0.00141167 0.9999911 -0.00397482 -0.01943288] [ 0.04807027 0.00403809 0.99883579 -0.29259618] [ 0. 0. 0. 1. ]] SLAMing on 144.063133365 meters Centerline goodness : 0.154931 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99883329 0.00127958 -0.04827449 -1.15484393] [-0.00146279 0.99999186 -0.0037601 -0.0205221 ] [ 0.04826928 0.00382633 0.99882703 -0.29285031] [ 0. 0. 0. 1. ]] SLAMing on 144.093133365 meters Centerline goodness : 0.144857 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99882026 0.00130559 -0.04854269 -1.15387639] [-0.00148143 0.99999247 -0.00358661 -0.02165949] [ 0.04853764 0.00365429 0.99881467 -0.2933076 ] [ 0. 0. 0. 1. ]] SLAMing on 144.123133365 meters Centerline goodness : 0.141726 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.29 [[ 0.99880328 0.00130177 -0.0488908 -1.15287664] [-0.00147089 0.99999306 -0.00342336 -0.02292167] [ 0.048886 0.00349118 0.99879826 -0.29354792] [ 0. 0. 0. 1. ]] SLAMing on 144.153133365 meters Centerline goodness : 0.159779 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.29 [[ 0.99880789 0.00136427 -0.04879483 -1.15359616] [-0.001512 0.99999438 -0.00299084 -0.0254947 ] [ 0.04879047 0.00306105 0.99880435 -0.29280231] [ 0. 0. 0. 1. ]] SLAMing on 144.183133365 meters Centerline goodness : 0.042076 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.03, Z:-0.29 [[ 0.99882757 0.0014762 -0.04838699 -1.15512438] [-0.00160493 0.99999528 -0.00262166 -0.0273563 ] [ 0.04838289 0.00269624 0.99882522 -0.29199605] [ 0. 0. 0. 1. ]] SLAMing on 144.213133365 meters Centerline goodness : 0.139352 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98887929e-01 -6.25832627e-03 -4.67304816e-02 -1.13636718e+00] [ 6.20098775e-03 9.99979833e-01 -1.37187202e-03 -2.56835459e-02] [ 4.67381247e-02 1.08057126e-03 9.98906592e-01 -2.89826746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24313336499998 meters Centerline goodness : 0.143534 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98903816e-01 -6.27440144e-03 -4.63874811e-02 -1.13747522e+00] [ 6.23694703e-03 9.99980097e-01 -9.52118351e-04 -2.86830788e-02] [ 4.63925318e-02 6.61758392e-04 9.98923068e-01 -2.89334245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27313336499998 meters Centerline goodness : 0.140454 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98902034e-01 -6.34669853e-03 -4.64160146e-02 -1.13747586e+00] [ 6.32684042e-03 9.99979820e-01 -5.74730314e-04 -3.18259797e-02] [ 4.64187256e-02 2.80432562e-04 9.98922031e-01 -2.89173856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30313336499998 meters Centerline goodness : 0.162388 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.03, Z:-0.29 [[ 9.98887383e-01 -6.34760838e-03 -4.67301157e-02 -1.13669131e+00] [ 6.34841959e-03 9.99979840e-01 -1.31054128e-04 -3.49173453e-02] [ 4.67300055e-02 -1.65754067e-04 9.98907543e-01 -2.89158306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33313336499998 meters Centerline goodness : 0.118418 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.04, Z:-0.29 [[ 9.98879672e-01 -6.29781331e-03 -4.69013707e-02 -1.13634803e+00] [ 6.32220092e-03 9.99979946e-01 3.71651476e-04 -3.80097738e-02] [ 4.68980895e-02 -6.67754993e-04 9.98899456e-01 -2.89020142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.39313336499998 meters Centerline goodness : 0.127700 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:-0.29 [[ 9.98869890e-01 -1.60271802e-02 -4.47445327e-02 -1.11622629e+00] [ 1.60641545e-02 9.99870854e-01 4.66869697e-04 -4.43131976e-02] [ 4.47312715e-02 -1.18512517e-03 9.98998353e-01 -2.87524717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42313336499998 meters Centerline goodness : 0.118996 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.05, Z:-0.29 [[ 9.98991599e-01 -7.46273062e-03 -4.42729260e-02 -1.13520867e+00] [ 7.47833671e-03 9.99972019e-01 1.86880365e-04 -5.39405730e-02] [ 4.42702926e-02 -5.17779762e-04 9.99019456e-01 -2.89338246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45313336499999 meters Centerline goodness : 0.149852 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.06, Z:-0.29 [[ 9.99005035e-01 -7.38098058e-03 -4.39825038e-02 -1.13595700e+00] [ 7.42278229e-03 9.99972141e-01 7.87175085e-04 -5.66939582e-02] [ 4.39754684e-02 -1.11286442e-03 9.99031991e-01 -2.89491025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.483133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.513133365 meters Centerline goodness : 0.156539 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.06, Z:-0.29 [[ 0.99897177 -0.01089123 -0.0440089 -1.13557613] [ 0.01082841 0.99993998 -0.00166562 -0.06229885] [ 0.0440244 0.00118736 0.99902975 -0.29004166] [ 0. 0. 0. 1. ]] SLAMing on 144.543133365 meters Centerline goodness : 0.133187 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.07, Z:-0.29 [[ 9.98873428e-01 -1.12761413e-02 -4.60947122e-02 -1.12980035e+00] [ 1.12231718e-02 9.99936027e-01 -1.40779242e-03 -6.87480038e-02] [ 4.61076379e-02 8.88877570e-04 9.98936082e-01 -2.91322426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.573133365 meters Centerline goodness : 0.156714 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.08, Z:-0.29 [[ 0.99889935 -0.00202233 -0.04686149 -1.14387242] [ 0.00192208 0.99999577 -0.0021842 -0.07767106] [ 0.0468657 0.00209173 0.99889901 -0.29349622] [ 0. 0. 0. 1. ]] SLAMing on 144.603133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.633133365 meters Centerline goodness : 0.137831 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.08, Z:-0.29 [[ 9.98887978e-01 -1.72531686e-03 -4.71150692e-02 -1.14371113e+00] [ 1.67017271e-03 9.99997874e-01 -1.20975625e-03 -8.42625388e-02] [ 4.71170563e-02 1.12972067e-03 9.98888736e-01 -2.92855039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.663133365 meters Centerline goodness : 0.157634 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.09, Z:-0.29 [[ 9.98893995e-01 -1.53265287e-03 -4.69940230e-02 -1.14442357e+00] [ 1.50199708e-03 9.99998636e-01 -6.87638820e-04 -8.71189645e-02] [ 4.69950128e-02 6.16293403e-04 9.98894934e-01 -2.92224545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.693133365 meters Centerline goodness : 0.148036 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.09, Z:-0.29 [[ 9.98900183e-01 -1.35062692e-03 -4.68678923e-02 -1.14488605e+00] [ 1.34308616e-03 9.99999080e-01 -1.92384738e-04 -8.97697168e-02] [ 4.68681090e-02 1.29225533e-04 9.98901078e-01 -2.92016692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.753133365 meters Centerline goodness : 0.123546 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98854374e-01 -1.93493790e-03 -4.78141802e-02 -1.14089634e+00] [ 1.93113411e-03 9.99998127e-01 -1.25747676e-04 -9.67104928e-02] [ 4.78143340e-02 3.32680217e-05 9.98856240e-01 -2.94002146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.783133365 meters Centerline goodness : 0.156035 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98845915e-01 -1.86330214e-03 -4.79933932e-02 -1.14029631e+00] [ 1.86953578e-03 9.99998249e-01 8.49972414e-05 -9.79831943e-02] [ 4.79931508e-02 -1.74624513e-04 9.98847650e-01 -2.94254520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.813133365 meters Centerline goodness : 0.130988 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98838769e-01 -1.77055651e-03 -4.81453824e-02 -1.13993777e+00] [ 1.78883608e-03 9.99998343e-01 3.36589943e-04 -9.93257577e-02] [ 4.81447067e-02 -4.22323282e-04 9.98840282e-01 -2.94247403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.843133365 meters Centerline goodness : 0.145431 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98833429e-01 -1.66515932e-03 -4.82598025e-02 -1.13982681e+00] [ 1.69505130e-03 9.99998396e-01 5.78478340e-04 -1.00562562e-01] [ 4.82587618e-02 -6.59606345e-04 9.98834649e-01 -2.94034570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.873133365 meters Centerline goodness : 0.165063 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 9.98837246e-01 -1.57103429e-03 -4.81839064e-02 -1.14023575e+00] [ 1.61067123e-03 9.99998396e-01 7.83801935e-04 -1.01482998e-01] [ 4.81825977e-02 -8.60498998e-04 9.98838173e-01 -2.93736050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.903133365 meters Centerline goodness : 0.148345 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.10, Z:-0.29 [[ 0.9988682 -0.00143967 -0.04754214 -1.14250646] [ 0.00150171 0.99999807 0.00126924 -0.10392487] [ 0.04754022 -0.0013392 0.99886843 -0.29269445] [ 0. 0. 0. 1. ]] SLAMing on 144.933133365 meters Centerline goodness : 0.122020 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.11, Z:-0.29 [[ 0.99888114 -0.00136699 -0.0472715 -1.14349846] [ 0.00144082 0.99999779 0.00152778 -0.10531111] [ 0.0472693 -0.00159418 0.99888091 -0.29223247] [ 0. 0. 0. 1. ]] SLAMing on 144.963133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 144.99313336499998 meters Centerline goodness : 0.115934 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.11, Z:-0.29 [[ 0.99897258 0.00403376 -0.04513874 -1.12307033] [-0.00412784 0.9999895 -0.0019912 -0.10999225] [ 0.04513023 0.00217548 0.99897874 -0.29224562] [ 0. 0. 0. 1. ]] SLAMing on 145.02313336499998 meters Centerline goodness : 0.152984 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.11, Z:-0.29 [[ 0.99897431 0.00401297 -0.04510229 -1.12329284] [-0.00409812 0.99998999 -0.00179564 -0.11147823] [ 0.04509463 0.00197863 0.99898076 -0.29209569] [ 0. 0. 0. 1. ]] SLAMing on 145.05313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 145.08313336499998 meters Centerline goodness : 0.115477 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.11, Z:-0.29 [[ 0.99901399 0.00382081 -0.04423168 -1.12601083] [-0.00388381 0.99999156 -0.00133844 -0.11484774] [ 0.0442262 0.00150891 0.9990204 -0.29116371] [ 0. 0. 0. 1. ]] SLAMing on 145.11313336499998 meters Centerline goodness : 0.150735 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:-0.29 [[ 0.99901208 0.00381871 -0.04427502 -1.12587441] [-0.0038762 0.99999175 -0.00121268 -0.11573005] [ 0.04427002 0.0013831 0.99901864 -0.29120619] [ 0. 0. 0. 1. ]] SLAMing on 145.14313336499998 meters Centerline goodness : 0.137281 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:-0.29 [[ 0.99900798 0.00372503 -0.04437552 -1.12549792] [-0.00378453 0.99999205 -0.00125679 -0.11606221] [ 0.04437048 0.00142348 0.99901413 -0.29138336] [ 0. 0. 0. 1. ]] SLAMing on 145.17313336499998 meters Centerline goodness : 0.107893 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.12, Z:-0.29 [[ 0.9990008 0.00359373 -0.04454761 -1.12507252] [-0.00365924 0.99999234 -0.0013892 -0.11593548] [ 0.04454227 0.00155083 0.9990063 -0.29139172] [ 0. 0. 0. 1. ]] SLAMing on 145.20313336499999 meters Centerline goodness : 0.174958 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98977182e-01 -3.49412575e-03 -4.50819373e-02 -1.10544248e+00] [ 3.48069608e-03 9.99993872e-01 -3.76389653e-04 -1.11570174e-01] [ 4.50829762e-02 2.19088152e-04 9.98983222e-01 -2.89110559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.233133365 meters Centerline goodness : 0.139994 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98975900e-01 -3.47130104e-03 -4.51120969e-02 -1.10524013e+00] [ 3.45681866e-03 9.99993946e-01 -3.99039060e-04 -1.10993033e-01] [ 4.51132089e-02 2.42686066e-04 9.98981851e-01 -2.89344465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263133365 meters Centerline goodness : 0.175399 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98976459e-01 -3.48396266e-03 -4.50987424e-02 -1.10512704e+00] [ 3.46380594e-03 9.99993863e-01 -5.25085356e-04 -1.09917293e-01] [ 4.51002950e-02 3.68334617e-04 9.98982396e-01 -2.89561997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.293133365 meters Centerline goodness : 0.141431 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.11, Z:-0.29 [[ 9.98978860e-01 -3.55790569e-03 -4.50397392e-02 -1.10529802e+00] [ 3.52674460e-03 9.99993484e-01 -7.71301240e-04 -1.08422636e-01] [ 4.50421899e-02 6.11669977e-04 9.98984898e-01 -2.89519121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.323133365 meters Centerline goodness : 0.165177 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99896343 -0.0039618 -0.04534717 -1.10425976] [ 0.00388741 0.99999095 -0.00172858 -0.10392332] [ 0.04535361 0.00155051 0.99896979 -0.2899487 ] [ 0. 0. 0. 1. ]] SLAMing on 145.353133365 meters Centerline goodness : 0.117098 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99895506 -0.00410371 -0.04551855 -1.10352197] [ 0.00400806 0.99998956 -0.00219233 -0.10123834] [ 0.04552707 0.0020076 0.99896109 -0.29044993] [ 0. 0. 0. 1. ]] SLAMing on 145.383133365 meters Centerline goodness : 0.113020 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99894919 -0.00418724 -0.04563974 -1.10283803] [ 0.00407295 0.99998833 -0.00259694 -0.09848803] [ 0.04565008 0.00240832 0.99895459 -0.29106181] [ 0. 0. 0. 1. ]] SLAMing on 145.413133365 meters Centerline goodness : 0.116147 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.10, Z:-0.29 [[ 0.99894699 -0.00429221 -0.045678 -1.10255637] [ 0.004162 0.999987 -0.00294516 -0.09622805] [ 0.04569005 0.00275195 0.99895187 -0.29135272] [ 0. 0. 0. 1. ]] SLAMing on 145.443133365 meters Centerline goodness : 0.121928 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99894531 -0.00442776 -0.04570184 -1.10254872] [ 0.0042855 0.99998566 -0.00321036 -0.09490512] [ 0.0457154 0.00301112 0.99894997 -0.29132636] [ 0. 0. 0. 1. ]] SLAMing on 145.473133365 meters Centerline goodness : 0.125685 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99893883 -0.00460052 -0.04582628 -1.10248495] [ 0.00444841 0.99998426 -0.00342061 -0.09430501] [ 0.0458413 0.00321312 0.99894357 -0.29102151] [ 0. 0. 0. 1. ]] SLAMing on 145.503133365 meters Centerline goodness : 0.134673 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99892618 -0.00504429 -0.04605479 -1.1021756 ] [ 0.00487569 0.999981 -0.00377258 -0.09335973] [ 0.04607294 0.00354398 0.99893179 -0.29080483] [ 0. 0. 0. 1. ]] SLAMing on 145.533133365 meters Centerline goodness : 0.134673 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99892618 -0.00504429 -0.04605479 -1.1021756 ] [ 0.00487569 0.999981 -0.00377258 -0.09335973] [ 0.04607294 0.00354398 0.99893179 -0.29080483] [ 0. 0. 0. 1. ]] SLAMing on 145.563133365 meters Centerline goodness : 0.142461 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.09, Z:-0.29 [[ 0.99893055 -0.00522849 -0.04593931 -1.10261498] [ 0.00505749 0.99997985 -0.00383753 -0.09288727] [ 0.04595844 0.00360109 0.99893686 -0.29064674] [ 0. 0. 0. 1. ]] SLAMing on 145.593133365 meters Centerline goodness : 0.139347 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:-0.29 [[ 0.99897974 0.00261496 -0.04508482 -1.08518355] [-0.00287088 0.99998013 -0.00561263 -0.09652089] [ 0.04506925 0.00573634 0.9989674 -0.28853037] [ 0. 0. 0. 1. ]] SLAMing on 145.623133365 meters Centerline goodness : 0.102179 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.10, Z:-0.29 [[ 0.99898683 0.00248026 -0.04493514 -1.08578947] [-0.00274396 0.99997937 -0.00580784 -0.09583503] [ 0.0449198 0.00592525 0.99897302 -0.28819283] [ 0. 0. 0. 1. ]] SLAMing on 145.653133365 meters Centerline goodness : 0.142670 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99899436 0.00241171 -0.04477107 -1.08644675] [-0.00268345 0.99997834 -0.0060104 -0.09449482] [ 0.0447556 0.00612449 0.99897919 -0.28784016] [ 0. 0. 0. 1. ]] SLAMing on 145.683133365 meters Centerline goodness : 0.150612 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99900128 0.0024098 -0.04461658 -1.08678386] [-0.00268836 0.99997726 -0.00618436 -0.0927779 ] [ 0.04460066 0.00629813 0.99898504 -0.28790242] [ 0. 0. 0. 1. ]] SLAMing on 145.713133365 meters Centerline goodness : 0.099091 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99901658 0.00221785 -0.04428267 -1.08737685] [-0.00252672 0.99997286 -0.00692033 -0.08789193] [ 0.04426612 0.00702542 0.99899507 -0.28805081] [ 0. 0. 0. 1. ]] SLAMing on 145.74313336499998 meters Centerline goodness : 0.125076 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.09, Z:-0.29 [[ 0.99902358 0.00201593 -0.04413407 -1.08776495] [-0.0023475 0.9999694 -0.00746234 -0.08518197] [ 0.04411768 0.00755866 0.99899775 -0.28793441] [ 0. 0. 0. 1. ]] SLAMing on 145.77313336499998 meters Centerline goodness : 0.110054 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:-0.29 [[ 0.99902852 0.00180414 -0.04403143 -1.08809515] [-0.00216005 0.99996537 -0.00803695 -0.08225137] [ 0.04401541 0.00812426 0.99899782 -0.28778725] [ 0. 0. 0. 1. ]] SLAMing on 145.80313336499998 meters Centerline goodness : 0.150542 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.08, Z:-0.29 [[ 0.99902461 0.00158532 -0.04412845 -1.08773214] [-0.00196782 0.99996086 -0.0086258 -0.07915302] [ 0.04411304 0.00870422 0.99898863 -0.28790658] [ 0. 0. 0. 1. ]] SLAMing on 145.83313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 145.86313336499998 meters Centerline goodness : 0.098272 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99896168 0.00380727 -0.04539891 -1.08270135] [-0.00413413 0.99996619 -0.00710806 -0.07285008] [ 0.04537031 0.00728837 0.99894365 -0.29001908] [ 0. 0. 0. 1. ]] SLAMing on 145.89313336499998 meters Centerline goodness : 0.149415 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99895821 0.00362339 -0.04549036 -1.08211772] [-0.00397401 0.99996307 -0.00761949 -0.06993658] [ 0.04546107 0.00779233 0.99893572 -0.29050487] [ 0. 0. 0. 1. ]] SLAMing on 145.92313336499998 meters Centerline goodness : 0.149415 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99895821 0.00362339 -0.04549036 -1.08211772] [-0.00397401 0.99996307 -0.00761949 -0.06993658] [ 0.04546107 0.00779233 0.99893572 -0.29050487] [ 0. 0. 0. 1. ]] SLAMing on 145.95313336499999 meters Centerline goodness : 0.105271 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.07, Z:-0.29 [[ 0.99896339 0.00342333 -0.04539193 -1.08234901] [-0.0037966 0.99995967 -0.00813955 -0.06711516] [ 0.04536223 0.00830345 0.99893609 -0.29046576] [ 0. 0. 0. 1. ]] SLAMing on 145.983133365 meters Centerline goodness : 0.110227 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.9989838 0.00306087 -0.04496662 -1.08365101] [-0.00347037 0.99995319 -0.00903155 -0.06255695] [ 0.04493687 0.00917842 0.99894766 -0.2900334 ] [ 0. 0. 0. 1. ]] SLAMing on 146.013133365 meters Centerline goodness : 0.150986 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99899062 0.00290608 -0.0448251 -1.08387087] [-0.00332999 0.99995041 -0.00938511 -0.06066882] [ 0.04479561 0.00952491 0.99895076 -0.29021317] [ 0. 0. 0. 1. ]] SLAMing on 146.043133365 meters Centerline goodness : 0.104299 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99899091 0.00274152 -0.04482901 -1.08364036] [-0.00318212 0.99994731 -0.00975999 -0.05873837] [ 0.04479989 0.00989279 0.998947 -0.29053858] [ 0. 0. 0. 1. ]] SLAMing on 146.073133365 meters Centerline goodness : 0.130320 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99898131 0.0026423 -0.04504847 -1.08258809] [-0.00309817 0.99994467 -0.01005275 -0.05681955] [ 0.04501941 0.01018208 0.99893422 -0.29130493] [ 0. 0. 0. 1. ]] SLAMing on 146.103133365 meters Centerline goodness : 0.124819 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.06, Z:-0.29 [[ 0.99896595 0.00256912 -0.04539197 -1.08118509] [-0.00303966 0.99994233 -0.01030019 -0.05503619] [ 0.04536289 0.01042751 0.99891615 -0.29212326] [ 0. 0. 0. 1. ]] SLAMing on 146.133133365 meters Centerline goodness : 0.089847 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.05, Z:-0.29 [[ 0.99889293 -0.00551749 -0.04671699 -1.09930073] [ 0.00511222 0.9999483 -0.00878998 -0.04820786] [ 0.04676307 0.00854142 0.99886949 -0.294116 ] [ 0. 0. 0. 1. ]] SLAMing on 146.163133365 meters Centerline goodness : 0.094883 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.05, Z:-0.29 [[ 0.99889165 -0.00570436 -0.0467219 -1.09943228] [ 0.00527815 0.99994337 -0.00924057 -0.04572705] [ 0.04677197 0.00898372 0.99886519 -0.29390873] [ 0. 0. 0. 1. ]] SLAMing on 146.193133365 meters Centerline goodness : 0.096645 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99888819 -0.00579949 -0.04678407 -1.09933584] [ 0.00536394 0.99994115 -0.00943005 -0.04477226] [ 0.04683601 0.00916862 0.99886051 -0.29386229] [ 0. 0. 0. 1. ]] SLAMing on 146.223133365 meters Centerline goodness : 0.138301 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.998884 -0.00588145 -0.04686315 -1.09919147] [ 0.00543691 0.99993906 -0.00960789 -0.04383576] [ 0.0469168 0.00934238 0.99885511 -0.29380481] [ 0. 0. 0. 1. ]] SLAMing on 146.253133365 meters Centerline goodness : 0.040394 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99888286 -0.00595103 -0.04687872 -1.0991898 ] [ 0.00549642 0.99993667 -0.00982047 -0.04249328] [ 0.04693419 0.00955183 0.99885231 -0.29376018] [ 0. 0. 0. 1. ]] SLAMing on 146.283133365 meters Centerline goodness : 0.142506 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99888359 -0.00603591 -0.04685228 -1.09908575] [ 0.00557052 0.99993391 -0.01005748 -0.04115015] [ 0.04690989 0.00978526 0.9988512 -0.29399986] [ 0. 0. 0. 1. ]] SLAMing on 146.313133365 meters Centerline goodness : 0.226619 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 0.99886933 -0.00327879 -0.04742688 -1.09736641] [ 0.00293208 0.99996848 -0.00737807 -0.04021229] [ 0.04744957 0.00723067 0.99884746 -0.29446454] [ 0. 0. 0. 1. ]] SLAMing on 146.343133365 meters Centerline goodness : 0.099416 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.04, Z:-0.29 [[ 9.98860977e-01 1.66811289e-04 -4.77149862e-02 -1.09633547e+00] [-3.71373805e-04 9.99990779e-01 -4.27834247e-03 -3.80668488e-02] [ 4.77138326e-02 4.29118943e-03 9.98851829e-01 -2.94925243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.373133365 meters Centerline goodness : 0.115352 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.03, Z:-0.29 [[ 0.99885448 -0.00724762 -0.04729909 -1.07753382] [ 0.00709865 0.9999693 -0.0033168 -0.03255361] [ 0.04732168 0.00297724 0.99887526 -0.29240937] [ 0. 0. 0. 1. ]] SLAMing on 146.403133365 meters Centerline goodness : 0.236124 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.03, Z:-0.29 [[ 0.99886031 -0.00737763 -0.0471557 -1.07812551] [ 0.00721451 0.99996739 -0.00362853 -0.03100175] [ 0.04718093 0.00328419 0.99888096 -0.29205613] [ 0. 0. 0. 1. ]] SLAMing on 146.433133365 meters Centerline goodness : 0.131332 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.03, Z:-0.29 [[ 0.9988586 -0.00749848 -0.04717279 -1.07834707] [ 0.00731998 0.99996539 -0.00395559 -0.02920592] [ 0.04720081 0.00360577 0.99887891 -0.29170176] [ 0. 0. 0. 1. ]] SLAMing on 146.463133365 meters Centerline goodness : 0.186365 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98880595e-01 7.94485142e-04 -4.72961581e-02 -1.09948640e+00] [-1.01686687e-03 9.99988541e-01 -4.67802372e-03 -3.08809487e-02] [ 4.72918995e-02 4.72088101e-03 9.98869956e-01 -2.93313692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49313336499998 meters Centerline goodness : 0.103543 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98884540e-01 6.58696606e-04 -4.72148497e-02 -1.09972052e+00] [-8.96537145e-04 9.99987016e-01 -5.01640991e-03 -2.91682226e-02] [ 4.72109324e-02 5.05314417e-03 9.98872161e-01 -2.93256392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52313336499998 meters Centerline goodness : 0.096323 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98892672e-01 5.11041174e-04 -4.70443173e-02 -1.10010786e+00] [-7.61837715e-04 9.99985594e-01 -5.31329422e-03 -2.78655376e-02] [ 4.70409243e-02 5.34325080e-03 9.98878672e-01 -2.93293491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55313336499998 meters Centerline goodness : 0.123360 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.03, Z:-0.29 [[ 9.98902259e-01 4.13172993e-04 -4.68412835e-02 -1.10067244e+00] [-6.71680304e-04 9.99984632e-01 -5.50318674e-03 -2.68605123e-02] [ 4.68382898e-02 5.52860804e-03 9.98887185e-01 -2.93245675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58313336499998 meters Centerline goodness : 0.101525 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.02, Z:-0.29 [[ 9.98903803e-01 3.33475274e-04 -4.68089948e-02 -1.10070639e+00] [-6.03276044e-04 9.99983287e-01 -5.74985716e-03 -2.47208264e-02] [ 4.68062951e-02 5.77179293e-03 9.98887310e-01 -2.93338908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 146.64313336499998 meters Centerline goodness : 0.103811 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.02, Z:-0.29 [[ 9.98906718e-01 6.76704545e-05 -4.67478751e-02 -1.10084655e+00] [-3.60711472e-04 9.99980340e-01 -6.26013456e-03 -2.23055314e-02] [ 4.67465324e-02 6.27015297e-03 9.98887104e-01 -2.93308967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67313336499998 meters Centerline goodness : 0.157626 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.02, Z:-0.29 [[ 9.98917205e-01 -9.53305513e-05 -4.65232123e-02 -1.10154600e+00] [-2.11849225e-04 9.99978212e-01 -6.59774540e-03 -2.08425842e-02] [ 4.65228276e-02 6.60045729e-03 9.98895420e-01 -2.93082958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 146.733133365 meters Centerline goodness : 0.098936 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.01, Z:-0.29 [[ 0.99905552 -0.00716909 -0.04285637 -1.08474316] [ 0.00694894 0.9999619 -0.0052836 -0.01380011] [ 0.04289262 0.0049808 0.99906727 -0.29102909] [ 0. 0. 0. 1. ]] SLAMing on 146.763133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 146.793133365 meters Centerline goodness : 0.087776 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.01, Z:-0.29 [[ 0.99904171 -0.00760286 -0.04310284 -1.08348946] [ 0.00734015 0.99995353 -0.00624988 -0.00791115] [ 0.04314835 0.00592751 0.99905109 -0.29188144] [ 0. 0. 0. 1. ]] SLAMing on 146.823133365 meters Centerline goodness : 0.086877 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.01, Z:-0.29 [[ 0.99902602 -0.00772937 -0.04344273 -1.0821918 ] [ 0.00745279 0.99995094 -0.00652492 -0.00636949] [ 0.04349103 0.0061948 0.99903461 -0.29259667] [ 0. 0. 0. 1. ]] SLAMing on 146.853133365 meters Centerline goodness : 0.099126 Centerline is valid? [False, False] Translation: X:-1.08, Y:-0.00, Z:-0.29 [[ 0.9990129 -0.00785819 -0.04372032 -1.08125714] [ 0.00756816 0.99994827 -0.00679543 -0.00489156] [ 0.04377146 0.00645784 0.9990207 -0.29304082] [ 0. 0. 0. 1. ]] SLAMing on 146.883133365 meters Centerline goodness : 0.138889 Centerline is valid? [False, False] Translation: X:-1.06, Y:-0.01, Z:-0.29 [[ 9.99050994e-01 1.21298560e-04 -4.35556832e-02 -1.06107849e+00] [-4.63506198e-04 9.99969106e-01 -7.84677199e-03 -7.75931503e-03] [ 4.35533858e-02 7.85951368e-03 9.99020185e-01 -2.92044793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 146.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 146.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 147.003133365 meters Centerline goodness : 0.135909 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.00, Z:-0.29 [[ 0.99908201 0.00164187 -0.04280709 -1.06361294] [-0.00196618 0.99996968 -0.00753522 0.00401357] [ 0.04279342 0.00761247 0.99905494 -0.29105399] [ 0. 0. 0. 1. ]] SLAMing on 147.033133365 meters Centerline goodness : 0.148938 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 0.99906682 0.00152917 -0.04316421 -1.06245614] [-0.00187444 0.99996656 -0.00795969 0.00659983] [ 0.04315059 0.00803317 0.99903628 -0.29143502] [ 0. 0. 0. 1. ]] SLAMing on 147.063133365 meters Centerline goodness : 0.162963 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 0.99905917 0.00136956 -0.04334635 -1.06183922] [-0.00173577 0.99996311 -0.00841207 0.00897822] [ 0.04333323 0.0084794 0.99902469 -0.29164524] [ 0. 0. 0. 1. ]] SLAMing on 147.093133365 meters Centerline goodness : 0.140201 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 0.99905682 0.00120135 -0.04340546 -1.06167042] [-0.00158784 0.99995939 -0.00887089 0.01123077] [ 0.04339304 0.00893144 0.99901815 -0.29163189] [ 0. 0. 0. 1. ]] SLAMing on 147.123133365 meters Centerline goodness : 0.144678 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.01, Z:-0.29 [[ 9.99066785e-01 1.04074820e-03 -4.31795846e-02 -1.06249184e+00] [-1.44577749e-03 9.99955243e-01 -9.34994298e-03 1.37092692e-02] [ 4.31679211e-02 9.40364554e-03 9.99023574e-01 -2.91138121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.153133365 meters Centerline goodness : 0.093501 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.02, Z:-0.29 [[ 9.99080617e-01 8.97465373e-04 -4.28615788e-02 -1.06379315e+00] [-1.31978013e-03 9.99950856e-01 -9.82571092e-03 1.62405055e-02] [ 4.28506542e-02 9.87324519e-03 9.99032702e-01 -2.90299630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.183133365 meters Centerline goodness : 0.140365 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.02, Z:-0.29 [[ 0.99912289 0.00271148 -0.04178638 -1.06885826] [-0.00307521 0.99995792 -0.00864278 0.02161768] [ 0.04176119 0.0087637 0.99908919 -0.2874784 ] [ 0. 0. 0. 1. ]] SLAMing on 147.213133365 meters Centerline goodness : 0.138656 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.02, Z:-0.29 [[ 0.99911379 0.00253982 -0.04201401 -1.06794019] [-0.00292342 0.99995458 -0.00907136 0.02382412] [ 0.04198906 0.00918615 0.99907584 -0.28799863] [ 0. 0. 0. 1. ]] SLAMing on 147.24313336499998 meters Centerline goodness : 0.141635 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.03, Z:-0.29 [[ 0.99910667 0.00234564 -0.0421944 -1.06709459] [-0.0027472 0.99995147 -0.00946133 0.02559903] [ 0.04217016 0.0095688 0.99906462 -0.28861169] [ 0. 0. 0. 1. ]] SLAMing on 147.27313336499998 meters Centerline goodness : 0.121974 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.03, Z:-0.29 [[ 0.999104 0.00218526 -0.04226616 -1.06676452] [-0.00260272 0.99994835 -0.00982443 0.02741596] [ 0.04224251 0.00992564 0.99905808 -0.28882734] [ 0. 0. 0. 1. ]] SLAMing on 147.30313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 147.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 147.36313336499998 meters Centerline goodness : 0.130299 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.29 [[ 0.99916524 0.00347437 -0.04070322 -1.07244614] [-0.00386899 0.99994624 -0.00962034 0.03793634] [ 0.04066761 0.00976979 0.99912497 -0.28629714] [ 0. 0. 0. 1. ]] SLAMing on 147.39313336499998 meters Centerline goodness : 0.123980 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.29 [[ 0.9991634 0.00329131 -0.04076365 -1.07200684] [-0.00370326 0.9999428 -0.01003441 0.04005605] [ 0.04072829 0.01017698 0.99911843 -0.28672189] [ 0. 0. 0. 1. ]] SLAMing on 147.42313336499998 meters Centerline goodness : 0.139893 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.04, Z:-0.29 [[ 0.99916036 0.00313605 -0.04085033 -1.07141192] [-0.00356394 0.9999395 -0.01040599 0.04202805] [ 0.04081523 0.01054285 0.99911109 -0.28725876] [ 0. 0. 0. 1. ]] SLAMing on 147.45313336499999 meters Centerline goodness : 0.096060 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99913893 -0.00478579 -0.04121276 -1.05161171] [ 0.00440137 0.99994601 -0.00941344 0.0470721 ] [ 0.04125559 0.00922394 0.99910605 -0.28509188] [ 0. 0. 0. 1. ]] SLAMing on 147.483133365 meters Centerline goodness : 0.139083 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99914108 -0.00486272 -0.04115151 -1.0517695 ] [ 0.00447255 0.99994422 -0.00956811 0.04793272] [ 0.04119574 0.00937583 0.9991071 -0.28510794] [ 0. 0. 0. 1. ]] SLAMing on 147.513133365 meters Centerline goodness : 0.146163 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99913653 -0.00495452 -0.04125112 -1.05148145] [ 0.00455834 0.99994264 -0.00969251 0.04866618] [ 0.04129678 0.0094961 0.9991018 -0.2851706 ] [ 0. 0. 0. 1. ]] SLAMing on 147.543133365 meters Centerline goodness : 0.141672 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99913366 -0.00505294 -0.04130845 -1.05142617] [ 0.00464805 0.99994027 -0.00989182 0.04954151] [ 0.04135596 0.00969125 0.99909747 -0.28501788] [ 0. 0. 0. 1. ]] SLAMing on 147.573133365 meters Centerline goodness : 0.141098 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.28 [[ 0.99912956 -0.00516857 -0.04139334 -1.05128157] [ 0.00475271 0.99993731 -0.01013857 0.05059865] [ 0.04144315 0.00993302 0.99909149 -0.28489841] [ 0. 0. 0. 1. ]] SLAMing on 147.603133365 meters Centerline goodness : 0.141871 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99912092 -0.00525613 -0.0415904 -1.05069977] [ 0.00482954 0.99993477 -0.01035071 0.05172089] [ 0.04164209 0.01014074 0.99908113 -0.28504998] [ 0. 0. 0. 1. ]] SLAMing on 147.633133365 meters Centerline goodness : 0.154034 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99910582 -0.0052856 -0.04194793 -1.04950969] [ 0.00484842 0.99993294 -0.01051678 0.0528403 ] [ 0.0420007 0.01030399 0.99906445 -0.28547116] [ 0. 0. 0. 1. ]] SLAMing on 147.663133365 meters Centerline goodness : 0.138220 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.9991015 -0.00204234 -0.04233228 -1.0482675 ] [ 0.00173419 0.99997174 -0.00731468 0.05332611] [ 0.04234603 0.0072347 0.99907681 -0.28603829] [ 0. 0. 0. 1. ]] SLAMing on 147.693133365 meters Centerline goodness : 0.138889 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.05, Z:-0.29 [[ 0.99909824 0.00181433 -0.04241952 -1.0480886 ] [-0.00197687 0.99999086 -0.00378998 0.05459533] [ 0.04241225 0.00387042 0.9990927 -0.2860005 ] [ 0. 0. 0. 1. ]] SLAMing on 147.723133365 meters Centerline goodness : 0.141214 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.06, Z:-0.29 [[ 0.99909867 0.00179131 -0.04241025 -1.04826329] [-0.00196437 0.99998991 -0.00403917 0.05622085] [ 0.04240259 0.00411883 0.99909212 -0.28572077] [ 0. 0. 0. 1. ]] SLAMing on 147.753133365 meters Centerline goodness : 0.136657 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.28 [[ 0.99910217 -0.00590043 -0.04195293 -1.02931196] [ 0.00578373 0.99997906 -0.00290241 0.06072333] [ 0.04196918 0.00265716 0.99911537 -0.28326544] [ 0. 0. 0. 1. ]] SLAMing on 147.783133365 meters Centerline goodness : 0.139334 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.28 [[ 0.99910294 -0.00603692 -0.04191515 -1.02956471] [ 0.00590366 0.99997712 -0.00330234 0.0626258 ] [ 0.04193413 0.00305192 0.99911572 -0.28295537] [ 0. 0. 0. 1. ]] SLAMing on 147.813133365 meters Centerline goodness : 0.139334 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.06, Z:-0.28 [[ 0.99910294 -0.00603692 -0.04191515 -1.02956471] [ 0.00590366 0.99997712 -0.00330234 0.0626258 ] [ 0.04193413 0.00305192 0.99911572 -0.28295537] [ 0. 0. 0. 1. ]] SLAMing on 147.843133365 meters Centerline goodness : 0.139290 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.06, Z:-0.28 [[ 0.9991605 0.00184457 -0.04092544 -1.01037065] [-0.0020425 0.99998642 -0.00479497 0.06079868] [ 0.04091604 0.00487453 0.9991507 -0.28115984] [ 0. 0. 0. 1. ]] SLAMing on 147.873133365 meters Centerline goodness : 0.142752 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.06, Z:-0.28 [[ 0.99916417 0.00169517 -0.04084224 -1.01069887] [-0.00191223 0.99998425 -0.00527625 0.0633586 ] [ 0.04083266 0.00534994 0.99915168 -0.28089222] [ 0. 0. 0. 1. ]] SLAMing on 147.903133365 meters Centerline goodness : 0.132100 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99915562 0.0054451 -0.04072352 -1.01103159] [-0.00553797 0.99998231 -0.00216824 0.06752856] [ 0.040711 0.00239194 0.9991681 -0.2807279 ] [ 0. 0. 0. 1. ]] SLAMing on 147.933133365 meters Centerline goodness : 0.101366 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99915547 0.00527766 -0.04074914 -1.0109583 ] [-0.00539119 0.99998188 -0.00267674 0.07041175] [ 0.04073427 0.00289417 0.99916582 -0.28071418] [ 0. 0. 0. 1. ]] SLAMing on 147.963133365 meters Centerline goodness : 0.136289 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99915712 0.00506803 -0.04073519 -1.01104956] [-0.00520137 0.99998145 -0.00316798 0.07279877] [ 0.04071838 0.00337719 0.99916496 -0.28059683] [ 0. 0. 0. 1. ]] SLAMing on 147.99313336499998 meters Centerline goodness : 0.132476 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.07, Z:-0.28 [[ 0.99916343 0.00486815 -0.04060464 -1.01152033] [-0.00501934 0.99998084 -0.00362231 0.07498441] [ 0.04058623 0.00382309 0.99916873 -0.28034975] [ 0. 0. 0. 1. ]] SLAMing on 148.02313336499998 meters Centerline goodness : 0.134751 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99919993 -0.00319779 -0.0398657 -0.99299385] [ 0.00310128 0.99999211 -0.00248262 0.08044482] [ 0.03987332 0.002357 0.99920196 -0.27775407] [ 0. 0. 0. 1. ]] SLAMing on 148.05313336499998 meters Centerline goodness : 0.134384 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99921033 -0.00332313 -0.03959396 -0.99387404] [ 0.00321457 0.9999909 -0.00280523 0.08231301] [ 0.03960292 0.00267574 0.99921191 -0.27741618] [ 0. 0. 0. 1. ]] SLAMing on 148.08313336499998 meters Centerline goodness : 0.136421 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99921626 -0.00347612 -0.03943071 -0.99427831] [ 0.00335563 0.9999895 -0.00312148 0.0838665 ] [ 0.03944114 0.00298672 0.99921743 -0.27740433] [ 0. 0. 0. 1. ]] SLAMing on 148.11313336499998 meters Centerline goodness : 0.135512 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.08, Z:-0.28 [[ 0.99921332 -0.00363564 -0.03949087 -0.99390639] [ 0.00350583 0.99998822 -0.00335589 0.08473471] [ 0.03950261 0.0032148 0.9992143 -0.27775247] [ 0. 0. 0. 1. ]] SLAMing on 148.14313336499998 meters Centerline goodness : 0.141330 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.09, Z:-0.28 [[ 0.9991796 -0.00401144 -0.04029921 -0.99159889] [ 0.00386211 0.99998539 -0.00378276 0.08615555] [ 0.04031379 0.00362402 0.9991805 -0.27837169] [ 0. 0. 0. 1. ]] SLAMing on 148.17313336499998 meters Centerline goodness : 0.136352 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.09, Z:-0.28 [[ 0.99917008 -0.00400927 -0.04053489 -0.99095926] [ 0.00385689 0.9999852 -0.00383684 0.08691207] [ 0.04054968 0.00367732 0.99917076 -0.27851934] [ 0. 0. 0. 1. ]] SLAMing on 148.20313336499999 meters Centerline goodness : 0.136974 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.09, Z:-0.28 [[ 0.99916654 -0.0040067 -0.0406223 -0.99080714] [ 0.00385071 0.99998491 -0.00391758 0.08777866] [ 0.04063738 0.00375789 0.99916689 -0.27841831] [ 0. 0. 0. 1. ]] SLAMing on 148.233133365 meters Centerline goodness : 0.142894 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.08, Z:-0.28 [[ 0.99919693 0.00369646 -0.0398977 -0.97278154] [-0.00390511 0.9999791 -0.00515301 0.08451078] [ 0.03987782 0.00530468 0.99919048 -0.27615532] [ 0. 0. 0. 1. ]] SLAMing on 148.263133365 meters Centerline goodness : 0.136393 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.09, Z:-0.28 [[ 0.99920763 0.00356821 -0.03964054 -0.97365507] [-0.00378845 0.9999778 -0.00548206 0.08617233] [ 0.03962009 0.0056279 0.99919897 -0.27572342] [ 0. 0. 0. 1. ]] SLAMing on 148.293133365 meters Centerline goodness : 0.135122 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.09, Z:-0.28 [[ 0.99921581 0.00340657 -0.03944812 -0.97429408] [-0.00364174 0.99997602 -0.00589111 0.08813877] [ 0.0394271 0.00603015 0.99920425 -0.27538852] [ 0. 0. 0. 1. ]] SLAMing on 148.323133365 meters Centerline goodness : 0.131276 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.09, Z:-0.28 [[ 0.9992043 0.00328517 -0.03974891 -0.97343582] [-0.00355112 0.99997177 -0.00662212 0.09317 ] [ 0.03972603 0.006758 0.99918776 -0.27540205] [ 0. 0. 0. 1. ]] SLAMing on 148.353133365 meters Centerline goodness : 0.126391 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.10, Z:-0.27 [[ 0.99913516 -0.00368552 -0.0414168 -0.95460102] [ 0.00347522 0.99998071 -0.00514849 0.09975463] [ 0.04143498 0.00500011 0.99912869 -0.27210431] [ 0. 0. 0. 1. ]] SLAMing on 148.383133365 meters Centerline goodness : 0.137547 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.10, Z:-0.27 [[ 0.99912679 -0.00381907 -0.04160626 -0.95411933] [ 0.0035899 0.99997798 -0.00558136 0.10230725] [ 0.04162666 0.00542712 0.9991185 -0.27209724] [ 0. 0. 0. 1. ]] SLAMing on 148.413133365 meters Centerline goodness : 0.136881 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.10, Z:-0.27 [[ 0.99911775 -0.00398047 -0.04180762 -0.95350403] [ 0.00373197 0.99997491 -0.00602022 0.10466196] [ 0.04183053 0.00585889 0.99910754 -0.27223791] [ 0. 0. 0. 1. ]] SLAMing on 148.443133365 meters Centerline goodness : 0.125158 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.11, Z:-0.27 [[ 0.9991112 -0.00415064 -0.04194734 -0.95314262] [ 0.00388364 0.99997169 -0.00644452 0.10682147] [ 0.0419729 0.00627588 0.99909904 -0.27223181] [ 0. 0. 0. 1. ]] SLAMing on 148.473133365 meters Centerline goodness : 0.132595 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.11, Z:-0.27 [[ 0.99910874 -0.00426723 -0.04199435 -0.95306881] [ 0.0039856 0.99996902 -0.00678784 0.10877116] [ 0.04202201 0.00661442 0.99909479 -0.27215594] [ 0. 0. 0. 1. ]] SLAMing on 148.503133365 meters Centerline goodness : 0.133045 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.11, Z:-0.27 [[ 0.99912171 -0.00456776 -0.04165278 -0.9544627 ] [ 0.00425807 0.99996265 -0.00752058 0.1125692 ] [ 0.04168557 0.00733661 0.99910384 -0.27125572] [ 0. 0. 0. 1. ]] SLAMing on 148.533133365 meters Centerline goodness : 0.128043 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.27 [[ 0.99912994 -0.00472517 -0.04143723 -0.95525404] [ 0.0044022 0.99995925 -0.00788197 0.11430778] [ 0.04147278 0.0076927 0.99911002 -0.27079897] [ 0. 0. 0. 1. ]] SLAMing on 148.563133365 meters Centerline goodness : 0.130554 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99913924 -0.00484333 -0.04119849 -0.9560361 ] [ 0.00450835 0.99995605 -0.0082198 0.11612531] [ 0.04123649 0.00802699 0.99911717 -0.2704307 ] [ 0. 0. 0. 1. ]] SLAMing on 148.593133365 meters Centerline goodness : 0.127341 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99914017 -0.00497411 -0.04116042 -0.95636711] [ 0.00462215 0.99995198 -0.00864173 0.11846493] [ 0.04120143 0.00844405 0.99911518 -0.26999055] [ 0. 0. 0. 1. ]] SLAMing on 148.623133365 meters Centerline goodness : 0.144426 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99917467 -0.00243121 -0.04054701 -0.9588179 ] [ 0.00217246 0.99997701 -0.00642414 0.12122138] [ 0.0405617 0.00633075 0.99915698 -0.26899457] [ 0. 0. 0. 1. ]] SLAMing on 148.653133365 meters Centerline goodness : 0.133381 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.27 [[ 0.99916251 -0.0025585 -0.04083793 -0.95802989] [ 0.00227773 0.99997346 -0.00692028 0.12413111] [ 0.04085455 0.00682146 0.99914182 -0.26906359] [ 0. 0. 0. 1. ]] SLAMing on 148.683133365 meters Centerline goodness : 0.140432 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.27 [[ 9.99143030e-01 9.27965003e-04 -4.13804838e-02 -9.56251366e-01] [-1.10072522e-03 9.99990773e-01 -4.15233171e-03 1.28525846e-01] [ 4.13762488e-02 4.19432183e-03 9.99134833e-01 -2.69705737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.713133365 meters Centerline goodness : 0.128939 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.27 [[ 9.99131488e-01 8.05308409e-04 -4.16607828e-02 -9.55573310e-01] [-1.00040631e-03 9.99988631e-01 -4.66237507e-03 1.31617995e-01] [ 4.16565545e-02 4.70000345e-03 9.99120934e-01 -2.69662196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74313336499998 meters Centerline goodness : 0.131937 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.27 [[ 9.99126104e-01 6.56727267e-04 -4.17922990e-02 -9.55259912e-01] [-8.73894916e-04 9.99986211e-01 -5.17829881e-03 1.34550941e-01] [ 4.17883219e-02 5.21029560e-03 9.99112901e-01 -2.69595587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77313336499998 meters Centerline goodness : 0.129846 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.27 [[ 9.99120246e-01 4.56251153e-04 -4.19347741e-02 -9.54729514e-01] [-6.96030993e-04 9.99983493e-01 -5.70350120e-03 1.37332792e-01] [ 4.19314797e-02 5.72767143e-03 9.99104071e-01 -2.69842805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80313336499998 meters Centerline goodness : 0.132146 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.27 [[ 9.99109019e-01 3.07883834e-04 -4.22027645e-02 -9.53682703e-01] [-5.67737965e-04 9.99980955e-01 -6.14543037e-03 1.39810964e-01] [ 4.22000687e-02 6.16391502e-03 9.99090166e-01 -2.70384356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83313336499998 meters Centerline goodness : 0.133163 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.14, Z:-0.27 [[ 0.99906552 -0.00637391 -0.04274875 -0.93088053] [ 0.00621038 0.99997289 -0.00395704 0.14406725] [ 0.04277281 0.00368786 0.99907802 -0.26989653] [ 0. 0. 0. 1. ]] SLAMing on 148.86313336499998 meters Centerline goodness : 0.152612 Centerline is valid? [False, False] Translation: X:-0.98, Y:0.16, Z:-0.27 [[ 0.99901326 -0.0042027 -0.04421364 -0.97739768] [ 0.00402916 0.99998383 -0.00401336 0.15528057] [ 0.04422979 0.00383125 0.99901404 -0.2697833 ] [ 0. 0. 0. 1. ]] SLAMing on 148.89313336499998 meters Centerline goodness : 0.135736 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.16, Z:-0.27 [[ 0.99907088 0.00388748 -0.0429216 -0.95691354] [-0.00410735 0.99997889 -0.00503556 0.15672082] [ 0.04290112 0.00520718 0.99906575 -0.26833663] [ 0. 0. 0. 1. ]] SLAMing on 148.92313336499998 meters Centerline goodness : 0.132505 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.16, Z:-0.27 [[ 0.99906393 0.00391801 -0.04308028 -0.95675147] [-0.00416553 0.99997532 -0.00565717 0.1622567 ] [ 0.04305705 0.00583133 0.9990556 -0.26790567] [ 0. 0. 0. 1. ]] SLAMing on 148.95313336499999 meters Centerline goodness : 0.128647 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99904842 0.00397173 -0.04343358 -0.95562647] [-0.00424658 0.99997153 -0.00623773 0.16804729] [ 0.04340757 0.00641623 0.99903684 -0.26805675] [ 0. 0. 0. 1. ]] SLAMing on 148.983133365 meters Centerline goodness : 0.133452 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.17, Z:-0.27 [[ 0.99903719 0.00380398 -0.04370607 -0.95478861] [-0.00411559 0.99996674 -0.00704189 0.17299201] [ 0.04367783 0.00721499 0.99901961 -0.26818084] [ 0. 0. 0. 1. ]] SLAMing on 149.013133365 meters Centerline goodness : 0.161523 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.18, Z:-0.27 [[ 0.99905651 0.00361473 -0.04327844 -0.95607226] [-0.00397302 0.99995852 -0.00819548 0.18338872] [ 0.04324702 0.0083597 0.99902943 -0.26765948] [ 0. 0. 0. 1. ]] SLAMing on 149.043133365 meters Centerline goodness : 0.153240 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.19, Z:-0.27 [[ 0.99906554 0.0033851 -0.04308805 -0.95699583] [-0.00376616 0.99995449 -0.00876571 0.18644433] [ 0.04305642 0.00891979 0.99903282 -0.26694338] [ 0. 0. 0. 1. ]] SLAMing on 149.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 149.103133365 meters Centerline goodness : 0.073480 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.19, Z:-0.27 [[ 0.9990798 0.00304084 -0.04278199 -0.9581865 ] [-0.00343669 0.99995194 -0.00918231 0.18878509] [ 0.04275201 0.00932089 0.99904223 -0.26628126] [ 0. 0. 0. 1. ]] SLAMing on 149.133133365 meters Centerline goodness : 0.141388 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.19, Z:-0.27 [[ 0.99907593 0.0028208 -0.04288747 -0.95768348] [-0.00321974 0.99995216 -0.00923587 0.1884315 ] [ 0.04285936 0.00936542 0.99903722 -0.26668853] [ 0. 0. 0. 1. ]] SLAMing on 149.163133365 meters Centerline goodness : 0.147391 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.27 [[ 0.99903857 -0.00660697 -0.0433391 -0.93632237] [ 0.00623605 0.99994281 -0.00868809 0.19029087] [ 0.04339402 0.00840947 0.99902264 -0.26543837] [ 0. 0. 0. 1. ]] SLAMing on 149.193133365 meters Centerline goodness : 0.077293 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.27 [[ 0.99901609 -0.00716785 -0.0437661 -0.93485093] [ 0.00679356 0.99993912 -0.00869477 0.18851342] [ 0.04382576 0.00838889 0.99900397 -0.26630958] [ 0. 0. 0. 1. ]] SLAMing on 149.223133365 meters Centerline goodness : 0.110854 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.27 [[ 0.999014 -0.00699059 -0.04384238 -0.93456319] [ 0.00663632 0.99994419 -0.0082209 0.18652099] [ 0.0438974 0.00792184 0.99900464 -0.26650292] [ 0. 0. 0. 1. ]] SLAMing on 149.253133365 meters Centerline goodness : 0.084331 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.27 [[ 0.99902369 -0.00686566 -0.04364093 -0.9350267 ] [ 0.00652925 0.9999479 -0.00784644 0.1847957 ] [ 0.04369253 0.00755383 0.99901647 -0.26657531] [ 0. 0. 0. 1. ]] SLAMing on 149.283133365 meters Centerline goodness : 0.152905 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.27 [[ 0.99903801 -0.00684482 -0.04331516 -0.93582959] [ 0.00652142 0.99994983 -0.00760324 0.18314648] [ 0.04336503 0.00731345 0.99903253 -0.26661624] [ 0. 0. 0. 1. ]] SLAMing on 149.313133365 meters Centerline goodness : 0.123006 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99902613 -0.00697428 -0.04356771 -0.93474729] [ 0.00666311 0.99995128 -0.00728335 0.17988424] [ 0.04361638 0.00698596 0.99902393 -0.26744695] [ 0. 0. 0. 1. ]] SLAMing on 149.343133365 meters Centerline goodness : 0.157689 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99901719 -0.00683199 -0.04379471 -0.93387756] [ 0.00653339 0.99995445 -0.00695768 0.17838577] [ 0.04384025 0.00666471 0.99901632 -0.26798132] [ 0. 0. 0. 1. ]] SLAMing on 149.373133365 meters Centerline goodness : 0.141101 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99900987 -0.00663663 -0.04399122 -0.93318644] [ 0.00635323 0.99995818 -0.00657891 0.17681631] [ 0.04403305 0.00629291 0.99901026 -0.26834721] [ 0. 0. 0. 1. ]] SLAMing on 149.403133365 meters Centerline goodness : 0.145213 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.18, Z:-0.27 [[ 0.99900121 -0.00652367 -0.04420429 -0.9325104 ] [ 0.00625002 0.99996046 -0.00632591 0.17564498] [ 0.04424381 0.00604332 0.99900248 -0.26861816] [ 0. 0. 0. 1. ]] SLAMing on 149.433133365 meters Centerline goodness : 0.151248 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.17, Z:-0.27 [[ 0.99899452 -0.00640449 -0.04437256 -0.93217431] [ 0.00614026 0.99996261 -0.00608845 0.17450776] [ 0.0444099 0.00580987 0.9989965 -0.26852693] [ 0. 0. 0. 1. ]] SLAMing on 149.463133365 meters Centerline goodness : 0.066860 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.17, Z:-0.27 [[ 0.99899216 -0.00634852 -0.04443387 -0.93207686] [ 0.00608825 0.99996352 -0.00599039 0.173909 ] [ 0.04447028 0.00571383 0.99899437 -0.26846892] [ 0. 0. 0. 1. ]] SLAMing on 149.49313336499998 meters Centerline goodness : 0.131969 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99912607 0.00259313 -0.04171787 -0.95548366] [-0.002855 0.99997659 -0.00621892 0.16912093] [ 0.04170076 0.00633259 0.99911008 -0.27013461] [ 0. 0. 0. 1. ]] SLAMing on 149.52313336499998 meters Centerline goodness : 0.148045 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99917539 -0.00564925 -0.04020731 -0.9375269 ] [ 0.00545664 0.99997311 -0.00489842 0.17120558] [ 0.0402339 0.00467498 0.99917935 -0.26817756] [ 0. 0. 0. 1. ]] SLAMing on 149.55313336499998 meters Centerline goodness : 0.133851 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99917496 -0.00559052 -0.04022623 -0.93756679] [ 0.00539926 0.99997361 -0.00486173 0.17117648] [ 0.04025234 0.00464053 0.99917877 -0.26805911] [ 0. 0. 0. 1. ]] SLAMing on 149.58313336499998 meters Centerline goodness : 0.128326 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99916182 -0.00545671 -0.04056936 -0.93658081] [ 0.00527211 0.99997526 -0.00465588 0.17046023] [ 0.04059377 0.0044381 0.99916588 -0.26831666] [ 0. 0. 0. 1. ]] SLAMing on 149.61313336499998 meters Centerline goodness : 0.143794 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99914692 -0.00534269 -0.04094979 -0.93544736] [ 0.00516384 0.99997667 -0.00447212 0.1697758 ] [ 0.04097273 0.00425685 0.9991512 -0.26867668] [ 0. 0. 0. 1. ]] SLAMing on 149.64313336499998 meters Centerline goodness : 0.134311 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99914344 -0.00525518 -0.04104602 -0.93538418] [ 0.00508279 0.99997782 -0.00430304 0.16879295] [ 0.04106772 0.00409073 0.99914799 -0.26846858] [ 0. 0. 0. 1. ]] SLAMing on 149.67313336499998 meters Centerline goodness : 0.140885 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.16, Z:-0.27 [[ 0.9992332 0.00251974 -0.03907253 -0.91669001] [-0.00271911 0.99998355 -0.00505026 0.16409804] [ 0.03905917 0.00515263 0.99922361 -0.26679343] [ 0. 0. 0. 1. ]] SLAMing on 149.70313336499999 meters Centerline goodness : 0.141618 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99939458 0.00447027 -0.03450338 -0.9606683 ] [-0.00463974 0.99997756 -0.00483332 0.16705388] [ 0.034481 0.00499048 0.99939289 -0.26933424] [ 0. 0. 0. 1. ]] SLAMing on 149.733133365 meters Centerline goodness : 0.141618 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99939458 0.00447027 -0.03450338 -0.9606683 ] [-0.00463974 0.99997756 -0.00483332 0.16705388] [ 0.034481 0.00499048 0.99939289 -0.26933424] [ 0. 0. 0. 1. ]] SLAMing on 149.763133365 meters Centerline goodness : 0.136443 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.17, Z:-0.27 [[ 0.99941119 0.00451015 -0.03401376 -0.96236553] [-0.00467856 0.99997718 -0.00487328 0.16751199] [ 0.03399101 0.00502955 0.99940948 -0.26848906] [ 0. 0. 0. 1. ]] SLAMing on 149.793133365 meters Centerline goodness : 0.116820 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99944182 -0.00360382 -0.03321238 -0.94421241] [ 0.00349317 0.99998816 -0.00338922 0.17050001] [ 0.0332242 0.00327131 0.99944257 -0.26614536] [ 0. 0. 0. 1. ]] SLAMing on 149.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 149.853133365 meters Centerline goodness : 0.135574 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99941729 -0.00368417 -0.03393398 -0.94212206] [ 0.00355941 0.99998669 -0.00373619 0.17201938] [ 0.03394729 0.00361323 0.99941709 -0.26674212] [ 0. 0. 0. 1. ]] SLAMing on 149.883133365 meters Centerline goodness : 0.145921 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.27 [[ 0.99941416 -0.0037225 -0.03402181 -0.94201409] [ 0.00358984 0.99998572 -0.00395945 0.17333909] [ 0.03403606 0.003835 0.99941325 -0.26658574] [ 0. 0. 0. 1. ]] SLAMing on 149.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 149.943133365 meters Centerline goodness : 0.054863 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.17, Z:-0.26 [[ 0.99948016 0.00510097 -0.03183378 -0.9234813 ] [-0.00523883 0.99997725 -0.00424863 0.17301881] [ 0.03181138 0.0044132 0.99948415 -0.26453532] [ 0. 0. 0. 1. ]] SLAMing on 149.973133365 meters Centerline goodness : 0.168404 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.18, Z:-0.26 [[ 9.99520564e-01 -2.36708581e-05 -3.09619458e-02 -9.46779443e-01] [-2.18577728e-05 9.99998919e-01 -1.47013131e-03 1.79343080e-01] [ 3.09619471e-02 1.47010323e-03 9.99519483e-01 -2.64694658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 150.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 150.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 150.093133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 150.123133365 meters Centerline goodness : 0.142854 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.26 [[ 9.99519773e-01 3.73645645e-03 -3.07613775e-02 -9.01931396e-01] [-3.74713996e-03 9.99992937e-01 -2.89662374e-04 2.00849572e-01] [ 3.07600779e-02 4.04790457e-04 9.99526715e-01 -2.64474785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.153133365 meters Centerline goodness : 0.143224 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.26 [[ 9.99515202e-01 3.52767159e-03 -3.09340770e-02 -9.01285932e-01] [-3.55346993e-03 9.99993383e-01 -7.79042563e-04 2.03375126e-01] [ 3.09311241e-02 8.88588196e-04 9.99521123e-01 -2.64784058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.183133365 meters Centerline goodness : 0.138583 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950482 0.00320142 -0.03130281 -0.90013635] [-0.00324625 0.99999378 -0.00138152 0.20639192] [ 0.03129819 0.00148245 0.99950899 -0.2651628 ] [ 0. 0. 0. 1. ]] SLAMing on 150.213133365 meters Centerline goodness : 0.148668 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950398 0.00311313 -0.03133859 -0.89998703] [-0.00316433 0.99999374 -0.00158449 0.20770974] [ 0.03133346 0.00168287 0.99950757 -0.26523299] [ 0. 0. 0. 1. ]] SLAMing on 150.24313336499998 meters Centerline goodness : 0.158707 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950494 0.00301014 -0.03131803 -0.89990358] [-0.00306709 0.99999373 -0.00177065 0.20874721] [ 0.0313125 0.00186583 0.9995079 -0.26542175] [ 0. 0. 0. 1. ]] SLAMing on 150.27313336499998 meters Centerline goodness : 0.140543 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950559 0.00286297 -0.03131089 -0.89978995] [-0.0029251 0.99999384 -0.00193877 0.20940242] [ 0.03130514 0.0020294 0.99950781 -0.26563192] [ 0. 0. 0. 1. ]] SLAMing on 150.30313336499998 meters Centerline goodness : 0.181451 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950789 0.002731 -0.0312492 -0.89978673] [-0.0027979 0.99999389 -0.00209733 0.20991969] [ 0.03124328 0.00218373 0.99950942 -0.26586016] [ 0. 0. 0. 1. ]] SLAMing on 150.33313336499998 meters Centerline goodness : 0.141327 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99950607 0.00262761 -0.03131625 -0.89966265] [-0.00269902 0.99999385 -0.00223811 0.21037135] [ 0.03131018 0.00232153 0.99950702 -0.26582806] [ 0. 0. 0. 1. ]] SLAMing on 150.36313336499998 meters Centerline goodness : 0.089346 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949926 0.00247123 -0.03154547 -0.89913904] [-0.00255184 0.99999358 -0.00251539 0.21143459] [ 0.03153905 0.00259463 0.99949915 -0.26580068] [ 0. 0. 0. 1. ]] SLAMing on 150.39313336499998 meters Centerline goodness : 0.134246 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949443 0.00246248 -0.0316988 -0.89858462] [-0.00254546 0.99999344 -0.00257756 0.21189129] [ 0.03169225 0.00265695 0.99949414 -0.26612141] [ 0. 0. 0. 1. ]] SLAMing on 150.42313336499998 meters Centerline goodness : 0.088349 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949165 0.00246069 -0.03178643 -0.89847365] [-0.00254626 0.99999324 -0.00265199 0.21245131] [ 0.03177969 0.00273158 0.99949117 -0.26599247] [ 0. 0. 0. 1. ]] SLAMing on 150.45313336499999 meters Centerline goodness : 0.146780 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99948999 0.00245109 -0.03183962 -0.89841294] [-0.00253879 0.99999309 -0.00271426 0.21287042] [ 0.03183275 0.00279371 0.99948931 -0.26589747] [ 0. 0. 0. 1. ]] SLAMing on 150.483133365 meters Centerline goodness : 0.167956 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949292 0.00245301 -0.03174709 -0.8985493 ] [-0.00254174 0.99999298 -0.00275485 0.21317731] [ 0.0317401 0.00283415 0.99949214 -0.26606966] [ 0. 0. 0. 1. ]] SLAMing on 150.513133365 meters Centerline goodness : 0.088860 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99949337 0.00246256 -0.03173217 -0.89852001] [-0.00255069 0.999993 -0.00273727 0.21320572] [ 0.03172521 0.00281682 0.99949266 -0.26621163] [ 0. 0. 0. 1. ]] SLAMing on 150.543133365 meters Centerline goodness : 0.088872 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99948928 0.00244154 -0.03186243 -0.89821411] [-0.00253353 0.99999274 -0.00284689 0.21386452] [ 0.03185525 0.00292616 0.99948821 -0.26619135] [ 0. 0. 0. 1. ]] SLAMing on 150.573133365 meters Centerline goodness : 0.144738 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.21, Z:-0.27 [[ 0.99948973 0.00236621 -0.03185412 -0.89831376] [-0.00246463 0.99999231 -0.00305102 0.21480607] [ 0.03184666 0.00312797 0.99948787 -0.26607684] [ 0. 0. 0. 1. ]] SLAMing on 150.603133365 meters Centerline goodness : 0.167178 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.22, Z:-0.27 [[ 0.99949078 0.00228825 -0.03182687 -0.89855846] [-0.00239421 0.99999172 -0.00329166 0.21607374] [ 0.03181907 0.00336618 0.99948798 -0.26581116] [ 0. 0. 0. 1. ]] SLAMing on 150.633133365 meters Centerline goodness : 0.132338 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.22, Z:-0.27 [[ 0.99949196 0.00223627 -0.03179344 -0.89867884] [-0.00234988 0.99999099 -0.00353656 0.21761364] [ 0.03178525 0.00360948 0.9994882 -0.2657398 ] [ 0. 0. 0. 1. ]] SLAMing on 150.663133365 meters Centerline goodness : 0.148824 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.22, Z:-0.27 [[ 9.99491291e-01 5.96263691e-03 -3.13305856e-02 -8.99748443e-01] [-5.97215475e-03 9.99982144e-01 -2.10216828e-04 2.19912124e-01] [ 3.13287727e-02 3.97220994e-04 9.99509055e-01 -2.65697875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.693133365 meters Centerline goodness : 0.156067 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 0.99951495 -0.00218951 -0.03106546 -0.88143507] [ 0.00222669 0.99999685 0.0011623 0.225516 ] [ 0.03106282 -0.00123091 0.99951668 -0.26360379] [ 0. 0. 0. 1. ]] SLAMing on 150.723133365 meters Centerline goodness : 0.128548 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99518378e-01 -2.33793587e-03 -3.09442267e-02 -8.81614948e-01] [ 2.36324503e-03 9.99996902e-01 7.81348060e-04 2.27442546e-01] [ 3.09423041e-02 -8.54100536e-04 9.99520807e-01 -2.63752440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.753133365 meters Centerline goodness : 0.149196 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99517496e-01 -2.43352793e-03 -3.09653663e-02 -8.81577855e-01] [ 2.45100718e-03 9.99996858e-01 5.26532623e-04 2.28739800e-01] [ 3.09639877e-02 -6.02174904e-04 9.99520319e-01 -2.63696383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.783133365 meters Centerline goodness : 0.144839 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99516454e-01 -2.50169463e-03 -3.09935412e-02 -8.81630154e-01] [ 2.51422314e-03 9.99996773e-01 3.65264414e-04 2.29696039e-01] [ 3.09925274e-02 -4.43012470e-04 9.99519518e-01 -2.63455354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.813133365 meters Centerline goodness : 0.122206 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99514930e-01 -2.57575648e-03 -3.10365882e-02 -8.81513533e-01] [ 2.58594911e-03 9.99996615e-01 2.88272240e-04 2.30102700e-01] [ 3.10357406e-02 -3.68391445e-04 9.99518207e-01 -2.63367557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.843133365 meters Centerline goodness : 0.144597 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99496719e-01 -2.96534583e-03 -3.15834783e-02 -8.79752629e-01] [ 2.96835500e-03 9.99995593e-01 4.83897955e-05 2.30065240e-01] [ 3.15831956e-02 -1.42116417e-04 9.99501116e-01 -2.64194525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.873133365 meters Centerline goodness : 0.123969 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99490203e-01 -2.94401091e-03 -3.17909759e-02 -8.78999505e-01] [ 2.94887924e-03 9.99995646e-01 1.06251101e-04 2.29946517e-01] [ 3.17905247e-02 -1.99944683e-04 9.99494534e-01 -2.64575778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.903133365 meters Centerline goodness : 0.124852 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.26 [[ 9.99487182e-01 -2.96141360e-03 -3.18842157e-02 -8.78857652e-01] [ 2.96145287e-03 9.99995614e-01 -4.59923034e-05 2.31102065e-01] [ 3.18842120e-02 -4.84548843e-05 9.99491568e-01 -2.64419711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.933133365 meters Centerline goodness : 0.125818 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.26 [[ 0.99951733 0.00465513 -0.03071546 -0.86034259] [-0.00469391 0.99998827 -0.00119063 0.22951269] [ 0.03070956 0.00133423 0.99952746 -0.26246155] [ 0. 0. 0. 1. ]] SLAMing on 150.963133365 meters Centerline goodness : 0.047885 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.26 [[ 0.99953428 0.00470835 -0.03015052 -0.86208324] [-0.0047613 0.99998725 -0.00168439 0.23282861] [ 0.0301422 0.00182716 0.99954395 -0.26165531] [ 0. 0. 0. 1. ]] SLAMing on 150.99313336499998 meters Centerline goodness : 0.154506 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.26 [[ 0.9995489 0.0048605 -0.02963724 -0.86371595] [-0.00492863 0.99998538 -0.00222635 0.23678394] [ 0.02962598 0.00237141 0.99955824 -0.26087 ] [ 0. 0. 0. 1. ]] SLAMing on 151.02313336499998 meters Centerline goodness : 0.115296 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.25, Z:-0.26 [[ 0.99954308 0.00815517 -0.02910528 -0.86580477] [-0.00819436 0.99996567 -0.00122755 0.24773429] [ 0.02909427 0.00146549 0.9995756 -0.26112662] [ 0. 0. 0. 1. ]] SLAMing on 151.05313336499998 meters Centerline goodness : 0.154388 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.25, Z:-0.26 [[ 0.99952366 0.00864328 -0.02962681 -0.86465509] [-0.00869447 0.99996092 -0.00159932 0.25123107] [ 0.02961183 0.00185614 0.99955975 -0.26173457] [ 0. 0. 0. 1. ]] SLAMing on 151.08313336499998 meters Centerline goodness : 0.157238 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.25, Z:-0.26 [[ 0.99950408 0.00886478 -0.03021618 -0.86326716] [-0.00893689 0.99995753 -0.00225203 0.25499758] [ 0.03019493 0.00252095 0.99954085 -0.26245933] [ 0. 0. 0. 1. ]] SLAMing on 151.11313336499998 meters Centerline goodness : 0.148092 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.26, Z:-0.26 [[ 0.99948761 0.00896192 -0.03072772 -0.86222922] [-0.009059 0.9999544 -0.00302157 0.25887272] [ 0.03069924 0.00329838 0.99952323 -0.26292028] [ 0. 0. 0. 1. ]] SLAMing on 151.14313336499998 meters Centerline goodness : 0.147460 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.26, Z:-0.26 [[ 0.99948614 0.00897798 -0.03077092 -0.86250105] [-0.00910213 0.99995098 -0.00389679 0.26285568] [ 0.03073443 0.00417486 0.99951887 -0.26304908] [ 0. 0. 0. 1. ]] SLAMing on 151.17313336499998 meters Centerline goodness : 0.196051 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.26 [[ 0.99949138 0.00910936 -0.03056144 -0.86371647] [-0.00925656 0.99994621 -0.00467831 0.26687027] [ 0.03051718 0.00495882 0.99952194 -0.26267595] [ 0. 0. 0. 1. ]] SLAMing on 151.20313336499999 meters Centerline goodness : 0.185610 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.26 [[ 0.9994658 0.01195593 -0.03041675 -0.86568687] [-0.01207467 0.99992017 -0.00372329 0.27717732] [ 0.03036981 0.00408857 0.99953037 -0.26154198] [ 0. 0. 0. 1. ]] SLAMing on 151.233133365 meters Centerline goodness : 0.175091 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.26 [[ 0.99947013 0.01199964 -0.03025676 -0.86650485] [-0.01214101 0.9999162 -0.00449295 0.28120092] [ 0.03020031 0.00485792 0.99953206 -0.26138003] [ 0. 0. 0. 1. ]] SLAMing on 151.263133365 meters Centerline goodness : 0.188530 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.29, Z:-0.26 [[ 0.99959072 0.00441337 -0.02826495 -0.88642849] [-0.00452675 0.99998196 -0.0039485 0.29231725] [ 0.02824701 0.00407483 0.99959267 -0.26280573] [ 0. 0. 0. 1. ]] SLAMing on 151.293133365 meters Centerline goodness : 0.166757 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.26 [[ 0.99968848 -0.00160956 -0.02490686 -0.86565733] [ 0.0015738 0.9999977 -0.00145538 0.30073054] [ 0.02490915 0.00141573 0.99968872 -0.26327414] [ 0. 0. 0. 1. ]] SLAMing on 151.323133365 meters Centerline goodness : 0.179854 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.26 [[ 0.9996942 -0.00181782 -0.02466171 -0.86640255] [ 0.00177119 0.9999966 -0.00191272 0.30287685] [ 0.0246651 0.00186846 0.99969402 -0.26302844] [ 0. 0. 0. 1. ]] SLAMing on 151.353133365 meters Centerline goodness : 0.169007 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.26 [[ 0.99969475 -0.00196946 -0.02462768 -0.86646843] [ 0.00191583 0.99999574 -0.00220103 0.30411474] [ 0.02463191 0.00215318 0.99969427 -0.26304495] [ 0. 0. 0. 1. ]] SLAMing on 151.383133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.413133365 meters Centerline goodness : 0.162209 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.30, Z:-0.26 [[ 0.99967712 -0.00218043 -0.02531599 -0.86413541] [ 0.00212245 0.99999506 -0.00231668 0.3043682 ] [ 0.02532092 0.0022622 0.99967681 -0.2640657 ] [ 0. 0. 0. 1. ]] SLAMing on 151.443133365 meters Centerline goodness : 0.170958 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.30, Z:-0.26 [[ 0.99965856 -0.00226032 -0.02603183 -0.86183775] [ 0.00220014 0.99999484 -0.00234027 0.30446037] [ 0.02603699 0.0022822 0.99965838 -0.26489424] [ 0. 0. 0. 1. ]] SLAMing on 151.473133365 meters Centerline goodness : 0.157132 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.31, Z:-0.27 [[ 0.99965336 -0.00231331 -0.02622599 -0.86116353] [ 0.00224846 0.99999434 -0.00250213 0.30529416] [ 0.02623163 0.0024423 0.99965291 -0.26520965] [ 0. 0. 0. 1. ]] SLAMing on 151.503133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.533133365 meters Centerline goodness : 0.149132 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.31, Z:-0.27 [[ 0.99963836 -0.00200088 -0.02681692 -0.8597156 ] [ 0.00192796 0.99999437 -0.0027447 0.3082949 ] [ 0.02682226 0.00269201 0.99963659 -0.26527298] [ 0. 0. 0. 1. ]] SLAMing on 151.563133365 meters Centerline goodness : 0.171189 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.31, Z:-0.27 [[ 0.9996301 -0.00176878 -0.02713923 -0.85904129] [ 0.00168936 0.99999422 -0.00294925 0.31071129] [ 0.02714429 0.00290231 0.99962731 -0.26515725] [ 0. 0. 0. 1. ]] SLAMing on 151.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.623133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.653133365 meters Centerline goodness : 0.162457 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.31, Z:-0.26 [[ 0.99964038 0.00831257 -0.02549536 -0.83823589] [-0.00837321 0.99996236 -0.0022727 0.31423423] [ 0.02547551 0.00248536 0.99967236 -0.26479938] [ 0. 0. 0. 1. ]] SLAMing on 151.683133365 meters Centerline goodness : 0.179876 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.32, Z:-0.27 [[ 9.99632072e-01 1.09214700e-02 -2.48282372e-02 -8.39366944e-01] [-1.09468778e-02 9.99939687e-01 -8.87654015e-04 3.22063068e-01] [ 2.48170453e-02 1.15911910e-03 9.99691338e-01 -2.65133099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.713133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.74313336499998 meters Centerline goodness : 0.158312 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.33, Z:-0.27 [[ 0.9996275 0.01132848 -0.02483003 -0.83944325] [-0.01136578 0.99993448 -0.00136137 0.32717509] [ 0.02481298 0.00164307 0.99969076 -0.26507013] [ 0. 0. 0. 1. ]] SLAMing on 151.77313336499998 meters Centerline goodness : 0.167725 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.33, Z:-0.26 [[ 0.99967916 0.00478761 -0.02487275 -0.81811333] [-0.00476104 0.99998803 0.00112728 0.33363077] [ 0.02487785 -0.0010085 0.99968999 -0.26481249] [ 0. 0. 0. 1. ]] SLAMing on 151.80313336499998 meters Centerline goodness : 0.155401 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.33, Z:-0.26 [[ 9.99677707e-01 4.70219475e-03 -2.49473688e-02 -8.18077157e-01] [-4.68102200e-03 9.99988633e-01 9.07027715e-04 3.34663018e-01] [ 2.49513502e-02 -7.89956204e-04 9.99688354e-01 -2.64629873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83313336499998 meters Centerline goodness : 0.215101 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.34, Z:-0.26 [[ 9.99676441e-01 4.63163323e-03 -2.50112055e-02 -8.18011147e-01] [-4.61402811e-03 9.99989065e-01 7.61554217e-04 3.35273052e-01] [ 2.50144592e-02 -6.45905405e-04 9.99686881e-01 -2.64540409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86313336499998 meters Centerline goodness : 0.164614 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.34, Z:-0.26 [[ 0.9996766 -0.00419739 -0.02508152 -0.79946925] [ 0.00424855 0.999989 0.00198673 0.33961613] [ 0.0250729 -0.00209265 0.99968344 -0.26268167] [ 0. 0. 0. 1. ]] SLAMing on 151.89313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.92313336499998 meters Centerline goodness : 0.159381 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.34, Z:-0.26 [[ 0.99968358 -0.00435559 -0.02477422 -0.80050639] [ 0.00441173 0.99998782 0.00221198 0.33726497] [ 0.02476428 -0.00232058 0.99969062 -0.26211289] [ 0. 0. 0. 1. ]] SLAMing on 151.95313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 151.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.013133365 meters Centerline goodness : 0.115766 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.33, Z:-0.26 [[ 0.99971817 -0.00623356 -0.022907 -0.80725385] [ 0.00626732 0.99997938 0.00140234 0.32846282] [ 0.02289778 -0.00154551 0.99973662 -0.25903172] [ 0. 0. 0. 1. ]] SLAMing on 152.043133365 meters Centerline goodness : 0.156490 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.33, Z:-0.26 [[ 0.99971684 -0.00608973 -0.02300337 -0.80663846] [ 0.00613241 0.9999796 0.00178552 0.32651101] [ 0.02299202 -0.00192608 0.99973379 -0.25957068] [ 0. 0. 0. 1. ]] SLAMing on 152.073133365 meters Centerline goodness : 0.160186 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.32, Z:-0.26 [[ 0.99971304 -0.00591768 -0.02321234 -0.80563962] [ 0.00596917 0.99997987 0.00214933 0.32477571] [ 0.02319915 -0.00228727 0.99972825 -0.26034117] [ 0. 0. 0. 1. ]] SLAMing on 152.103133365 meters Centerline goodness : 0.162497 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.32, Z:-0.26 [[ 0.99970617 -0.005526 -0.02360165 -0.80442167] [ 0.00559371 0.99998042 0.00280402 0.32200098] [ 0.02358569 -0.00293521 0.99971751 -0.26080506] [ 0. 0. 0. 1. ]] SLAMing on 152.133133365 meters Centerline goodness : 0.160680 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.32, Z:-0.26 [[ 0.99970445 -0.00528595 -0.02372908 -0.80409303] [ 0.00536254 0.99998061 0.00316548 0.3206559 ] [ 0.02371188 -0.00329179 0.99971341 -0.26083406] [ 0. 0. 0. 1. ]] SLAMing on 152.163133365 meters Centerline goodness : 0.138755 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.32, Z:-0.26 [[ 0.99970455 -0.00510248 -0.02376511 -0.8039451 ] [ 0.00518668 0.99998048 0.00348287 0.31926968] [ 0.02374688 -0.00360511 0.9997115 -0.26095985] [ 0. 0. 0. 1. ]] SLAMing on 152.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 152.223133365 meters Centerline goodness : 0.152120 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.31, Z:-0.26 [[ 9.99669887e-01 1.01238565e-03 -2.56727850e-02 -7.85055071e-01] [-9.45819739e-04 9.99996160e-01 2.60486915e-03 3.08222052e-01] [ 2.56753235e-02 -2.57972742e-03 9.99667006e-01 -2.58799344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.253133365 meters Centerline goodness : 0.117755 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.31, Z:-0.26 [[ 0.99967579 0.00111851 -0.02543751 -0.78586768] [-0.0010448 0.99999522 0.00291079 0.30651894] [ 0.02544065 -0.00288327 0.99967218 -0.25845392] [ 0. 0. 0. 1. ]] SLAMing on 152.283133365 meters Centerline goodness : 0.167924 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.30, Z:-0.26 [[ 0.99968054 0.00138377 -0.02523681 -0.78656536] [-0.00129762 0.99999328 0.00342965 0.30427111] [ 0.02524138 -0.00339581 0.99967562 -0.2581065 ] [ 0. 0. 0. 1. ]] SLAMing on 152.313133365 meters Centerline goodness : 0.121812 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.30, Z:-0.26 [[ 0.9996862 0.00160887 -0.02499831 -0.78717402] [-0.00151013 0.99999099 0.00396818 0.30171839] [ 0.02500447 -0.00392919 0.99967962 -0.25804135] [ 0. 0. 0. 1. ]] SLAMing on 152.343133365 meters Centerline goodness : 0.170484 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.30, Z:-0.26 [[ 0.99968566 0.00180068 -0.02500662 -0.78671584] [-0.00168688 0.99998813 0.00457092 0.29831824] [ 0.02501455 -0.0045273 0.99967684 -0.25865132] [ 0. 0. 0. 1. ]] SLAMing on 152.373133365 meters Centerline goodness : 0.126804 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.29, Z:-0.26 [[ 9.99686224e-01 -8.50993475e-04 -2.50345740e-02 -7.42011319e-01] [ 9.58292650e-04 9.99990406e-01 4.27435474e-03 2.94323502e-01] [ 2.50306964e-02 -4.29700399e-03 9.99677448e-01 -2.58432246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.403133365 meters Centerline goodness : 0.122362 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.29, Z:-0.26 [[ 0.99965436 -0.00376565 -0.02601872 -0.73894666] [ 0.00382124 0.99999052 0.00208714 0.28798958] [ 0.02601061 -0.00218584 0.99965928 -0.25939914] [ 0. 0. 0. 1. ]] SLAMing on 152.433133365 meters Centerline goodness : 0.122609 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.28, Z:-0.26 [[ 0.99965641 -0.00351509 -0.0259751 -0.7391332 ] [ 0.0035873 0.99998983 0.00273369 0.28466945] [ 0.02596522 -0.00282593 0.99965885 -0.25926069] [ 0. 0. 0. 1. ]] SLAMing on 152.463133365 meters Centerline goodness : 0.123583 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.28, Z:-0.26 [[ 0.99966901 0.00353938 -0.02548212 -0.72172841] [-0.0034916 0.99999206 0.0019194 0.27746887] [ 0.02548871 -0.00182979 0.99967344 -0.25658886] [ 0. 0. 0. 1. ]] SLAMing on 152.49313336499998 meters Centerline goodness : 0.132160 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99967816 0.00372341 -0.02509397 -0.72300471] [-0.00366421 0.9999904 0.00240476 0.27481573] [ 0.02510268 -0.00231204 0.9996822 -0.25605532] [ 0. 0. 0. 1. ]] SLAMing on 152.52313336499998 meters Centerline goodness : 0.202324 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99968042 0.00408911 -0.0249468 -0.72318329] [-0.00400862 0.9999866 0.00327571 0.26966197] [ 0.02495986 -0.00317466 0.99968341 -0.2563333 ] [ 0. 0. 0. 1. ]] SLAMing on 152.55313336499998 meters Centerline goodness : 0.128880 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99967126 0.00434553 -0.02526818 -0.72178567] [-0.00425229 0.99998396 0.00374259 0.26750085] [ 0.02528404 -0.00363391 0.9996737 -0.25733718] [ 0. 0. 0. 1. ]] SLAMing on 152.58313336499998 meters Centerline goodness : 0.140964 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.27, Z:-0.26 [[ 0.99966012 0.00462988 -0.02565557 -0.72044923] [-0.00452361 0.99998095 0.00419844 0.2656633 ] [ 0.02567452 -0.00408096 0.99966203 -0.25801878] [ 0. 0. 0. 1. ]] SLAMing on 152.61313336499998 meters Centerline goodness : 0.110724 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.26, Z:-0.26 [[ 0.99965834 0.00481611 -0.02569064 -0.72020586] [-0.00470225 0.99997886 0.00449048 0.26424114] [ 0.02571173 -0.00436815 0.99965986 -0.258302 ] [ 0. 0. 0. 1. ]] SLAMing on 152.64313336499998 meters Centerline goodness : 0.123934 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.26, Z:-0.26 [[ 0.99966496 0.00479078 -0.02543671 -0.72126629] [-0.00467608 0.99997864 0.00456655 0.26302514] [ 0.02545804 -0.00444608 0.999666 -0.25769647] [ 0. 0. 0. 1. ]] SLAMing on 152.67313336499998 meters Centerline goodness : 0.112936 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.26, Z:-0.26 [[ 0.9996753 0.00475333 -0.02503413 -0.72286098] [-0.0046386 0.99997848 0.00463873 0.2617536 ] [ 0.02505564 -0.0045211 0.99967583 -0.25682246] [ 0. 0. 0. 1. ]] SLAMing on 152.70313336499999 meters Centerline goodness : 0.121856 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.26, Z:-0.26 [[ 0.99969848 0.00505256 -0.02402938 -0.72597235] [-0.00493008 0.99997457 0.00515345 0.25950275] [ 0.02405481 -0.00503343 0.99969797 -0.2557109 ] [ 0. 0. 0. 1. ]] SLAMing on 152.733133365 meters Centerline goodness : 0.131814 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.26, Z:-0.26 [[ 0.99970253 0.00524197 -0.02381971 -0.72646007] [-0.00511215 0.99997176 0.00550792 0.25814475] [ 0.02384791 -0.00538452 0.9997011 -0.25572558] [ 0. 0. 0. 1. ]] SLAMing on 152.763133365 meters Centerline goodness : 0.148077 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.26, Z:-0.26 [[ 0.9997035 0.00536197 -0.02375213 -0.72641691] [-0.00522427 0.99996921 0.00585536 0.2562718 ] [ 0.0237828 -0.00572954 0.99970073 -0.25598751] [ 0. 0. 0. 1. ]] SLAMing on 152.793133365 meters Centerline goodness : 0.127247 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.25, Z:-0.26 [[ 0.99970467 0.00198019 -0.02422099 -0.72523436] [-0.00191709 0.99999471 0.00262847 0.25486871] [ 0.02422607 -0.00258126 0.99970317 -0.25622005] [ 0. 0. 0. 1. ]] SLAMing on 152.823133365 meters Centerline goodness : 0.123001 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.25, Z:-0.26 [[ 0.99969467 0.00207146 -0.02462276 -0.72375493] [-0.0019959 0.99999322 0.00309297 0.25179624] [ 0.024629 -0.00304288 0.99969203 -0.25695006] [ 0. 0. 0. 1. ]] SLAMing on 152.853133365 meters Centerline goodness : 0.126148 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.25, Z:-0.26 [[ 0.99968015 0.0024531 -0.02517104 -0.7219216 ] [-0.0023482 0.99998844 0.0041961 0.24524277] [ 0.02518104 -0.00413565 0.99967435 -0.25756789] [ 0. 0. 0. 1. ]] SLAMing on 152.883133365 meters Centerline goodness : 0.119317 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.24, Z:-0.26 [[ 0.99968037 0.00266747 -0.02514027 -0.72203551] [-0.00254766 0.99998525 0.00479661 0.24210504] [ 0.0251527 -0.00473103 0.99967243 -0.25743831] [ 0. 0. 0. 1. ]] SLAMing on 152.913133365 meters Centerline goodness : 0.133862 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.24, Z:-0.26 [[ 0.99968547 0.00280886 -0.02492148 -0.72263219] [-0.00267786 0.99998243 0.00528852 0.23925859] [ 0.0249359 -0.00522012 0.99967542 -0.25726084] [ 0. 0. 0. 1. ]] SLAMing on 152.943133365 meters Centerline goodness : 0.109451 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.24, Z:-0.26 [[ 0.99968751 0.00299481 -0.02481762 -0.72275524] [-0.002851 0.99997895 0.0058279 0.23634438] [ 0.02483456 -0.00575533 0.99967501 -0.25738587] [ 0. 0. 0. 1. ]] SLAMing on 152.973133365 meters Centerline goodness : 0.094953 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.23, Z:-0.26 [[ 0.9996849 0.00343014 -0.02486631 -0.72196674] [-0.00326227 0.99997164 0.00678811 0.2314833 ] [ 0.02488889 -0.00670485 0.99966774 -0.25827179] [ 0. 0. 0. 1. ]] SLAMing on 153.003133365 meters Centerline goodness : 0.129536 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 0.99962079 0.00398968 -0.02724633 -0.76621518] [-0.00381444 0.99997173 0.00648049 0.22689789] [ 0.02727141 -0.0063741 0.99960774 -0.25861382] [ 0. 0. 0. 1. ]] SLAMing on 153.033133365 meters Centerline goodness : 0.113523 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99962042 0.0040957 -0.02724405 -0.76612101] [-0.00391189 0.99996925 0.00679641 0.22492009] [ 0.02727104 -0.00668726 0.99960571 -0.25875686] [ 0. 0. 0. 1. ]] SLAMing on 153.063133365 meters Centerline goodness : 0.139729 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99962044 0.00415204 -0.02723493 -0.76608153] [-0.00396247 0.99996757 0.00701117 0.22337292] [ 0.02726315 -0.00690059 0.99960447 -0.25882211] [ 0. 0. 0. 1. ]] SLAMing on 153.093133365 meters Centerline goodness : 0.122150 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99955943 0.01172044 -0.02726853 -0.74618861] [-0.01156005 0.99991498 0.00603231 0.2184809 ] [ 0.02733691 -0.00571443 0.99960994 -0.25695922] [ 0. 0. 0. 1. ]] SLAMing on 153.123133365 meters Centerline goodness : 0.192022 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99955156 0.01206772 -0.02740536 -0.74567216] [-0.01189472 0.99990834 0.00646703 0.2168583 ] [ 0.02748089 -0.00613815 0.99960348 -0.25732789] [ 0. 0. 0. 1. ]] SLAMing on 153.153133365 meters Centerline goodness : 0.092088 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99960049 0.00431699 -0.02793263 -0.76575348] [-0.00411001 0.9999637 0.00746331 0.21986908] [ 0.02796383 -0.00734552 0.99958195 -0.25891298] [ 0. 0. 0. 1. ]] SLAMing on 153.183133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.213133365 meters Centerline goodness : 0.092105 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.22, Z:-0.26 [[ 0.99959376 0.00445323 -0.02815101 -0.76467817] [-0.00423991 0.99996188 0.00763263 0.21873218] [ 0.02818392 -0.00751017 0.99957454 -0.25982412] [ 0. 0. 0. 1. ]] SLAMing on 153.24313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.27313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.30313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.36313336499998 meters Centerline goodness : 0.094980 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 0.99963427 0.0047973 -0.02661411 -0.76899514] [-0.00458827 0.99995819 0.00790996 0.21799817] [ 0.02665094 -0.00778496 0.99961449 -0.25881684] [ 0. 0. 0. 1. ]] SLAMing on 153.39313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.42313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.45313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.483133365 meters Centerline goodness : 0.089972 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99967475 -0.00331114 -0.02528694 -0.75182673] [ 0.00355056 0.99994924 0.00942909 0.22311053] [ 0.02525444 -0.0095158 0.99963577 -0.25614669] [ 0. 0. 0. 1. ]] SLAMing on 153.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.573133365 meters Centerline goodness : 0.093389 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99965121 -0.00725102 -0.02539442 -0.75103586] [ 0.00739866 0.99995624 0.00572449 0.2224519 ] [ 0.0253518 -0.00591037 0.99966112 -0.25678008] [ 0. 0. 0. 1. ]] SLAMing on 153.603133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.663133365 meters Centerline goodness : 0.100163 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.22, Z:-0.26 [[ 0.99965652 -0.00698305 -0.02526037 -0.75104813] [ 0.00714781 0.99995373 0.00643805 0.21906419] [ 0.02521425 -0.00661639 0.99966017 -0.25697869] [ 0. 0. 0. 1. ]] SLAMing on 153.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.723133365 meters Centerline goodness : 0.229079 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99643028e-01 5.40603004e-04 -2.67118722e-02 -7.66909512e-01] [-4.18940432e-04 9.99989515e-01 4.56001187e-03 2.09117944e-01] [ 2.67140573e-02 -4.54719339e-03 9.99632774e-01 -2.60370378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.843133365 meters Centerline goodness : 0.225354 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99965389 0.0014461 -0.02626795 -0.76725979] [-0.0012985 0.99998328 0.00563498 0.20436725] [ 0.02627566 -0.00559892 0.99963906 -0.26135899] [ 0. 0. 0. 1. ]] SLAMing on 153.873133365 meters Centerline goodness : 0.093033 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99966261 0.00149539 -0.0259314 -0.76811724] [-0.00134865 0.99998299 0.00567526 0.20416771] [ 0.02593944 -0.00563837 0.99964761 -0.26133157] [ 0. 0. 0. 1. ]] SLAMing on 153.903133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.933133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.963133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 153.99313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.02313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.05313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.08313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.11313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.14313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.17313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.20313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.233133365 meters Centerline goodness : 0.085820 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 0.99967072 0.0012595 -0.02562926 -0.76990154] [-0.0011286 0.99998625 0.00512143 0.20763953] [ 0.02563535 -0.00509082 0.9996584 -0.25993351] [ 0. 0. 0. 1. ]] SLAMing on 154.263133365 meters Centerline goodness : 0.091543 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 0.99967059 0.00125246 -0.02563477 -0.76988528] [-0.00112329 0.9999866 0.00505268 0.2082566 ] [ 0.02564076 -0.00502222 0.99965861 -0.25996835] [ 0. 0. 0. 1. ]] SLAMing on 154.293133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.323133365 meters Centerline goodness : 0.275601 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 0.9996841 0.00122676 -0.02510388 -0.7718474 ] [-0.00110109 0.9999868 0.00501902 0.20851651] [ 0.0251097 -0.0049898 0.99967225 -0.25890449] [ 0. 0. 0. 1. ]] SLAMing on 154.353133365 meters Centerline goodness : 0.095723 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99690396e-01 1.10222500e-03 -2.48575297e-02 -7.72781432e-01] [-9.79632920e-04 9.99987301e-01 4.94342686e-03 2.08131677e-01] [ 2.48626628e-02 -4.91754510e-03 9.99678781e-01 -2.58381093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.383133365 meters Centerline goodness : 0.103943 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99691253e-01 1.02403514e-03 -2.48264153e-02 -7.72768172e-01] [-9.01881816e-04 9.99987436e-01 4.93099418e-03 2.07475991e-01] [ 2.48311528e-02 -4.90708126e-03 9.99679616e-01 -2.58510435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.413133365 meters Centerline goodness : 0.163382 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99674581e-01 1.00760735e-03 -2.54895484e-02 -7.70128675e-01] [-8.80950268e-04 9.99987213e-01 4.97972248e-03 2.06969952e-01] [ 2.54942400e-02 -4.95564696e-03 9.99662686e-01 -2.60148409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.443133365 meters Centerline goodness : 0.122184 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99667798e-01 1.05253732e-03 -2.57524109e-02 -7.69181892e-01] [-9.23332853e-04 9.99986930e-01 5.02855612e-03 2.06977002e-01] [ 2.57573670e-02 -5.00310758e-03 9.99655704e-01 -2.60668839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.473133365 meters Centerline goodness : 0.096874 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99664121e-01 1.09153224e-03 -2.58931054e-02 -7.68776292e-01] [-9.59542025e-04 9.99986487e-01 5.10938157e-03 2.06569069e-01] [ 2.58983326e-02 -5.08281991e-03 9.99651660e-01 -2.60758361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.503133365 meters Centerline goodness : 0.194230 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.21, Z:-0.26 [[ 9.99662239e-01 1.08475620e-03 -2.59659582e-02 -7.68721820e-01] [-9.48916470e-04 9.99985804e-01 5.24320494e-03 2.05103438e-01] [ 2.59712772e-02 -5.21679447e-03 9.99649077e-01 -2.60561789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.533133365 meters Centerline goodness : 0.093186 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 9.99663730e-01 1.12217285e-03 -2.59068935e-02 -7.68787271e-01] [-9.83360836e-04 9.99985097e-01 5.37022954e-03 2.04258135e-01] [ 2.59125338e-02 -5.34294787e-03 9.99649935e-01 -2.60695970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.563133365 meters Centerline goodness : 0.102433 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99966634 0.00120531 -0.02580216 -0.76910242] [-0.00106185 0.99998391 0.00557279 0.20324727] [ 0.02580846 -0.00554354 0.99965154 -0.2606028 ] [ 0. 0. 0. 1. ]] SLAMing on 154.593133365 meters Centerline goodness : 0.189637 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99967098 0.00132821 -0.02561582 -0.76961134] [-0.00117853 0.99998215 0.00585756 0.201875 ] [ 0.02562315 -0.00582544 0.9996547 -0.2604578 ] [ 0. 0. 0. 1. ]] SLAMing on 154.623133365 meters Centerline goodness : 0.100450 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99967237 0.00140121 -0.02555751 -0.76979069] [-0.00124493 0.99998044 0.0061296 0.20023274] [ 0.0255656 -0.00609577 0.99965456 -0.26036125] [ 0. 0. 0. 1. ]] SLAMing on 154.653133365 meters Centerline goodness : 0.098793 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.20, Z:-0.26 [[ 0.99966588 0.00153201 -0.02580277 -0.76870665] [-0.00135825 0.99997629 0.00675023 0.19601774] [ 0.0258125 -0.00671293 0.99964426 -0.26093472] [ 0. 0. 0. 1. ]] SLAMing on 154.683133365 meters Centerline goodness : 0.238629 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99965871 0.00163486 -0.02607287 -0.76759661] [-0.00145227 0.9999743 0.00702044 0.19441514] [ 0.02608368 -0.00698018 0.99963539 -0.2616052 ] [ 0. 0. 0. 1. ]] SLAMing on 154.713133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.74313336499998 meters Centerline goodness : 0.101997 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99964938 0.00187286 -0.02641215 -0.76595905] [-0.00167282 0.99996977 0.00759389 0.19107967] [ 0.02642557 -0.00754704 0.99962229 -0.26278851] [ 0. 0. 0. 1. ]] SLAMing on 154.77313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.80313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.83313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.86313336499998 meters Centerline goodness : 0.099809 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99967329 0.00249205 -0.0254383 -0.768599 ] [-0.00227516 0.99996085 0.00855151 0.18666508] [ 0.02545862 -0.00849084 0.99963982 -0.26228429] [ 0. 0. 0. 1. ]] SLAMing on 154.89313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 154.92313336499998 meters Centerline goodness : 0.188300 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99967886 0.00255596 -0.02521213 -0.76941666] [-0.00234 0.99996035 0.00859148 0.18642617] [ 0.02523309 -0.00852972 0.9996452 -0.26201744] [ 0. 0. 0. 1. ]] SLAMing on 154.95313336499999 meters Centerline goodness : 0.114174 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.9996737 0.00258324 -0.02541311 -0.7684159 ] [-0.00236508 0.99996013 0.00861106 0.18624233] [ 0.02543434 -0.00854815 0.99963995 -0.26283509] [ 0. 0. 0. 1. ]] SLAMing on 154.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.073133365 meters Centerline goodness : 0.318025 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970425 0.00259871 -0.02417981 -0.77237798] [-0.00240273 0.99996406 0.00813089 0.19019771] [ 0.02420007 -0.00807039 0.99967456 -0.26142042] [ 0. 0. 0. 1. ]] SLAMing on 155.103133365 meters Centerline goodness : 0.101328 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970909 0.00247058 -0.02399236 -0.77291553] [-0.00228173 0.99996623 0.00789555 0.19115816] [ 0.02401105 -0.00783851 0.99968096 -0.26130578] [ 0. 0. 0. 1. ]] SLAMing on 155.133133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.163133365 meters Centerline goodness : 0.095152 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99971022 0.00231717 -0.02396049 -0.77303471] [-0.00213278 0.99996794 0.0077185 0.19163593] [ 0.02397761 -0.00766516 0.99968311 -0.26129173] [ 0. 0. 0. 1. ]] SLAMing on 155.193133365 meters Centerline goodness : 0.098637 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970908 0.00230847 -0.02400903 -0.77295843] [-0.00212344 0.99996787 0.00772925 0.19161074] [ 0.0240261 -0.00767602 0.99968186 -0.26121485] [ 0. 0. 0. 1. ]] SLAMing on 155.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.283133365 meters Centerline goodness : 0.164389 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99971263 -0.00159081 -0.02391908 -0.77267287] [ 0.00169076 0.99998992 0.0041593 0.19043782] [ 0.02391223 -0.00419854 0.99970525 -0.26179906] [ 0. 0. 0. 1. ]] SLAMing on 155.313133365 meters Centerline goodness : 0.146243 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970983 -0.00149693 -0.02404179 -0.77202031] [ 0.00160307 0.99998905 0.00439633 0.18932204] [ 0.02403494 -0.00443359 0.99970129 -0.26229956] [ 0. 0. 0. 1. ]] SLAMing on 155.343133365 meters Centerline goodness : 0.103840 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.19, Z:-0.26 [[ 0.99970494 -0.00143999 -0.02424799 -0.77092492] [ 0.00155471 0.99998769 0.00471258 0.18710311] [ 0.0242409 -0.00474889 0.99969487 -0.26312607] [ 0. 0. 0. 1. ]] SLAMing on 155.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.403133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.433133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.463133365 meters Centerline goodness : 0.164822 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.18, Z:-0.26 [[ 0.99972444 0.00435317 -0.02306714 -0.7508072 ] [-0.00431904 0.9999895 0.00152941 0.18436343] [ 0.02307355 -0.00142936 0.99973275 -0.26236906] [ 0. 0. 0. 1. ]] SLAMing on 155.49313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.52313336499998 meters Centerline goodness : 0.315401 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.19, Z:-0.26 [[ 0.99971716 0.00444137 -0.02336394 -0.74945371] [-0.00441297 0.99998946 0.00126688 0.18674279] [ 0.02336932 -0.00116341 0.99972622 -0.26348997] [ 0. 0. 0. 1. ]] SLAMing on 155.55313336499998 meters Centerline goodness : 0.168265 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.19, Z:-0.26 [[ 9.99702534e-01 4.53618944e-03 -2.39638421e-02 -7.47720312e-01] [-4.51775963e-03 9.99989456e-01 8.23151177e-04 1.90142374e-01] [ 2.39673234e-02 -7.14643439e-04 9.99712487e-01 -2.64249979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.61313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.64313336499998 meters Centerline goodness : 0.103102 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.20, Z:-0.26 [[ 0.99972212 0.00671539 -0.02259597 -0.75351338] [-0.00666411 0.99997505 0.00234404 0.19600615] [ 0.02261114 -0.0021928 0.99974193 -0.2613782 ] [ 0. 0. 0. 1. ]] SLAMing on 155.67313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.763133365 meters Centerline goodness : 0.086818 Centerline is valid? [False, False] Translation: X:-0.75, Y:0.21, Z:-0.26 [[ 0.99967579 0.00818239 -0.02411144 -0.74796665] [-0.00812675 0.99996409 0.00240454 0.20891554] [ 0.02413025 -0.00220782 0.99970639 -0.26399251] [ 0. 0. 0. 1. ]] SLAMing on 155.793133365 meters Centerline goodness : 0.319719 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99755143e-01 4.42877702e-04 -2.21236875e-02 -7.68385975e-01] [-3.95349154e-04 9.99997605e-01 2.15263801e-03 2.18033636e-01] [ 2.21245879e-02 -2.14336434e-03 9.99752924e-01 -2.66142365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.823133365 meters Centerline goodness : 0.320991 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99755433e-01 2.72777972e-04 -2.21133298e-02 -7.68620094e-01] [-2.34979582e-04 9.99998507e-01 1.71188378e-03 2.20357002e-01] [ 2.21137637e-02 -1.70626893e-03 9.99754005e-01 -2.65958906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.853133365 meters Centerline goodness : 0.194588 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99756005e-01 1.58057701e-04 -2.20885608e-02 -7.68923260e-01] [-1.26838329e-04 9.99998991e-01 1.41476673e-03 2.22151474e-01] [ 2.20887621e-02 -1.41161985e-03 9.99755017e-01 -2.65662381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.883133365 meters Centerline goodness : 0.176141 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.27 [[ 9.99757480e-01 5.52766134e-05 -2.20222216e-02 -7.69304058e-01] [-2.87160678e-05 9.99999272e-01 1.20639370e-03 2.23293936e-01] [ 2.20222723e-02 -1.20546874e-03 9.99756754e-01 -2.65337415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 155.943133365 meters Centerline goodness : 0.099429 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99764596e-01 -5.44921331e-04 -2.16899702e-02 -7.70529849e-01] [ 5.60708358e-04 9.99999582e-01 7.21774246e-04 2.23616611e-01] [ 2.16895678e-02 -7.33766085e-04 9.99764484e-01 -2.64643553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.003133365 meters Centerline goodness : 0.104754 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99759880e-01 -5.08974372e-04 -2.19071715e-02 -7.70116607e-01] [ 5.27121590e-04 9.99999523e-01 8.22602248e-04 2.23414675e-01] [ 2.19067424e-02 -8.33952467e-04 9.99759671e-01 -2.64446205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.063133365 meters Centerline goodness : 0.234373 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99756501e-01 -4.73391472e-04 -2.20615964e-02 -7.69613507e-01] [ 4.91407741e-04 9.99999550e-01 8.11220735e-04 2.23672951e-01] [ 2.20612024e-02 -8.21864443e-04 9.99756284e-01 -2.64701190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.093133365 meters Centerline goodness : 0.040567 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.22, Z:-0.26 [[ 9.99758392e-01 -4.96025476e-04 -2.19752546e-02 -7.69875693e-01] [ 5.11513652e-04 9.99999625e-01 6.99185363e-04 2.24277881e-01] [ 2.19748996e-02 -7.10257077e-04 9.99758270e-01 -2.64728812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.153133365 meters Centerline goodness : 0.121776 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 9.99770457e-01 -9.30590596e-05 -2.14248517e-02 -7.71215378e-01] [ 1.08761834e-04 9.99999726e-01 7.31759291e-04 2.26332979e-01] [ 2.14247777e-02 -7.33921527e-04 9.99770194e-01 -2.64803204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.183133365 meters Centerline goodness : 0.104548 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.27 [[ 9.99769791e-01 -1.01937962e-04 -2.14558676e-02 -7.71071414e-01] [ 1.14818342e-04 9.99999814e-01 5.99088666e-04 2.27226671e-01] [ 2.14558025e-02 -6.01414277e-04 9.99769617e-01 -2.65035111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.213133365 meters Centerline goodness : 0.191277 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.27 [[ 9.99769120e-01 -6.42982085e-05 -2.14872577e-02 -7.70801759e-01] [ 7.63144653e-05 9.99999841e-01 5.58407578e-04 2.27843398e-01] [ 2.14872184e-02 -5.59918442e-04 9.99768966e-01 -2.65397805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.27313336499998 meters Centerline goodness : 0.095179 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 9.99770683e-01 -1.09823774e-04 -2.14142411e-02 -7.71278511e-01] [ 1.19668985e-04 9.99999888e-01 4.58469739e-04 2.28397279e-01] [ 2.14141884e-02 -4.60927225e-04 9.99770584e-01 -2.64987527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30313336499998 meters Centerline goodness : 0.267464 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.23, Z:-0.26 [[ 9.99771695e-01 -1.53885081e-04 -2.13666558e-02 -7.71411373e-01] [ 1.63841648e-04 9.99999879e-01 4.64236419e-04 2.27850459e-01] [ 2.13665818e-02 -4.67631180e-04 9.99771599e-01 -2.64940116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33313336499998 meters Centerline goodness : 0.190617 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.22, Z:-0.26 [[ 0.99974109 0.00598762 -0.02195209 -0.79349368] [-0.00604807 0.9999781 -0.00268826 0.22342178] [ 0.02193551 0.00282034 0.99975541 -0.26482535] [ 0. 0. 0. 1. ]] SLAMing on 156.36313336499998 meters Centerline goodness : 0.222215 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.23, Z:-0.26 [[ 9.99748532e-01 -1.54645118e-03 -2.23714551e-02 -7.75608524e-01] [ 1.52429465e-03 9.99998331e-01 -1.00741153e-03 2.29170497e-01] [ 2.23729757e-02 9.73057505e-04 9.99749220e-01 -2.62778751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39313336499998 meters Centerline goodness : 0.043988 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.23, Z:-0.26 [[ 0.99974968 -0.0015036 -0.02232296 -0.77569112] [ 0.00148023 0.99999834 -0.00106308 0.23009844] [ 0.02232452 0.00102977 0.99975025 -0.26287619] [ 0. 0. 0. 1. ]] SLAMing on 156.42313336499998 meters Centerline goodness : 0.305624 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.23, Z:-0.26 [[ 0.9997549 -0.00151583 -0.0220871 -0.77641171] [ 0.00148916 0.99999814 -0.00122402 0.23123428] [ 0.02208891 0.00119083 0.9997553 -0.26268516] [ 0. 0. 0. 1. ]] SLAMing on 156.45313336499999 meters Centerline goodness : 0.203602 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978483 0.00623817 -0.0197835 -0.7579256 ] [-0.00629696 0.99997594 -0.0029106 0.23248919] [ 0.01976486 0.00303455 0.99980005 -0.26075703] [ 0. 0. 0. 1. ]] SLAMing on 156.483133365 meters Centerline goodness : 0.098792 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978653 0.00617767 -0.01971629 -0.75820608] [-0.00624087 0.99997558 -0.00314567 0.23394594] [ 0.01969637 0.00326805 0.99980067 -0.26070029] [ 0. 0. 0. 1. ]] SLAMing on 156.513133365 meters Centerline goodness : 0.041170 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978535 0.0061997 -0.019769 -0.75785519] [-0.00626465 0.99997517 -0.00322562 0.23481236] [ 0.01974851 0.00334878 0.99979937 -0.26112089] [ 0. 0. 0. 1. ]] SLAMing on 156.543133365 meters Centerline goodness : 0.041208 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.24, Z:-0.26 [[ 0.99978301 0.00616317 -0.01989837 -0.75707558] [-0.00622988 0.99997517 -0.00329258 0.23515412] [ 0.01987758 0.00341583 0.99979659 -0.26182296] [ 0. 0. 0. 1. ]] SLAMing on 156.573133365 meters Centerline goodness : 0.228935 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99977991 0.00611043 -0.02006995 -0.75626274] [-0.00617802 0.99997545 -0.00330743 0.23498233] [ 0.02004925 0.0034307 0.99979311 -0.26241656] [ 0. 0. 0. 1. ]] SLAMing on 156.603133365 meters Centerline goodness : 0.159175 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99977704 0.00584316 -0.02029108 -0.75572415] [-0.0059132 0.99997676 -0.00339315 0.23411402] [ 0.02027078 0.00351238 0.99978836 -0.26238964] [ 0. 0. 0. 1. ]] SLAMing on 156.633133365 meters Centerline goodness : 0.195935 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.23, Z:-0.26 [[ 0.99978222 0.00575951 -0.02005864 -0.75658189] [-0.00582773 0.99997743 -0.00334416 0.23327559] [ 0.02003893 0.00346033 0.99979321 -0.26187005] [ 0. 0. 0. 1. ]] SLAMing on 156.663133365 meters Centerline goodness : 0.118345 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.24, Z:-0.26 [[ 0.99981957 -0.00258215 -0.01881905 -0.73820227] [ 0.00254452 0.99999472 -0.00202304 0.23734146] [ 0.01882417 0.00197479 0.99982086 -0.26007669] [ 0. 0. 0. 1. ]] SLAMing on 156.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.723133365 meters Centerline goodness : 0.123265 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99984046 -0.00306457 -0.01759736 -0.74142409] [ 0.00303423 0.99999386 -0.00175096 0.23315692] [ 0.01760261 0.00169729 0.99984362 -0.25925562] [ 0. 0. 0. 1. ]] SLAMing on 156.753133365 meters Centerline goodness : 0.171951 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99983753 -0.00304176 -0.01776671 -0.7406675 ] [ 0.00301508 0.99999429 -0.00152836 0.23154914] [ 0.01777126 0.00147454 0.99984099 -0.25973496] [ 0. 0. 0. 1. ]] SLAMing on 156.783133365 meters Centerline goodness : 0.114282 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99983201 -0.00300996 -0.01808001 -0.73957275] [ 0.00298641 0.99999466 -0.00132926 0.23013313] [ 0.01808391 0.00127504 0.99983566 -0.26022648] [ 0. 0. 0. 1. ]] SLAMing on 156.813133365 meters Centerline goodness : 0.115209 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 0.99982743 -0.00289615 -0.01835021 -0.7384556 ] [ 0.00287688 0.99999528 -0.00107646 0.22872692] [ 0.01835325 0.00102348 0.99983104 -0.26094637] [ 0. 0. 0. 1. ]] SLAMing on 156.843133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.873133365 meters Centerline goodness : 0.118178 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 9.99825478e-01 -2.80621704e-03 -1.84699616e-02 -7.37601777e-01] [ 2.78892122e-03 9.99995648e-01 -9.62121407e-04 2.28129954e-01] [ 1.84725811e-02 9.10442227e-04 9.99828953e-01 -2.61877024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.903133365 meters Centerline goodness : 0.233772 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 9.99824647e-01 -2.77273056e-03 -1.85199087e-02 -7.37046328e-01] [ 2.75651040e-03 9.99995795e-01 -9.01292686e-04 2.27818757e-01] [ 1.85223299e-02 8.50084321e-04 9.99828086e-01 -2.62572065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.933133365 meters Centerline goodness : 0.191060 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.23, Z:-0.26 [[ 9.99822647e-01 -2.64634752e-03 -1.86459742e-02 -7.36437470e-01] [ 2.63404932e-03 9.99996297e-01 -6.84091784e-04 2.26936697e-01] [ 1.86477155e-02 6.34856042e-04 9.99825915e-01 -2.63052437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.963133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 156.99313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 157.02313336499998 meters Centerline goodness : 0.116538 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.22, Z:-0.26 [[ 0.99981403 -0.00607758 -0.01830234 -0.73759957] [ 0.00602773 0.99997798 -0.00277757 0.2175522 ] [ 0.01831882 0.00266673 0.99982864 -0.26226776] [ 0. 0. 0. 1. ]] SLAMing on 157.05313336499998 meters Centerline goodness : 0.169494 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.21, Z:-0.26 [[ 0.99975593 -0.00723705 -0.02087349 -0.78131401] [ 0.00715725 0.9999668 -0.00389526 0.21029246] [ 0.02090098 0.00374492 0.99977454 -0.26268198] [ 0. 0. 0. 1. ]] SLAMing on 157.08313336499998 meters Centerline goodness : 0.266058 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.20, Z:-0.26 [[ 9.99748885e-01 -8.57029844e-04 -2.23926949e-02 -7.61228457e-01] [ 7.48456695e-04 9.99987927e-01 -4.85652802e-03 2.02968438e-01] [ 2.23965867e-02 4.83854851e-03 9.99737456e-01 -2.60931361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11313336499998 meters Centerline goodness : 0.199468 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.19, Z:-0.26 [[ 0.99975473 -0.00271586 -0.02197972 -0.76217645] [ 0.00259723 0.99998192 -0.00542388 0.19355636] [ 0.02199406 0.00536546 0.9997437 -0.26073417] [ 0. 0. 0. 1. ]] SLAMing on 157.14313336499998 meters Centerline goodness : 0.098004 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.19, Z:-0.26 [[ 0.99976427 -0.00276451 -0.02153533 -0.76321617] [ 0.00266248 0.9999851 -0.00476504 0.1887209 ] [ 0.02154818 0.00470658 0.99975673 -0.26056459] [ 0. 0. 0. 1. ]] SLAMing on 157.17313336499998 meters Centerline goodness : 0.092590 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.18, Z:-0.26 [[ 0.99977407 -0.00291108 -0.02105565 -0.76451641] [ 0.00282353 0.99998725 -0.00418662 0.18363494] [ 0.02106757 0.00412622 0.99976954 -0.26016576] [ 0. 0. 0. 1. ]] SLAMing on 157.20313336499999 meters Centerline goodness : 0.306663 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.17, Z:-0.26 [[ 0.9997641 -0.00559804 -0.02098588 -0.76597167] [ 0.00548384 0.99996986 -0.00549545 0.17293087] [ 0.02101601 0.00537907 0.99976467 -0.25855322] [ 0. 0. 0. 1. ]] SLAMing on 157.233133365 meters Centerline goodness : 0.226794 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.17, Z:-0.26 [[ 0.99976835 -0.0054107 -0.02083191 -0.76628017] [ 0.00531624 0.99997535 -0.0045871 0.16747025] [ 0.02085622 0.00447529 0.99977247 -0.25851744] [ 0. 0. 0. 1. ]] SLAMing on 157.263133365 meters Centerline goodness : 0.134152 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.16, Z:-0.26 [[ 0.99976823 -0.00521816 -0.02088688 -0.76587278] [ 0.00514119 0.9999798 -0.0037368 0.16211446] [ 0.02090596 0.00362855 0.99977486 -0.25881856] [ 0. 0. 0. 1. ]] SLAMing on 157.293133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 157.323133365 meters Centerline goodness : 0.245254 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.15, Z:-0.26 [[ 0.99975411 -0.00889456 -0.02031295 -0.76721449] [ 0.00877723 0.99994432 -0.00585797 0.14808644] [ 0.02036392 0.00567824 0.99977651 -0.25855142] [ 0. 0. 0. 1. ]] SLAMing on 157.353133365 meters Centerline goodness : 0.245254 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.15, Z:-0.26 [[ 0.99975411 -0.00889456 -0.02031295 -0.76721449] [ 0.00877723 0.99994432 -0.00585797 0.14808644] [ 0.02036392 0.00567824 0.99977651 -0.25855142] [ 0. 0. 0. 1. ]] SLAMing on 157.383133365 meters Centerline goodness : 0.093266 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.14, Z:-0.26 [[ 0.99975919 -0.0087371 -0.02013005 -0.76771182] [ 0.00863244 0.9999488 -0.00528037 0.14453724] [ 0.02017516 0.00510532 0.99978343 -0.25841809] [ 0. 0. 0. 1. ]] SLAMing on 157.413133365 meters Centerline goodness : 0.195860 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.14, Z:-0.26 [[ 0.99985644 -0.00283493 -0.01670538 -0.78332019] [ 0.00274979 0.99998313 -0.00511701 0.13571702] [ 0.01671961 0.00507034 0.99984736 -0.26117259] [ 0. 0. 0. 1. ]] SLAMing on 157.443133365 meters Centerline goodness : 0.099415 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.13, Z:-0.26 [[ 0.99984877 0.00528125 -0.01656918 -0.80253933] [-0.00537979 0.99996807 -0.00590842 0.12776474] [ 0.01653745 0.00599667 0.99984526 -0.26315931] [ 0. 0. 0. 1. ]] SLAMing on 157.473133365 meters Centerline goodness : 0.229486 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.12, Z:-0.26 [[ 0.99984352 0.00540568 -0.01684404 -0.80139748] [-0.00549793 0.99997011 -0.0054355 0.12483093] [ 0.01681416 0.00552726 0.99984335 -0.26391315] [ 0. 0. 0. 1. ]] SLAMing on 157.503133365 meters Centerline goodness : 0.096011 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.12, Z:-0.26 [[ 0.99983725 0.00545645 -0.01719616 -0.80003913] [-0.00554454 0.99997173 -0.00507959 0.12229122] [ 0.01716796 0.0051741 0.99983923 -0.26474283] [ 0. 0. 0. 1. ]] SLAMing on 157.533133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 157.563133365 meters Centerline goodness : 0.177607 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.12, Z:-0.27 [[ 0.99982867 0.00328373 -0.01821694 -0.79564862] [-0.00340268 0.99997307 -0.00650289 0.11653655] [ 0.0181951 0.00656377 0.99981291 -0.26718409] [ 0. 0. 0. 1. ]] SLAMing on 157.593133365 meters Centerline goodness : 0.041464 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.11, Z:-0.27 [[ 0.99982784 0.0033131 -0.01825662 -0.79558563] [-0.00342672 0.99997494 -0.00619564 0.11447259] [ 0.01823564 0.00625713 0.99981414 -0.26714248] [ 0. 0. 0. 1. ]] SLAMing on 157.623133365 meters Centerline goodness : 0.101920 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.11, Z:-0.27 [[ 0.99982847 0.00325707 -0.01823248 -0.79578004] [-0.00336538 0.99997686 -0.00591299 0.11200042] [ 0.0182128 0.00597333 0.99981629 -0.26695341] [ 0. 0. 0. 1. ]] SLAMing on 157.653133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 157.683133365 meters Centerline goodness : 0.091548 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.11, Z:-0.27 [[ 9.99833857e-01 -4.08074728e-04 -1.82234073e-02 -7.95425319e-01] [ 2.51709537e-04 9.99963143e-01 -8.58192802e-03 1.05645588e-01] [ 1.82262377e-02 8.57591518e-03 9.99797108e-01 -2.67455466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.713133365 meters Centerline goodness : 0.102168 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.10, Z:-0.27 [[ 9.99833311e-01 -3.64652427e-04 -1.82542395e-02 -7.94997318e-01] [ 2.14894053e-04 9.99966313e-01 -8.20532184e-03 1.03085051e-01] [ 1.82566167e-02 8.20003137e-03 9.99799708e-01 -2.68012248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74313336499998 meters Centerline goodness : 0.242204 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.10, Z:-0.27 [[ 9.99835173e-01 -3.13759214e-04 -1.81529178e-02 -7.94918736e-01] [ 1.74429541e-04 9.99970521e-01 -7.67640645e-03 9.97349235e-02] [ 1.81547912e-02 7.67197476e-03 9.99805753e-01 -2.68476842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77313336499998 meters Centerline goodness : 0.092387 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.10, Z:-0.27 [[ 9.99838289e-01 -2.54827334e-04 -1.79813862e-02 -7.95341425e-01] [ 1.21549421e-04 9.99972518e-01 -7.41269691e-03 9.81010067e-02] [ 1.79827810e-02 7.40931257e-03 9.99810843e-01 -2.68481941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80313336499998 meters Centerline goodness : 0.092762 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.10, Z:-0.27 [[ 9.99839178e-01 -1.84081104e-04 -1.79327812e-02 -7.95621413e-01] [ 5.62852421e-05 9.99974604e-01 -7.12662681e-03 9.63777836e-02] [ 1.79336376e-02 7.12447133e-03 9.99813796e-01 -2.68261095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83313336499998 meters Centerline goodness : 0.048552 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.09, Z:-0.27 [[ 0.99983018 0.00611409 -0.0173848 -0.81775342] [-0.00628293 0.99993347 -0.0096742 0.09151166] [ 0.01732449 0.00978178 0.99980207 -0.26913753] [ 0. 0. 0. 1. ]] SLAMing on 157.86313336499998 meters Centerline goodness : 0.075472 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.09, Z:-0.27 [[ 0.99985214 -0.00208404 -0.01706891 -0.79759916] [ 0.00193535 0.99996008 -0.00872299 0.09356246] [ 0.01708641 0.00868867 0.99981626 -0.26829377] [ 0. 0. 0. 1. ]] SLAMing on 157.89313336499998 meters Centerline goodness : 0.313765 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.09, Z:-0.27 [[ 0.99985027 -0.00199044 -0.01718954 -0.79718519] [ 0.00184609 0.99996294 -0.00840944 0.09172977] [ 0.01720564 0.00837645 0.99981688 -0.26856507] [ 0. 0. 0. 1. ]] SLAMing on 157.92313336499998 meters Centerline goodness : 0.095514 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.09, Z:-0.27 [[ 0.99984971 -0.00184911 -0.01723741 -0.79684774] [ 0.00171321 0.99996736 -0.00789541 0.08872674] [ 0.01725145 0.00786469 0.99982025 -0.26894839] [ 0. 0. 0. 1. ]] SLAMing on 157.95313336499999 meters Centerline goodness : 0.149388 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.09, Z:-0.27 [[ 0.9998155 -0.01023936 -0.01625208 -0.7767778 ] [ 0.01012763 0.99992461 -0.00694233 0.09022771] [ 0.01632194 0.00677645 0.99984382 -0.26805513] [ 0. 0. 0. 1. ]] SLAMing on 157.983133365 meters Centerline goodness : 0.096943 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.09, Z:-0.27 [[ 0.99981957 -0.01019055 -0.01603084 -0.77744615] [ 0.01008496 0.99992701 -0.00665332 0.08831862] [ 0.01609747 0.00649045 0.99984936 -0.2678391 ] [ 0. 0. 0. 1. ]] SLAMing on 158.013133365 meters Centerline goodness : 0.092302 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.08, Z:-0.27 [[ 0.99987808 -0.00331383 -0.01525937 -0.76003295] [ 0.00319249 0.99996315 -0.00796944 0.07967183] [ 0.01528522 0.00791975 0.99985181 -0.26558327] [ 0. 0. 0. 1. ]] SLAMing on 158.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 158.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 158.103133365 meters Centerline goodness : 0.168289 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 0.9998808 -0.00330068 -0.01508273 -0.76025142] [ 0.0031931 0.99996933 -0.00715126 0.07441586] [ 0.01510587 0.00710225 0.99986068 -0.26591689] [ 0. 0. 0. 1. ]] SLAMing on 158.133133365 meters Centerline goodness : 0.118047 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 0.99988971 -0.0033159 -0.0144769 -0.76215575] [ 0.00321781 0.99997175 -0.00679338 0.07146838] [ 0.01449902 0.00674605 0.99987213 -0.26514141] [ 0. 0. 0. 1. ]] SLAMing on 158.163133365 meters Centerline goodness : 0.114172 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 0.9998915 -0.00327047 -0.01436279 -0.76249045] [ 0.00317523 0.99997285 -0.00664901 0.07049887] [ 0.01438414 0.00660268 0.99987474 -0.26508358] [ 0. 0. 0. 1. ]] SLAMing on 158.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 158.223133365 meters Centerline goodness : 0.091823 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99983021 -0.00890442 -0.01613275 -0.73744864] [ 0.00884469 0.99995378 -0.00376964 0.0721884 ] [ 0.01616557 0.00362631 0.99986275 -0.2662188 ] [ 0. 0. 0. 1. ]] SLAMing on 158.253133365 meters Centerline goodness : 0.097873 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.07, Z:-0.27 [[ 9.99857420e-01 -4.82742433e-04 -1.68791583e-02 -7.56804747e-01] [ 4.00636169e-04 9.99988074e-01 -4.86740088e-03 6.92143786e-02] [ 1.68813067e-02 4.85994449e-03 9.99845689e-01 -2.68619803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.283133365 meters Centerline goodness : 0.046528 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981743 -0.00829811 -0.01721175 -0.73646381] [ 0.00822864 0.99995773 -0.0041028 0.0741742 ] [ 0.01724507 0.00396042 0.99984345 -0.26769774] [ 0. 0. 0. 1. ]] SLAMing on 158.313133365 meters Centerline goodness : 0.090832 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981701 -0.00829804 -0.01723617 -0.73648766] [ 0.00822869 0.99995778 -0.00409012 0.07401221] [ 0.01726939 0.00394754 0.99984308 -0.26760989] [ 0. 0. 0. 1. ]] SLAMing on 158.343133365 meters Centerline goodness : 0.096918 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981708 -0.00831095 -0.0172257 -0.73644029] [ 0.00824178 0.9999577 -0.004083 0.0738824 ] [ 0.01725891 0.00394028 0.99984329 -0.2677425 ] [ 0. 0. 0. 1. ]] SLAMing on 158.373133365 meters Centerline goodness : 0.146207 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.07, Z:-0.27 [[ 0.99981542 -0.00834496 -0.01730571 -0.73602187] [ 0.00827627 0.9999576 -0.00403732 0.07337968] [ 0.01733867 0.00389334 0.99984209 -0.26815426] [ 0. 0. 0. 1. ]] SLAMing on 158.403133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 158.433133365 meters Centerline goodness : 0.131457 Centerline is valid? [False, False] Translation: X:-0.73, Y:0.07, Z:-0.27 [[ 0.99979606 -0.00908668 -0.01803511 -0.73327082] [ 0.0090137 0.99995087 -0.00412327 0.07001482] [ 0.01807169 0.00395987 0.99982885 -0.26977196] [ 0. 0. 0. 1. ]] SLAMing on 158.463133365 meters Centerline goodness : 0.148850 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.06, Z:-0.27 [[ 0.99982691 -0.00173232 -0.01852413 -0.7136862 ] [ 0.0016424 0.9999868 -0.00486823 0.06326815] [ 0.01853232 0.00483696 0.99981656 -0.268571 ] [ 0. 0. 0. 1. ]] SLAMing on 158.49313336499998 meters Centerline goodness : 0.136109 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.06, Z:-0.27 [[ 0.99983029 -0.00213687 -0.01829831 -0.71418839] [ 0.00205187 0.99998702 -0.00466292 0.060124 ] [ 0.01830804 0.00462458 0.9998217 -0.26866939] [ 0. 0. 0. 1. ]] SLAMing on 158.52313336499998 meters Centerline goodness : 0.125390 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.06, Z:-0.27 [[ 0.99983342 -0.00209205 -0.01813158 -0.71461114] [ 0.00201231 0.99998823 -0.00441529 0.05861812] [ 0.01814061 0.00437806 0.99982586 -0.26866856] [ 0. 0. 0. 1. ]] SLAMing on 158.55313336499998 meters Centerline goodness : 0.108303 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983551 -0.00200686 -0.0180256 -0.71512878] [ 0.00193051 0.9999891 -0.00425185 0.05817286] [ 0.01803393 0.00421635 0.99982849 -0.26830134] [ 0. 0. 0. 1. ]] SLAMing on 158.58313336499998 meters Centerline goodness : 0.145903 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983711 -0.00196796 -0.01794089 -0.71559687] [ 0.00189229 0.99998925 -0.00423347 0.05853089] [ 0.01794903 0.00419883 0.99983009 -0.26791366] [ 0. 0. 0. 1. ]] SLAMing on 158.61313336499998 meters Centerline goodness : 0.132597 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983989 -0.00198098 -0.01778386 -0.71604173] [ 0.001904 0.99998875 -0.00434429 0.0595305 ] [ 0.01779227 0.00430974 0.99983242 -0.26780753] [ 0. 0. 0. 1. ]] SLAMing on 158.64313336499998 meters Centerline goodness : 0.112598 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984295 -0.00201208 -0.01760762 -0.71637171] [ 0.00193444 0.99998834 -0.00442567 0.05994951] [ 0.01761632 0.00439092 0.99983518 -0.2679855 ] [ 0. 0. 0. 1. ]] SLAMing on 158.67313336499998 meters Centerline goodness : 0.131642 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984299 -0.00202613 -0.01760387 -0.71629649] [ 0.00194749 0.99998805 -0.00448336 0.06049073] [ 0.01761275 0.00444838 0.99983499 -0.2681483 ] [ 0. 0. 0. 1. ]] SLAMing on 158.70313336499999 meters Centerline goodness : 0.131149 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984074 -0.00205811 -0.01772736 -0.71572158] [ 0.00197706 0.99998752 -0.00458847 0.06120425] [ 0.01773659 0.00455269 0.99983233 -0.26858239] [ 0. 0. 0. 1. ]] SLAMing on 158.733133365 meters Centerline goodness : 0.133283 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983844 -0.00208316 -0.01785344 -0.7152254 ] [ 0.00199994 0.99998706 -0.00467797 0.06191245] [ 0.01786296 0.00464151 0.99982967 -0.2689113 ] [ 0. 0. 0. 1. ]] SLAMing on 158.763133365 meters Centerline goodness : 0.102077 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99983895 -0.00216912 -0.01781459 -0.71518403] [ 0.00208272 0.99998599 -0.0048673 0.06294394] [ 0.0178249 0.00482941 0.99982946 -0.26912229] [ 0. 0. 0. 1. ]] SLAMing on 158.793133365 meters Centerline goodness : 0.089781 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984669 -0.00239901 -0.01734479 -0.71686661] [ 0.00231043 0.9999842 -0.00512557 0.06341345] [ 0.01735681 0.00508471 0.99983643 -0.26833896] [ 0. 0. 0. 1. ]] SLAMing on 158.823133365 meters Centerline goodness : 0.126856 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985008 -0.00243272 -0.01714347 -0.71747902] [ 0.00234591 0.99998433 -0.0050822 0.06303998] [ 0.01715557 0.00504122 0.99984012 -0.26817766] [ 0. 0. 0. 1. ]] SLAMing on 158.853133365 meters Centerline goodness : 0.129539 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985036 -0.00243324 -0.01712686 -0.71732814] [ 0.00234849 0.99998491 -0.00496642 0.06228144] [ 0.01713868 0.00492546 0.99984099 -0.26851452] [ 0. 0. 0. 1. ]] SLAMing on 158.883133365 meters Centerline goodness : 0.125479 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985 -0.00251235 -0.01713657 -0.71692043] [ 0.00242872 0.99998505 -0.00489937 0.06138114] [ 0.01714862 0.00485701 0.99984115 -0.26914415] [ 0. 0. 0. 1. ]] SLAMing on 158.913133365 meters Centerline goodness : 0.127111 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985086 -0.00309823 -0.01698967 -0.71702596] [ 0.00301069 0.99998207 -0.00517583 0.06027268] [ 0.0170054 0.00512391 0.99984227 -0.26961032] [ 0. 0. 0. 1. ]] SLAMing on 158.943133365 meters Centerline goodness : 0.138938 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99985014 -0.00307799 -0.01703603 -0.71676497] [ 0.00299373 0.99998317 -0.00496933 0.05918184] [ 0.01705104 0.00491758 0.99984253 -0.26991376] [ 0. 0. 0. 1. ]] SLAMing on 158.973133365 meters Centerline goodness : 0.148054 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984877 -0.00300285 -0.01712951 -0.71629997] [ 0.00292136 0.99998431 -0.00478034 0.05852767] [ 0.01714359 0.00472958 0.99984185 -0.27034483] [ 0. 0. 0. 1. ]] SLAMing on 159.003133365 meters Centerline goodness : 0.138288 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984535 -0.0029282 -0.01734073 -0.71548413] [ 0.00284928 0.99998548 -0.00457398 0.05764831] [ 0.01735387 0.00452386 0.99983918 -0.2708159 ] [ 0. 0. 0. 1. ]] SLAMing on 159.033133365 meters Centerline goodness : 0.136276 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984349 -0.00292216 -0.01744854 -0.7150226 ] [ 0.00284402 0.99998582 -0.00450127 0.05713387] [ 0.01746145 0.00445094 0.99983763 -0.27114266] [ 0. 0. 0. 1. ]] SLAMing on 159.063133365 meters Centerline goodness : 0.133698 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984741 -0.00290441 -0.0172255 -0.71576969] [ 0.00282784 0.99998602 -0.00446775 0.05693312] [ 0.01723823 0.00441836 0.99984165 -0.27084719] [ 0. 0. 0. 1. ]] SLAMing on 159.093133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 159.123133365 meters Centerline goodness : 0.131135 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.9998502 -0.00281042 -0.01707858 -0.71612828] [ 0.0027368 0.99998687 -0.00433282 0.05668025] [ 0.01709054 0.00428543 0.99984476 -0.27086428] [ 0. 0. 0. 1. ]] SLAMing on 159.153133365 meters Centerline goodness : 0.132438 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.06, Z:-0.27 [[ 0.99984838 -0.00275532 -0.01719386 -0.71555962] [ 0.00268339 0.99998756 -0.00420551 0.05602582] [ 0.01720523 0.00415873 0.99984333 -0.27135598] [ 0. 0. 0. 1. ]] SLAMing on 159.183133365 meters Centerline goodness : 0.109751 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99984143 -0.00265455 -0.01760885 -0.7142522 ] [ 0.00258642 0.99998909 -0.00389033 0.05431713] [ 0.01761898 0.00384417 0.99983738 -0.27194771] [ 0. 0. 0. 1. ]] SLAMing on 159.213133365 meters Centerline goodness : 0.131245 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983893 -0.00253628 -0.01776723 -0.71372497] [ 0.00247138 0.9999902 -0.00367391 0.0535274 ] [ 0.01777638 0.00362941 0.9998354 -0.27218657] [ 0. 0. 0. 1. ]] SLAMing on 159.24313336499998 meters Centerline goodness : 0.131245 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983893 -0.00253628 -0.01776723 -0.71372497] [ 0.00247138 0.9999902 -0.00367391 0.0535274 ] [ 0.01777638 0.00362941 0.9998354 -0.27218657] [ 0. 0. 0. 1. ]] SLAMing on 159.27313336499998 meters Centerline goodness : 0.139493 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983764 -0.00244613 -0.01785266 -0.7134951 ] [ 0.00238387 0.99999101 -0.00350802 0.05293604] [ 0.01786108 0.0034649 0.99983447 -0.27224501] [ 0. 0. 0. 1. ]] SLAMing on 159.30313336499998 meters Centerline goodness : 0.099580 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983763 -0.00242406 -0.01785585 -0.71353635] [ 0.00236272 0.99999124 -0.003456 0.05263915] [ 0.01786407 0.00341326 0.9998346 -0.27220783] [ 0. 0. 0. 1. ]] SLAMing on 159.33313336499998 meters Centerline goodness : 0.142144 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983831 -0.00236478 -0.01782595 -0.71380174] [ 0.00230536 0.99999172 -0.00335304 0.05225331] [ 0.01783373 0.0033114 0.99983548 -0.27197052] [ 0. 0. 0. 1. ]] SLAMing on 159.36313336499998 meters Centerline goodness : 0.102614 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99983821 -0.00231895 -0.01783763 -0.71380539] [ 0.0022609 0.99999209 -0.00327371 0.05210765] [ 0.01784508 0.00323286 0.99983554 -0.27196852] [ 0. 0. 0. 1. ]] SLAMing on 159.39313336499998 meters Centerline goodness : 0.129013 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.05, Z:-0.27 [[ 0.99984046 -0.0022494 -0.01771972 -0.71411893] [ 0.00219368 0.99999259 -0.00316314 0.05187026] [ 0.0177267 0.00312377 0.99983799 -0.27191206] [ 0. 0. 0. 1. ]] SLAMing on 159.42313336499998 meters Centerline goodness : 0.104248 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.05, Z:-0.27 [[ 0.99984715 -0.00233105 -0.01732765 -0.7152891 ] [ 0.00227643 0.99999238 -0.00317111 0.05097698] [ 0.01733491 0.00313118 0.99984484 -0.27156063] [ 0. 0. 0. 1. ]] SLAMing on 159.45313336499999 meters Centerline goodness : 0.141945 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.05, Z:-0.27 [[ 0.9998494 -0.00234099 -0.01719606 -0.71571162] [ 0.00228893 0.99999274 -0.00304631 0.04988451] [ 0.01720307 0.00300649 0.9998475 -0.27147299] [ 0. 0. 0. 1. ]] SLAMing on 159.483133365 meters Centerline goodness : 0.136563 Centerline is valid? [False, False] Translation: X:-0.72, Y:0.05, Z:-0.27 [[ 0.99984973 -0.00222591 -0.01719201 -0.71579256] [ 0.00218075 0.99999412 -0.00264539 0.04782077] [ 0.0171978 0.0026075 0.99984871 -0.27149073] [ 0. 0. 0. 1. ]] SLAMing on 159.513133365 meters Centerline goodness : 0.136048 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.05, Z:-0.27 [[ 0.99980463 -0.00249528 -0.01960807 -0.76108142] [ 0.00244354 0.99999347 -0.00266194 0.04765869] [ 0.01961458 0.0026135 0.9998042 -0.27144554] [ 0. 0. 0. 1. ]] SLAMing on 159.543133365 meters Centerline goodness : 0.104422 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.04, Z:-0.27 [[ 0.99979911 -0.0025586 -0.01987967 -0.7603414 ] [ 0.00251426 0.9999943 -0.00225537 0.0444644 ] [ 0.01988533 0.00220493 0.99979984 -0.27175653] [ 0. 0. 0. 1. ]] SLAMing on 159.573133365 meters Centerline goodness : 0.152755 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.04, Z:-0.27 [[ 0.99978275 -0.00624486 -0.01988599 -0.76024119] [ 0.00614278 0.99996766 -0.00519018 0.039468 ] [ 0.01991775 0.0050669 0.99978878 -0.2719424 ] [ 0. 0. 0. 1. ]] SLAMing on 159.603133365 meters Centerline goodness : 0.103417 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.04, Z:-0.27 [[ 0.99978835 -0.0062043 -0.01961536 -0.76093212] [ 0.00611215 0.99997002 -0.00475447 0.03660733] [ 0.01964427 0.00463358 0.9997963 -0.27201038] [ 0. 0. 0. 1. ]] SLAMing on 159.633133365 meters Centerline goodness : 0.120643 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:-0.27 [[ 0.99983603 0.00174364 -0.01802416 -0.78145545] [-0.00184113 0.99998376 -0.00539369 0.03040865] [ 0.01801446 0.00542599 0.999823 -0.27457766] [ 0. 0. 0. 1. ]] SLAMing on 159.663133365 meters Centerline goodness : 0.134235 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:-0.27 [[ 0.99983904 0.00185027 -0.01784571 -0.7818343 ] [-0.00193901 0.99998583 -0.00495684 0.02781978] [ 0.01783628 0.00499065 0.99982847 -0.27476359] [ 0. 0. 0. 1. ]] SLAMing on 159.693133365 meters Centerline goodness : 0.115140 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.27 [[ 0.99984043 0.00193821 -0.01775846 -0.78199048] [-0.00201524 0.99998863 -0.00432078 0.02323751] [ 0.01774988 0.00435588 0.99983297 -0.27499767] [ 0. 0. 0. 1. ]] SLAMing on 159.723133365 meters Centerline goodness : 0.138050 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984036 0.00206793 -0.01774764 -0.78198241] [-0.00213919 0.99998972 -0.00399693 0.02146324] [ 0.01773919 0.00403425 0.99983451 -0.27512885] [ 0. 0. 0. 1. ]] SLAMing on 159.753133365 meters Centerline goodness : 0.153163 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984027 0.00220839 -0.01773558 -0.78196974] [-0.00227402 0.99999064 -0.00368073 0.02001435] [ 0.01772729 0.00372047 0.99983594 -0.27522972] [ 0. 0. 0. 1. ]] SLAMing on 159.783133365 meters Centerline goodness : 0.151239 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984118 0.00235134 -0.01766618 -0.78192356] [-0.00241137 0.99999139 -0.00337786 0.01865138] [ 0.01765809 0.00341992 0.99983823 -0.27558972] [ 0. 0. 0. 1. ]] SLAMing on 159.813133365 meters Centerline goodness : 0.126071 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99984465 0.002499 -0.01744768 -0.78211536] [-0.00254928 0.99999266 -0.00286017 0.01532791] [ 0.0174404 0.0029042 0.99984369 -0.27618789] [ 0. 0. 0. 1. ]] SLAMing on 159.843133365 meters Centerline goodness : 0.127058 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99984526 0.00252746 -0.01740907 -0.7821001 ] [-0.00257375 0.99999321 -0.00263715 0.01359321] [ 0.01740229 0.00268155 0.99984497 -0.27643121] [ 0. 0. 0. 1. ]] SLAMing on 159.873133365 meters Centerline goodness : 0.133263 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99984231 0.00259095 -0.0175684 -0.78155481] [-0.00263352 0.99999365 -0.00240016 0.01203584] [ 0.01756207 0.00244604 0.99984278 -0.27676502] [ 0. 0. 0. 1. ]] SLAMing on 159.903133365 meters Centerline goodness : 0.124298 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99983788 0.00271357 -0.01780037 -0.7806857 ] [-0.00275165 0.99999398 -0.00211504 0.01077783] [ 0.01779452 0.00216368 0.99983932 -0.2773404 ] [ 0. 0. 0. 1. ]] SLAMing on 159.933133365 meters Centerline goodness : 0.132707 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.28 [[ 0.99983288 0.00300571 -0.01803294 -0.7798377 ] [-0.00303315 0.99999428 -0.0014943 0.00812794] [ 0.01802835 0.00154875 0.99983628 -0.27790234] [ 0. 0. 0. 1. ]] SLAMing on 159.963133365 meters Centerline goodness : 0.114365 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.28 [[ 9.99839037e-01 -5.00663372e-03 -1.72288556e-02 -7.59966310e-01] [ 5.00479446e-03 9.99987465e-01 -1.49870285e-04 7.94456499e-03] [ 1.72293900e-02 6.36192799e-05 9.99851561e-01 -2.76359953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99313336499998 meters Centerline goodness : 0.142366 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.28 [[ 9.99842701e-01 -4.88862932e-03 -1.70491589e-02 -7.60607784e-01] [ 4.89372475e-03 9.99987993e-01 2.57159833e-04 5.48632750e-03] [ 1.70476971e-02 -3.40553273e-04 9.99854619e-01 -2.76156862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02313336499998 meters Centerline goodness : 0.137600 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 9.99846344e-01 -4.70518137e-03 -1.68863616e-02 -7.61315005e-01] [ 4.72456790e-03 9.99988225e-01 1.10834870e-03 3.31955805e-04] [ 1.68809478e-02 -1.18795916e-03 9.99856801e-01 -2.75863894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05313336499998 meters Centerline goodness : 0.132287 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.01, Z:-0.28 [[ 9.99853173e-01 3.55724351e-03 -1.67624353e-02 -7.82623728e-01] [-3.54825484e-03 9.99993545e-01 5.65949304e-04 -5.13278510e-03] [ 1.67643403e-02 -5.06388815e-04 9.99859340e-01 -2.77220342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08313336499998 meters Centerline goodness : 0.137198 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99986671 -0.00444578 -0.01570968 -0.76241269] [ 0.00447538 0.99998828 0.00184942 -0.00543925] [ 0.01570127 -0.00191949 0.99987488 -0.27602205] [ 0. 0. 0. 1. ]] SLAMing on 160.11313336499998 meters Centerline goodness : 0.129621 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99986839 -0.00431938 -0.01563825 -0.762618 ] [ 0.0043535 0.99998821 0.0021487 -0.00693382] [ 0.01562879 -0.00221649 0.99987541 -0.27601848] [ 0. 0. 0. 1. ]] SLAMing on 160.14313336499998 meters Centerline goodness : 0.170046 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.9998683 -0.00420553 -0.01567498 -0.76248245] [ 0.00424372 0.99998811 0.00240416 -0.00826261] [ 0.01566469 -0.00247037 0.99987425 -0.27610663] [ 0. 0. 0. 1. ]] SLAMing on 160.17313336499998 meters Centerline goodness : 0.133343 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99987001 -0.00393218 -0.01563643 -0.76260091] [ 0.00397968 0.99998756 0.00300807 -0.01121145] [ 0.0156244 -0.0030699 0.99987322 -0.27609376] [ 0. 0. 0. 1. ]] SLAMing on 160.20313336499999 meters Centerline goodness : 0.130677 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99987099 -0.0038295 -0.01559925 -0.7627644 ] [ 0.00388137 0.99998704 0.00329586 -0.01280012] [ 0.01558643 -0.00335599 0.99987289 -0.27605589] [ 0. 0. 0. 1. ]] SLAMing on 160.233133365 meters Centerline goodness : 0.140750 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99987142 -0.00372852 -0.01559645 -0.76281749] [ 0.00378502 0.99998638 0.00359475 -0.01453527] [ 0.01558284 -0.00365333 0.99987191 -0.27603081] [ 0. 0. 0. 1. ]] SLAMing on 160.263133365 meters Centerline goodness : 0.124730 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99987281 -0.0036656 -0.0155217 -0.7631561 ] [ 0.00372631 0.99998551 0.0038843 -0.01648544] [ 0.01550724 -0.00394165 0.99987199 -0.27585456] [ 0. 0. 0. 1. ]] SLAMing on 160.293133365 meters Centerline goodness : 0.124992 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.28 [[ 0.99988349 -0.00387375 -0.01476479 -0.7655918 ] [ 0.00393501 0.99998376 0.00412229 -0.01981201] [ 0.01474858 -0.00417991 0.9998825 -0.27500456] [ 0. 0. 0. 1. ]] SLAMing on 160.323133365 meters Centerline goodness : 0.151113 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.27 [[ 0.99988538 -0.00381841 -0.01465074 -0.7659804 ] [ 0.00388209 0.99998313 0.00432064 -0.02105749] [ 0.01463399 -0.00437702 0.99988334 -0.27486826] [ 0. 0. 0. 1. ]] SLAMing on 160.353133365 meters Centerline goodness : 0.129381 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.27 [[ 0.99988477 -0.00368427 -0.01472693 -0.76576312] [ 0.00375203 0.99998249 0.00457648 -0.02191225] [ 0.01470981 -0.00463121 0.99988108 -0.27498026] [ 0. 0. 0. 1. ]] SLAMing on 160.383133365 meters Centerline goodness : 0.127587 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.28 [[ 0.99988237 -0.00357426 -0.01491574 -0.76507148] [ 0.00364509 0.9999822 0.0047243 -0.02213186] [ 0.01489859 -0.00477811 0.99987759 -0.27534072] [ 0. 0. 0. 1. ]] SLAMing on 160.413133365 meters Centerline goodness : 0.122861 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99988025 -0.00343853 -0.01508856 -0.76455281] [ 0.00351298 0.99998178 0.00491004 -0.02249984] [ 0.0150714 -0.00496246 0.99987411 -0.27548736] [ 0. 0. 0. 1. ]] SLAMing on 160.443133365 meters Centerline goodness : 0.130135 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99988013 -0.00341392 -0.01510205 -0.76448583] [ 0.00348892 0.9999817 0.00494257 -0.02259185] [ 0.0150849 -0.00499467 0.99987374 -0.27554535] [ 0. 0. 0. 1. ]] SLAMing on 160.473133365 meters Centerline goodness : 0.125995 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.02, Z:-0.27 [[ 0.99988654 -0.00339822 -0.01467491 -0.76594158] [ 0.00346943 0.99998232 0.00483014 -0.02187507] [ 0.01465824 -0.0048805 0.99988065 -0.27482105] [ 0. 0. 0. 1. ]] SLAMing on 160.503133365 meters Centerline goodness : 0.133387 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.28 [[ 0.99988644 0.00468017 -0.0143246 -0.78648498] [-0.00462901 0.9999828 0.00360274 -0.02362203] [ 0.01434122 -0.00353602 0.99989091 -0.27665528] [ 0. 0. 0. 1. ]] SLAMing on 160.533133365 meters Centerline goodness : 0.133689 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.02, Z:-0.28 [[ 0.99988434 0.00462522 -0.01448847 -0.78577317] [-0.00457545 0.99998352 0.00346673 -0.02293013] [ 0.01450426 -0.00340004 0.99988903 -0.27714032] [ 0. 0. 0. 1. ]] SLAMing on 160.563133365 meters Centerline goodness : 0.132621 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99988032 0.00457501 -0.01477896 -0.78470709] [-0.00452597 0.99998415 0.00334996 -0.02230841] [ 0.01479405 -0.00328267 0.99988517 -0.27774317] [ 0. 0. 0. 1. ]] SLAMing on 160.593133365 meters Centerline goodness : 0.138570 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99987721 0.00453155 -0.01500088 -0.78377708] [-0.00448221 0.99998444 0.00332156 -0.02216521] [ 0.0150157 -0.00325391 0.99988196 -0.278404 ] [ 0. 0. 0. 1. ]] SLAMing on 160.623133365 meters Centerline goodness : 0.130806 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99987799 0.00448445 -0.01496308 -0.78363408] [-0.00443503 0.99998461 0.0033338 -0.02261445] [ 0.0149778 -0.00326703 0.99988249 -0.27882921] [ 0. 0. 0. 1. ]] SLAMing on 160.653133365 meters Centerline goodness : 0.137379 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.99987606 0.00445401 -0.01510041 -0.78298862] [-0.00440271 0.99998443 0.00342936 -0.02346689] [ 0.01511545 -0.00336245 0.9998801 -0.27939059] [ 0. 0. 0. 1. ]] SLAMing on 160.683133365 meters Centerline goodness : 0.151881 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.02, Z:-0.28 [[ 0.9998723 0.00443228 -0.0153537 -0.78189117] [-0.00437744 0.99998393 0.00360322 -0.02486357] [ 0.01536942 -0.00353555 0.99987563 -0.28022385] [ 0. 0. 0. 1. ]] SLAMing on 160.713133365 meters Centerline goodness : 0.135618 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.28 [[ 0.99986839 0.00445814 -0.01559926 -0.78086956] [-0.00439873 0.99998295 0.00384075 -0.02645536] [ 0.01561611 -0.00377162 0.99987095 -0.28101905] [ 0. 0. 0. 1. ]] SLAMing on 160.74313336499998 meters Centerline goodness : 0.135800 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.28 [[ 0.99986415 0.00445941 -0.0158681 -0.7800509 ] [-0.00439384 0.99998168 0.00416447 -0.02864161] [ 0.01588638 -0.00409418 0.99986542 -0.28140258] [ 0. 0. 0. 1. ]] SLAMing on 160.77313336499998 meters Centerline goodness : 0.141707 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.28 [[ 0.99986483 0.00448696 -0.01581718 -0.7804204 ] [-0.00442063 0.9999813 0.00422616 -0.02898536] [ 0.01583585 -0.00415566 0.99986597 -0.28104357] [ 0. 0. 0. 1. ]] SLAMing on 160.80313336499998 meters Centerline goodness : 0.119530 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.28 [[ 0.999895 0.0048278 -0.01366293 -0.73848169] [-0.00476914 0.99997929 0.00432242 -0.0324143 ] [ 0.01368352 -0.00425681 0.99989732 -0.27989883] [ 0. 0. 0. 1. ]] SLAMing on 160.83313336499998 meters Centerline goodness : 0.140174 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.03, Z:-0.28 [[ 0.99989711 0.00476179 -0.0135315 -0.73900211] [-0.00470709 0.99998063 0.00407135 -0.03099831] [ 0.01355063 -0.00400724 0.99990016 -0.27951482] [ 0. 0. 0. 1. ]] SLAMing on 160.86313336499998 meters Centerline goodness : 0.130796 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99992503 -0.00101892 -0.0122021 -0.76081398] [ 0.00109781 0.99997853 0.0064606 -0.02191455] [ 0.01219526 -0.00647351 0.99990468 -0.28017841] [ 0. 0. 0. 1. ]] SLAMing on 160.89313336499998 meters Centerline goodness : 0.112763 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99992589 -0.00104859 -0.01212898 -0.76085014] [ 0.00112292 0.99998062 0.00612299 -0.01965208] [ 0.01212232 -0.00613615 0.99990769 -0.28029602] [ 0. 0. 0. 1. ]] SLAMing on 160.92313336499998 meters Centerline goodness : 0.111850 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.28 [[ 0.99992491 -0.00109583 -0.0122054 -0.76053777] [ 0.00116682 0.99998244 0.00580996 -0.01737888] [ 0.01219882 -0.00582377 0.99990863 -0.28045441] [ 0. 0. 0. 1. ]] SLAMing on 160.95313336499999 meters Centerline goodness : 0.130042 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99992075 -0.00123436 -0.01252886 -0.75962387] [ 0.00129916 0.99998581 0.0051658 -0.01330137] [ 0.01252231 -0.00518166 0.99990817 -0.28061577] [ 0. 0. 0. 1. ]] SLAMing on 160.983133365 meters Centerline goodness : 0.120546 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99991925 -0.0014007 -0.01263063 -0.7593489 ] [ 0.00146141 0.99998742 0.00479869 -0.01166231] [ 0.01262375 -0.00481676 0.99990872 -0.2806424 ] [ 0. 0. 0. 1. ]] SLAMing on 161.013133365 meters Centerline goodness : 0.132934 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99991983 -0.0015543 -0.01256632 -0.75952353] [ 0.00160977 0.999989 0.00440528 -0.00962958] [ 0.01255934 -0.00442516 0.99991134 -0.28058969] [ 0. 0. 0. 1. ]] SLAMing on 161.043133365 meters Centerline goodness : 0.148165 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.28 [[ 0.99992114 -0.00168403 -0.01244466 -0.75984437] [ 0.00173396 0.99999049 0.00400232 -0.00725961] [ 0.0124378 -0.00402358 0.99991455 -0.2804924 ] [ 0. 0. 0. 1. ]] SLAMing on 161.073133365 meters Centerline goodness : 0.094335 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.00, Z:-0.28 [[ 0.99992646 -0.00179465 -0.01199379 -0.7609716 ] [ 0.00183382 0.99999302 0.00325544 -0.0020457 ] [ 0.01198786 -0.0032772 0.99992277 -0.2802279 ] [ 0. 0. 0. 1. ]] SLAMing on 161.103133365 meters Centerline goodness : 0.128603 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 9.99926899e-01 -1.92408807e-03 -1.19371453e-02 -7.61144262e-01] [ 1.95764487e-03 9.99994164e-01 2.80007641e-03 5.68118560e-04] [ 1.19316880e-02 -2.82324041e-03 9.99924829e-01 -2.80123563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.133133365 meters Centerline goodness : 0.135545 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 0.9999273 -0.00210376 -0.01187296 -0.76117038] [ 0.00213075 0.99999517 0.00226053 0.00345969] [ 0.01186815 -0.00228566 0.99992696 -0.28025344] [ 0. 0. 0. 1. ]] SLAMing on 161.163133365 meters Centerline goodness : 0.135545 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.28 [[ 0.9999273 -0.00210376 -0.01187296 -0.76117038] [ 0.00213075 0.99999517 0.00226053 0.00345969] [ 0.01186815 -0.00228566 0.99992696 -0.28025344] [ 0. 0. 0. 1. ]] SLAMing on 161.193133365 meters Centerline goodness : 0.128169 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.28 [[ 0.99992748 -0.00220392 -0.01183992 -0.76116098] [ 0.00222533 0.99999591 0.00179499 0.00636248] [ 0.01183592 -0.00182121 0.99992829 -0.28031051] [ 0. 0. 0. 1. ]] SLAMing on 161.223133365 meters Centerline goodness : 0.125614 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.28 [[ 9.99924156e-01 6.00648443e-03 -1.07519779e-02 -7.41293530e-01] [-6.00011455e-03 9.99981804e-01 6.24597438e-04 5.13745550e-03] [ 1.07555338e-02 -5.60036967e-04 9.99942001e-01 -2.79775023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.253133365 meters Centerline goodness : 0.128344 Centerline is valid? [False, False] Translation: X:-0.74, Y:0.01, Z:-0.28 [[ 9.99927644e-01 5.99209666e-03 -1.04307988e-02 -7.42017178e-01] [-5.99456004e-03 9.99982011e-01 -2.04915330e-04 1.21209626e-02] [ 1.04293833e-02 2.67428553e-04 9.99945577e-01 -2.79593909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.283133365 meters Centerline goodness : 0.133116 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.02, Z:-0.28 [[ 9.99952608e-01 -1.45486306e-03 -9.62628463e-03 -7.60548445e-01] [ 1.46181007e-03 9.99998676e-01 7.14674461e-04 2.18256240e-02] [ 9.62523213e-03 -7.28712391e-04 9.99953411e-01 -2.81624281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.313133365 meters Centerline goodness : 0.132989 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.02, Z:-0.28 [[ 9.99951776e-01 -1.62851830e-03 -9.68473703e-03 -7.60213953e-01] [ 1.63039284e-03 9.99998654e-01 1.85663406e-04 2.47548902e-02] [ 9.68442163e-03 -2.01444378e-04 9.99953085e-01 -2.81868153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.343133365 meters Centerline goodness : 0.119829 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99950427e-01 -1.72732762e-03 -9.80613792e-03 -7.59791782e-01] [ 1.72553832e-03 9.99998493e-01 -1.90925142e-04 2.73227977e-02] [ 9.80645293e-03 1.73994810e-04 9.99951900e-01 -2.82088447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.373133365 meters Centerline goodness : 0.134883 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99947232e-01 -1.86962501e-03 -1.01013236e-02 -7.58723814e-01] [ 1.86307970e-03 9.99998048e-01 -6.57336760e-04 3.05466494e-02] [ 1.01025328e-02 6.38482503e-04 9.99948764e-01 -2.82665103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.403133365 meters Centerline goodness : 0.128335 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944430e-01 -1.97125701e-03 -1.03561776e-02 -7.57877087e-01] [ 1.96316530e-03 9.99997760e-01 -7.91449536e-04 3.10106179e-02] [ 1.03577146e-02 7.71074667e-04 9.99946060e-01 -2.83077250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.433133365 meters Centerline goodness : 0.110597 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99942251e-01 -2.06978333e-03 -1.05456425e-02 -7.57354641e-01] [ 2.06034100e-03 9.99997467e-01 -9.06162554e-04 3.13288101e-02] [ 1.05474913e-02 8.84382604e-04 9.99943983e-01 -2.83191113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.463133365 meters Centerline goodness : 0.117075 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99941998e-01 -2.11685461e-03 -1.05603022e-02 -7.57248694e-01] [ 2.10691090e-03 9.99997327e-01 -9.52648422e-04 3.14721584e-02] [ 1.05622906e-02 9.30343551e-04 9.99943785e-01 -2.83359798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49313336499998 meters Centerline goodness : 0.126085 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99943721e-01 -2.10233113e-03 -1.03987980e-02 -7.57865945e-01] [ 2.09250304e-03 9.99997354e-01 -9.55907278e-04 3.19872839e-02] [ 1.04007801e-02 9.34093964e-04 9.99945474e-01 -2.83044569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52313336499998 meters Centerline goodness : 0.133339 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944340e-01 -2.06558323e-03 -1.03464776e-02 -7.58017153e-01] [ 2.05594442e-03 9.99997443e-01 -9.42152096e-04 3.23339852e-02] [ 1.03483972e-02 9.20827873e-04 9.99946030e-01 -2.83003854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55313336499998 meters Centerline goodness : 0.134780 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944468e-01 -2.02262536e-03 -1.03425809e-02 -7.57990557e-01] [ 2.01335414e-03 9.99997562e-01 -9.06746669e-04 3.25627261e-02] [ 1.03443897e-02 8.85873038e-04 9.99946103e-01 -2.83077409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58313336499998 meters Centerline goodness : 0.112669 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99944215e-01 -2.00057055e-03 -1.03712898e-02 -7.57893185e-01] [ 1.99129212e-03 9.99997608e-01 -9.04875697e-04 3.28237952e-02] [ 1.03730753e-02 8.84172951e-04 9.99945807e-01 -2.83159198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61313336499998 meters Centerline goodness : 0.128228 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.03, Z:-0.28 [[ 0.9999196 0.00631292 -0.01099718 -0.77745833] [-0.00633618 0.99997776 -0.00208189 0.03023374] [ 0.01098379 0.0021514 0.99993736 -0.28499774] [ 0. 0. 0. 1. ]] SLAMing on 161.64313336499998 meters Centerline goodness : 0.131217 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99937616e-01 -1.80869457e-03 -1.10223695e-02 -7.56585383e-01] [ 1.79834330e-03 9.99997933e-01 -9.48954000e-04 3.20399708e-02] [ 1.10240631e-02 9.29072796e-04 9.99938802e-01 -2.83875219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67313336499998 meters Centerline goodness : 0.124620 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99939604e-01 -1.74820551e-03 -1.08504175e-02 -7.57326976e-01] [ 1.74168989e-03 9.99998297e-01 -6.09915430e-04 3.02623942e-02] [ 1.08514653e-02 5.90980531e-04 9.99940946e-01 -2.83471672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70313336499999 meters Centerline goodness : 0.125831 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.03, Z:-0.28 [[ 9.99941490e-01 -1.71270132e-03 -1.06810030e-02 -7.57945334e-01] [ 1.70935682e-03 9.99998487e-01 -3.22247975e-04 2.83359542e-02] [ 1.06815387e-02 3.03971475e-04 9.99942905e-01 -2.83245126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.733133365 meters Centerline goodness : 0.129504 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.29 [[ 0.999944 0.00548555 -0.0090499 -0.77864665] [-0.00550114 0.99998343 -0.00169853 0.02273614] [ 0.00904043 0.00174822 0.99995761 -0.28553562] [ 0. 0. 0. 1. ]] SLAMing on 161.763133365 meters Centerline goodness : 0.120250 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.29 [[ 0.99994639 0.0054484 -0.00880471 -0.77949557] [-0.00546122 0.99998406 -0.0014325 0.02052786] [ 0.00879676 0.0014805 0.99996021 -0.2852415 ] [ 0. 0. 0. 1. ]] SLAMing on 161.793133365 meters Centerline goodness : 0.124867 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.28 [[ 0.99995219 0.00535518 -0.00818157 -0.78133358] [-0.0053639 0.99998507 -0.00104404 0.01714807] [ 0.00817585 0.00108787 0.99996599 -0.28481621] [ 0. 0. 0. 1. ]] SLAMing on 161.823133365 meters Centerline goodness : 0.125126 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964178e-01 -2.56690001e-03 -8.06554099e-03 -8.00630258e-01] [ 2.56964356e-03 9.99996644e-01 3.29812408e-04 2.16156758e-02] [ 8.06466732e-03 -3.50526159e-04 9.99967419e-01 -2.86250654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.853133365 meters Centerline goodness : 0.112632 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.29 [[ 0.99996991 0.00393059 -0.00668784 -0.77989856] [-0.00394367 0.99999034 -0.00194254 0.01659436] [ 0.00668014 0.00196885 0.99997575 -0.28650775] [ 0. 0. 0. 1. ]] SLAMing on 161.883133365 meters Centerline goodness : 0.123507 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99970899e-01 -4.00382962e-03 -6.49393910e-03 -8.00376374e-01] [ 3.99883495e-03 9.99991699e-01 -7.81930077e-04 2.10441588e-02] [ 6.49701591e-03 7.55939131e-04 9.99978608e-01 -2.87088018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.913133365 meters Centerline goodness : 0.123072 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99970911e-01 -3.93365889e-03 -6.53482549e-03 -8.00112209e-01] [ 3.92901897e-03 9.99992020e-01 -7.22716990e-04 2.10082364e-02] [ 6.53761627e-03 6.97020514e-04 9.99978387e-01 -2.87336328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.943133365 meters Centerline goodness : 0.134893 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99970626e-01 -3.89182043e-03 -6.60309047e-03 -7.99737147e-01] [ 3.88717777e-03 9.99992189e-01 -7.15791925e-04 2.12063827e-02] [ 6.60582463e-03 6.90103513e-04 9.99977943e-01 -2.87658841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.973133365 meters Centerline goodness : 0.125102 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99969292e-01 -3.87998683e-03 -6.80894586e-03 -7.98927833e-01] [ 3.87504242e-03 9.99992219e-01 -7.39207469e-04 2.13310565e-02] [ 6.81176100e-03 7.12799815e-04 9.99976546e-01 -2.88148171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.003133365 meters Centerline goodness : 0.155998 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99968642e-01 -3.86473327e-03 -6.91220018e-03 -7.98467569e-01] [ 3.85966353e-03 9.99992273e-01 -7.46637378e-04 2.14899392e-02] [ 6.91503232e-03 7.19935198e-04 9.99975832e-01 -2.88508048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.033133365 meters Centerline goodness : 0.108376 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99968429e-01 -3.72035901e-03 -7.02141263e-03 -7.97923488e-01] [ 3.71644676e-03 9.99992931e-01 -5.70153415e-04 2.14516259e-02] [ 7.02348417e-03 5.44040709e-04 9.99975187e-01 -2.88989191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.063133365 meters Centerline goodness : 0.147631 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99967655e-01 -3.64950266e-03 -7.16734950e-03 -7.97273942e-01] [ 3.64634495e-03 9.99993249e-01 -4.53587239e-04 2.11122623e-02] [ 7.16895648e-03 4.27437939e-04 9.99974211e-01 -2.89479066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.093133365 meters Centerline goodness : 0.113004 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99965570e-01 -3.63680345e-03 -7.45875546e-03 -7.96101017e-01] [ 3.63401022e-03 9.99993322e-01 -3.88007538e-04 2.05648164e-02] [ 7.46011675e-03 3.60888985e-04 9.99972108e-01 -2.90220678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.123133365 meters Centerline goodness : 0.134543 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964309e-01 -3.62400389e-03 -7.63195965e-03 -7.95487520e-01] [ 3.62168514e-03 9.99993391e-01 -3.17619864e-04 1.99839180e-02] [ 7.63306027e-03 2.89967973e-04 9.99970826e-01 -2.90588341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.153133365 meters Centerline goodness : 0.129849 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964871e-01 -3.43426705e-03 -7.64613336e-03 -7.95610836e-01] [ 3.43443824e-03 9.99994102e-01 9.25924434e-06 1.86924515e-02] [ 7.64605647e-03 -3.55190919e-05 9.99970768e-01 -2.90414184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.183133365 meters Centerline goodness : 0.134605 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.29 [[ 9.99964704e-01 -3.30602897e-03 -7.72399132e-03 -7.95459726e-01] [ 3.30761646e-03 9.99994511e-01 1.92762789e-04 1.82200238e-02] [ 7.72331165e-03 -2.18303986e-04 9.99970151e-01 -2.90350078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.213133365 meters Centerline goodness : 0.127775 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.01, Z:-0.29 [[ 9.99956858e-01 4.89448108e-03 -7.89468391e-03 -8.15115830e-01] [-4.90200698e-03 9.99987549e-01 -9.34218920e-04 1.44946938e-02] [ 7.89001309e-03 9.72878412e-04 9.99968400e-01 -2.92530076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24313336499998 meters Centerline goodness : 0.144700 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99956094e-01 4.84332826e-03 -8.02192666e-03 -8.14637458e-01] [-4.85106013e-03 9.99987787e-01 -9.44665239e-04 1.37454463e-02] [ 8.01725337e-03 9.83538612e-04 9.99967378e-01 -2.92803387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27313336499998 meters Centerline goodness : 0.077478 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99953066e-01 5.07834496e-03 -8.25079490e-03 -8.13771675e-01] [-5.08220774e-03 9.99986985e-01 -4.47271740e-04 1.13519374e-02] [ 8.24841612e-03 4.89183002e-04 9.99965862e-01 -2.93436188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30313336499998 meters Centerline goodness : 0.131328 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99951400e-01 5.29004007e-03 -8.31944245e-03 -8.13505780e-01] [-5.29054685e-03 9.99986004e-01 -3.89086421e-05 9.94149770e-03] [ 8.31912018e-03 8.29211512e-05 9.99965392e-01 -2.93648851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33313336499998 meters Centerline goodness : 0.135688 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99950020e-01 5.44051214e-03 -8.38798450e-03 -8.13200992e-01] [-5.43778352e-03 9.99985155e-01 3.48073254e-04 8.02210184e-03] [ 8.38975367e-03 -3.02443814e-04 9.99964760e-01 -2.93931417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36313336499998 meters Centerline goodness : 0.107378 Centerline is valid? [False, False] Translation: X:-0.81, Y:0.01, Z:-0.29 [[ 9.99949720e-01 5.44857241e-03 -8.41848863e-03 -8.13133251e-01] [-5.44369924e-03 9.99985002e-01 6.01670829e-04 5.81659510e-03] [ 8.42164062e-03 -5.55812856e-04 9.99964383e-01 -2.94002085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39313336499998 meters Centerline goodness : 0.124727 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.00, Z:-0.29 [[ 0.99996642 0.00359585 -0.00736428 -0.81820091] [-0.00360407 0.9999929 -0.00110351 0.0039443 ] [ 0.00736026 0.00113002 0.99997227 -0.29109156] [ 0. 0. 0. 1. ]] SLAMing on 162.42313336499998 meters Centerline goodness : 0.130833 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99997598 -0.00278022 -0.00634896 -0.84121839] [ 0.0027905 0.99999481 0.00161022 0.00759779] [ 0.00634445 -0.0016279 0.99997855 -0.29087697] [ 0. 0. 0. 1. ]] SLAMing on 162.45313336499999 meters Centerline goodness : 0.127830 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99997832 -0.00264869 -0.00602915 -0.8422121 ] [ 0.00265927 0.99999494 0.00174638 0.00755604] [ 0.00602449 -0.00176238 0.9999803 -0.29049759] [ 0. 0. 0. 1. ]] SLAMing on 162.483133365 meters Centerline goodness : 0.166195 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.00, Z:-0.29 [[ 9.99968542e-01 5.72505522e-03 -5.48994288e-03 -8.63962084e-01] [-5.72001199e-03 9.99983205e-01 9.33891861e-04 4.88757362e-03] [ 5.49519726e-03 -9.02459944e-04 9.99984494e-01 -2.91636099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.513133365 meters Centerline goodness : 0.131852 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99998958 -0.00227185 -0.00395866 -0.84413088] [ 0.00227902 0.99999577 0.00180651 0.006999 ] [ 0.00395454 -0.00181552 0.99999053 -0.29071154] [ 0. 0. 0. 1. ]] SLAMing on 162.543133365 meters Centerline goodness : 0.115868 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999158 -0.00227518 -0.00341538 -0.84606875] [ 0.00228096 0.99999597 0.00168898 0.00768073] [ 0.00341152 -0.00169676 0.99999274 -0.28968301] [ 0. 0. 0. 1. ]] SLAMing on 162.573133365 meters Centerline goodness : 0.119245 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999221 -0.00218701 -0.00328461 -0.84656863] [ 0.00219271 0.9999961 0.00173142 0.00822062] [ 0.00328081 -0.00173861 0.99999311 -0.28938113] [ 0. 0. 0. 1. ]] SLAMing on 162.603133365 meters Centerline goodness : 0.131210 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999241 -0.00219792 -0.00321546 -0.84668308] [ 0.00220337 0.99999614 0.00169258 0.00864856] [ 0.00321172 -0.00169965 0.9999934 -0.28945052] [ 0. 0. 0. 1. ]] SLAMing on 162.633133365 meters Centerline goodness : 0.132617 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.01, Z:-0.29 [[ 0.99999064 -0.00242295 -0.00358457 -0.84511919] [ 0.00242851 0.99999586 0.00154647 0.0081694 ] [ 0.00358081 -0.00155516 0.99999238 -0.29066094] [ 0. 0. 0. 1. ]] SLAMing on 162.663133365 meters Centerline goodness : 0.143220 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99998917 -0.00243887 -0.00396277 -0.8438453 ] [ 0.00244494 0.99999584 0.00152732 0.00842377] [ 0.00395903 -0.00153699 0.99999098 -0.29132145] [ 0. 0. 0. 1. ]] SLAMing on 162.693133365 meters Centerline goodness : 0.123642 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.99998805 -0.00243134 -0.00424232 -0.84292177] [ 0.00243737 0.99999603 0.00141578 0.00962318] [ 0.00423886 -0.0014261 0.99999 -0.2917569 ] [ 0. 0. 0. 1. ]] SLAMing on 162.723133365 meters Centerline goodness : 0.123730 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 0.9999872 -0.00249565 -0.00440111 -0.8423329 ] [ 0.00250081 0.99999619 0.00116819 0.01124499] [ 0.00439817 -0.00117919 0.99998963 -0.29208102] [ 0. 0. 0. 1. ]] SLAMing on 162.753133365 meters Centerline goodness : 0.133963 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 9.99986936e-01 -2.69682762e-03 -4.34215655e-03 -8.42371958e-01] [ 2.69954941e-03 9.99996163e-01 6.21088696e-04 1.41546666e-02] [ 4.34046492e-03 -6.32802448e-04 9.99990380e-01 -2.92191899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.783133365 meters Centerline goodness : 0.123498 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 9.99987842e-01 -2.71382119e-03 -4.11720627e-03 -8.42855551e-01] [ 2.71614141e-03 9.99996156e-01 5.58056668e-04 1.47362032e-02] [ 4.11567598e-03 -5.69232798e-04 9.99991369e-01 -2.92318056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.813133365 meters Centerline goodness : 0.128733 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.29 [[ 9.99976593e-01 5.47741629e-03 -4.10010957e-03 -8.63928066e-01] [-5.47939428e-03 9.99984877e-01 -4.71347198e-04 1.23368409e-02] [ 4.09746580e-03 4.93802282e-04 9.99991483e-01 -2.93611203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.843133365 meters Centerline goodness : 0.125076 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.29 [[ 9.99977247e-01 5.43643773e-03 -3.99376495e-03 -8.64053874e-01] [-5.43821848e-03 9.99985118e-01 -4.35159379e-04 1.19253813e-02] [ 3.99133980e-03 4.56868444e-04 9.99991930e-01 -2.93865105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.873133365 meters Centerline goodness : 0.132003 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.29 [[ 9.99977116e-01 5.34884100e-03 -4.14203406e-03 -8.63404394e-01] [-5.35052979e-03 9.99985607e-01 -3.96746194e-04 1.12295974e-02] [ 4.13985231e-03 4.18899192e-04 9.99991343e-01 -2.94447551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.903133365 meters Centerline goodness : 0.137042 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.01, Z:-0.30 [[ 9.99976673e-01 5.29119996e-03 -4.31938860e-03 -8.62552372e-01] [-5.29284235e-03 9.99985925e-01 -3.68895246e-04 1.07683462e-02] [ 4.31737591e-03 3.91748483e-04 9.99990603e-01 -2.95232199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.933133365 meters Centerline goodness : 0.129434 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.01, Z:-0.29 [[ 9.99979273e-01 -2.44983957e-03 -5.95422185e-03 -8.41066117e-01] [ 2.45428937e-03 9.99996714e-01 7.40142907e-04 1.43015224e-02] [ 5.95238905e-03 -7.54740949e-04 9.99982000e-01 -2.94090780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.963133365 meters Centerline goodness : 0.114528 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99979011e-01 -2.45588064e-03 -5.99547287e-03 -8.40931989e-01] [ 2.45958277e-03 9.99996789e-01 6.10191283e-04 1.53937023e-02] [ 5.99395506e-03 -6.24924838e-04 9.99981841e-01 -2.94118119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99313336499998 meters Centerline goodness : 0.126847 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99978257e-01 -2.50403018e-03 -6.10039506e-03 -8.40809579e-01] [ 2.50648665e-03 9.99996781e-01 3.95060872e-04 1.67192163e-02] [ 6.09938618e-03 -4.10342842e-04 9.99981314e-01 -2.93901834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02313336499998 meters Centerline goodness : 0.140996 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99977276e-01 -2.56199022e-03 -6.23562109e-03 -8.40440415e-01] [ 2.56285465e-03 9.99996707e-01 1.30640976e-04 1.82542334e-02] [ 6.23526585e-03 -1.46618998e-04 9.99980550e-01 -2.93940646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05313336499998 meters Centerline goodness : 0.140996 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99977276e-01 -2.56199022e-03 -6.23562109e-03 -8.40440415e-01] [ 2.56285465e-03 9.99996707e-01 1.30640976e-04 1.82542334e-02] [ 6.23526585e-03 -1.46618998e-04 9.99980550e-01 -2.93940646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08313336499998 meters Centerline goodness : 0.140231 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99977291e-01 -2.49596807e-03 -6.25992851e-03 -8.40326683e-01] [ 2.49453013e-03 9.99996860e-01 -2.37502148e-04 2.12794992e-02] [ 6.26050166e-03 2.21881174e-04 9.99980378e-01 -2.93953613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11313336499998 meters Centerline goodness : 0.140905 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99978460e-01 -2.51187084e-03 -6.06390013e-03 -8.40849246e-01] [ 2.50901593e-03 9.99996738e-01 -4.78366534e-04 2.29517645e-02] [ 6.06508195e-03 4.63141807e-04 9.99981500e-01 -2.93806798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14313336499998 meters Centerline goodness : 0.091686 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.02, Z:-0.29 [[ 9.99979685e-01 -2.58433375e-03 -5.82680908e-03 -8.41525613e-01] [ 2.57984329e-03 9.99996370e-01 -7.78038724e-04 2.47318150e-02] [ 5.82879864e-03 7.62990664e-04 9.99982721e-01 -2.93584548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17313336499998 meters Centerline goodness : 0.140192 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.9999803 -0.00275064 -0.00564209 -0.84190252] [ 0.00274331 0.99999538 -0.00130642 0.02764301] [ 0.00564566 0.00129092 0.99998323 -0.29360895] [ 0. 0. 0. 1. ]] SLAMing on 163.20313336499999 meters Centerline goodness : 0.133136 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.99997981 -0.00279746 -0.00570549 -0.8417311 ] [ 0.00278878 0.99999494 -0.00152956 0.02926973] [ 0.00570974 0.00151362 0.99998255 -0.29362056] [ 0. 0. 0. 1. ]] SLAMing on 163.233133365 meters Centerline goodness : 0.116672 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.99997928 -0.0028512 -0.00577222 -0.84157355] [ 0.00284111 0.99999442 -0.00175642 0.03083118] [ 0.00577719 0.00173999 0.9999818 -0.29359802] [ 0. 0. 0. 1. ]] SLAMing on 163.263133365 meters Centerline goodness : 0.140430 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.99997901 -0.0029024 -0.00579309 -0.841699 ] [ 0.00289094 0.99999385 -0.00198508 0.03242781] [ 0.00579882 0.00196829 0.99998125 -0.29330623] [ 0. 0. 0. 1. ]] SLAMing on 163.293133365 meters Centerline goodness : 0.126160 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.03, Z:-0.29 [[ 0.9999789 -0.00298498 -0.00576968 -0.84199584] [ 0.0029722 0.99999311 -0.00222355 0.03379177] [ 0.00577628 0.00220636 0.99998088 -0.29292668] [ 0. 0. 0. 1. ]] SLAMing on 163.323133365 meters Centerline goodness : 0.124715 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.04, Z:-0.29 [[ 0.99997969 -0.00316258 -0.00553246 -0.8428454 ] [ 0.00314734 0.99999124 -0.0027603 0.03673621] [ 0.00554114 0.00274283 0.99998089 -0.29244228] [ 0. 0. 0. 1. ]] SLAMing on 163.353133365 meters Centerline goodness : 0.135583 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.04, Z:-0.29 [[ 0.9999807 -0.0032152 -0.00531647 -0.84359091] [ 0.00319977 0.99999065 -0.00290897 0.0377132 ] [ 0.00532577 0.00289191 0.99998164 -0.29208622] [ 0. 0. 0. 1. ]] SLAMing on 163.383133365 meters Centerline goodness : 0.136517 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.04, Z:-0.29 [[ 0.99998182 -0.00326682 -0.00506912 -0.8444645 ] [ 0.00325178 0.9999903 -0.00297189 0.03796237] [ 0.00507878 0.00295536 0.99998274 -0.29167267] [ 0. 0. 0. 1. ]] SLAMing on 163.413133365 meters Centerline goodness : 0.129047 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.03, Z:-0.29 [[ 0.99998066 0.00459301 -0.00419301 -0.86618431] [-0.00461052 0.99998065 -0.00417662 0.03466182] [ 0.00417375 0.00419587 0.99998249 -0.29288513] [ 0. 0. 0. 1. ]] SLAMing on 163.443133365 meters Centerline goodness : 0.126367 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.04, Z:-0.29 [[ 0.99998733 -0.00389493 -0.00318921 -0.84599172] [ 0.00388446 0.99998707 -0.00328185 0.03580716] [ 0.00320195 0.00326942 0.99998953 -0.29175556] [ 0. 0. 0. 1. ]] SLAMing on 163.473133365 meters Centerline goodness : 0.114955 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.03, Z:-0.29 [[ 0.99998762 -0.003913 -0.00307454 -0.84634108] [ 0.0039033 0.9999874 -0.00315579 0.03476602] [ 0.00308685 0.00314375 0.99999029 -0.29174152] [ 0. 0. 0. 1. ]] SLAMing on 163.503133365 meters Centerline goodness : 0.127820 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.04, Z:-0.29 [[ 0.99996742 -0.00373293 -0.00715748 -0.88545902] [ 0.00371318 0.99998927 -0.00277044 0.03560388] [ 0.00716774 0.00274377 0.99997055 -0.29371 ] [ 0. 0. 0. 1. ]] SLAMing on 163.533133365 meters Centerline goodness : 0.124646 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.04, Z:-0.29 [[ 0.99996465 -0.00366797 -0.00756652 -0.88384779] [ 0.00364814 0.99998988 -0.00263315 0.03513914] [ 0.0075761 0.00260545 0.99996791 -0.29476231] [ 0. 0. 0. 1. ]] SLAMing on 163.563133365 meters Centerline goodness : 0.136019 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.04, Z:-0.30 [[ 0.99996323 -0.00354634 -0.00780783 -0.882921 ] [ 0.00352623 0.99999043 -0.00258832 0.03550904] [ 0.00781694 0.00256069 0.99996617 -0.29528138] [ 0. 0. 0. 1. ]] SLAMing on 163.593133365 meters Centerline goodness : 0.130363 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.04, Z:-0.29 [[ 0.99996432 -0.00351779 -0.0076802 -0.88339367] [ 0.00349715 0.99999024 -0.00269868 0.03638968] [ 0.00768962 0.00267172 0.99996687 -0.29494531] [ 0. 0. 0. 1. ]] SLAMing on 163.623133365 meters Centerline goodness : 0.151796 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.03, Z:-0.29 [[ 0.99996619 0.00461432 -0.00680681 -0.86359205] [-0.00464018 0.99998206 -0.00378779 0.03250212] [ 0.00678921 0.00381925 0.99996966 -0.29390648] [ 0. 0. 0. 1. ]] SLAMing on 163.653133365 meters Centerline goodness : 0.125760 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.03, Z:-0.29 [[ 0.99996551 0.00460049 -0.0069155 -0.8631406 ] [-0.0046284 0.99998119 -0.00402498 0.03408796] [ 0.00689685 0.00405685 0.99996799 -0.29413325] [ 0. 0. 0. 1. ]] SLAMing on 163.683133365 meters Centerline goodness : 0.117569 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.04, Z:-0.30 [[ 0.9999564 0.00512767 -0.00780375 -0.86004331] [-0.00515973 0.99997831 -0.00409346 0.03728307] [ 0.00778259 0.00413355 0.99996117 -0.29551642] [ 0. 0. 0. 1. ]] SLAMing on 163.713133365 meters Centerline goodness : 0.129212 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.04, Z:-0.30 [[ 0.99995377 0.00523697 -0.00806434 -0.85906481] [-0.00527204 0.99997671 -0.0043339 0.03973585] [ 0.00804145 0.00437622 0.99995809 -0.29600994] [ 0. 0. 0. 1. ]] SLAMing on 163.74313336499998 meters Centerline goodness : 0.136335 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.04, Z:-0.30 [[ 0.9999526 0.00532412 -0.00815224 -0.85873067] [-0.0053622 0.99997479 -0.00465539 0.04254846] [ 0.00812725 0.00469889 0.99995593 -0.2960955 ] [ 0. 0. 0. 1. ]] SLAMing on 163.77313336499998 meters Centerline goodness : 0.116189 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:-0.30 [[ 0.99995478 0.00535665 -0.00785815 -0.85958299] [-0.00539631 0.99997276 -0.00503516 0.04549315] [ 0.00783096 0.00507733 0.99995645 -0.29571381] [ 0. 0. 0. 1. ]] SLAMing on 163.80313336499998 meters Centerline goodness : 0.138585 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:-0.30 [[ 0.99995718 0.0052494 -0.00762089 -0.86052653] [-0.00529167 0.99997067 -0.00553667 0.04839785] [ 0.00759161 0.00557676 0.99995563 -0.29502482] [ 0. 0. 0. 1. ]] SLAMing on 163.83313336499998 meters Centerline goodness : 0.115222 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.05, Z:-0.29 [[ 0.99996041 0.00504516 -0.00732944 -0.86140206] [-0.00509203 0.99996662 -0.0063904 0.05310306] [ 0.00729696 0.00642747 0.99995272 -0.29455438] [ 0. 0. 0. 1. ]] SLAMing on 163.86313336499998 meters Centerline goodness : 0.131597 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.06, Z:-0.30 [[ 0.99996597 -0.00281788 -0.00775347 -0.88067541] [ 0.00277596 0.99998151 -0.00541122 0.06099563] [ 0.00776858 0.00538951 0.9999553 -0.29571552] [ 0. 0. 0. 1. ]] SLAMing on 163.89313336499998 meters Centerline goodness : 0.120365 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.06, Z:-0.30 [[ 0.99996618 -0.00287532 -0.00770487 -0.88078063] [ 0.00283138 0.9999797 -0.00570756 0.06296216] [ 0.00772113 0.00568555 0.99995403 -0.29570864] [ 0. 0. 0. 1. ]] SLAMing on 163.92313336499998 meters Centerline goodness : 0.135168 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.06, Z:-0.30 [[ 0.99996739 -0.00297121 -0.00750984 -0.88126236] [ 0.00292617 0.99997771 -0.00600181 0.06462638] [ 0.0075275 0.00597964 0.99995379 -0.29566094] [ 0. 0. 0. 1. ]] SLAMing on 163.95313336499999 meters Centerline goodness : 0.135973 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996763 -0.00303878 -0.00744975 -0.8814679 ] [ 0.00299252 0.99997622 -0.00621339 0.06587265] [ 0.00746845 0.00619089 0.99995295 -0.29554361] [ 0. 0. 0. 1. ]] SLAMing on 163.983133365 meters Centerline goodness : 0.124048 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996686 -0.0031949 -0.00748869 -0.88114846] [ 0.00314598 0.99997369 -0.00653574 0.0677583 ] [ 0.00750938 0.00651197 0.9999506 -0.29592517] [ 0. 0. 0. 1. ]] SLAMing on 164.013133365 meters Centerline goodness : 0.138759 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996477 -0.00322563 -0.00774955 -0.88019353] [ 0.00317429 0.999973 -0.00662715 0.06861841] [ 0.00777072 0.00660232 0.99994801 -0.29647947] [ 0. 0. 0. 1. ]] SLAMing on 164.043133365 meters Centerline goodness : 0.131082 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996381 -0.00324054 -0.00786653 -0.87962703] [ 0.00318815 0.99997272 -0.00666354 0.06900321] [ 0.0078879 0.00663822 0.99994686 -0.29694147] [ 0. 0. 0. 1. ]] SLAMing on 164.073133365 meters Centerline goodness : 0.133310 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996501 -0.00339684 -0.00764428 -0.88039985] [ 0.00334358 0.99997013 -0.00696904 0.07033308] [ 0.00766772 0.00694323 0.9999465 -0.29653134] [ 0. 0. 0. 1. ]] SLAMing on 164.103133365 meters Centerline goodness : 0.122795 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 0.99996554 -0.00347362 -0.00753962 -0.88086109] [ 0.00341908 0.99996799 -0.00723367 0.07185223] [ 0.00756451 0.00720764 0.99994541 -0.29615215] [ 0. 0. 0. 1. ]] SLAMing on 164.133133365 meters Centerline goodness : 0.129206 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.07, Z:-0.30 [[ 9.99977316e-01 -5.49013715e-04 -6.71314053e-03 -8.83025627e-01] [ 5.19280246e-04 9.99990052e-01 -4.43008544e-03 7.28396462e-02] [ 6.71550593e-03 4.42649895e-03 9.99967654e-01 -2.95885467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.163133365 meters Centerline goodness : 0.120549 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.08, Z:-0.30 [[ 9.99977123e-01 -5.08032082e-04 -6.74500807e-03 -8.82794392e-01] [ 4.76018703e-04 9.99988620e-01 -4.74699015e-03 7.52407690e-02] [ 6.74734294e-03 4.74367081e-03 9.99965985e-01 -2.96044037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.193133365 meters Centerline goodness : 0.128234 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.08, Z:-0.30 [[ 9.99979183e-01 -4.11233013e-04 -6.43935082e-03 -8.83452435e-01] [ 3.77970351e-04 9.99986585e-01 -5.16589550e-03 7.85839894e-02] [ 6.44138883e-03 5.16335408e-03 9.99965924e-01 -2.95985434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.223133365 meters Centerline goodness : 0.124118 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.08, Z:-0.30 [[ 9.99983322e-01 -2.81886133e-04 -5.76848336e-03 -8.85153028e-01] [ 2.49335493e-04 9.99984048e-01 -5.64278343e-03 8.22132891e-02] [ 5.76998196e-03 5.64125103e-03 9.99967441e-01 -2.95598974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.253133365 meters Centerline goodness : 0.107500 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:-0.29 [[ 0.99998377 0.00287458 -0.00491957 -0.88813609] [-0.00289225 0.99998938 -0.00358865 0.08993166] [ 0.0049092 0.00360282 0.99998146 -0.29407979] [ 0. 0. 0. 1. ]] SLAMing on 164.283133365 meters Centerline goodness : 0.119620 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.09, Z:-0.29 [[ 0.99998207 0.00299524 -0.00518627 -0.88738575] [-0.00301605 0.99998741 -0.00400931 0.09361924] [ 0.00517419 0.00402488 0.99997851 -0.29422918] [ 0. 0. 0. 1. ]] SLAMing on 164.313133365 meters Centerline goodness : 0.113208 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.10, Z:-0.29 [[ 9.99977063e-01 -2.32278259e-03 -6.36216749e-03 -9.08311712e-01] [ 2.31733348e-03 9.99996942e-01 -8.63724024e-04 9.99119990e-02] [ 6.36415428e-03 8.48960949e-04 9.99979388e-01 -2.94885744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.343133365 meters Centerline goodness : 0.121902 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 9.99971381e-01 -9.18166831e-04 -7.50965237e-03 -9.03443954e-01] [ 9.17231715e-04 9.99999571e-01 -1.27965089e-04 1.05450706e-01] [ 7.50976664e-03 1.21073335e-04 9.99971794e-01 -2.97537474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.373133365 meters Centerline goodness : 0.111873 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 9.99971808e-01 -1.06877369e-03 -7.43244861e-03 -9.03428904e-01] [ 1.06484439e-03 9.99999291e-01 -5.32606337e-04 1.07675867e-01] [ 7.43301257e-03 5.24676921e-04 9.99972237e-01 -2.97876374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.403133365 meters Centerline goodness : 0.130507 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 9.99972021e-01 -1.16118658e-03 -7.38973212e-03 -9.03492887e-01] [ 1.15516847e-03 9.99998998e-01 -8.18604131e-04 1.09366057e-01] [ 7.39067527e-03 8.10044842e-04 9.99972360e-01 -2.97930126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.433133365 meters Centerline goodness : 0.121497 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 0.99997293 -0.00121866 -0.00725688 -0.9037958 ] [ 0.00121124 0.99999874 -0.00102583 0.11082655] [ 0.00725812 0.00101701 0.99997314 -0.2979325 ] [ 0. 0. 0. 1. ]] SLAMing on 164.463133365 meters Centerline goodness : 0.130619 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 0.9999729 -0.00137349 -0.00723242 -0.90357578] [ 0.00136321 0.99999805 -0.00142665 0.11289871] [ 0.00723436 0.00141675 0.99997283 -0.29834195] [ 0. 0. 0. 1. ]] SLAMing on 164.49313336499998 meters Centerline goodness : 0.127289 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.11, Z:-0.30 [[ 0.99997356 -0.00139268 -0.00713694 -0.90362472] [ 0.00138112 0.99999773 -0.00162357 0.11425196] [ 0.00713918 0.00161367 0.99997321 -0.29857486] [ 0. 0. 0. 1. ]] SLAMing on 164.52313336499998 meters Centerline goodness : 0.125721 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.12, Z:-0.30 [[ 0.99997545 -0.00135723 -0.00687411 -0.90418873] [ 0.00134495 0.99999749 -0.0017901 0.11574057] [ 0.00687653 0.00178081 0.99997477 -0.29866184] [ 0. 0. 0. 1. ]] SLAMing on 164.55313336499998 meters Centerline goodness : 0.106807 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.12, Z:-0.30 [[ 0.99997638 -0.0013682 -0.00673609 -0.90450552] [ 0.00135417 0.99999691 -0.00208703 0.11778633] [ 0.00673892 0.00207786 0.99997513 -0.29860952] [ 0. 0. 0. 1. ]] SLAMing on 164.58313336499998 meters Centerline goodness : 0.130844 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.12, Z:-0.30 [[ 0.99997578 -0.0013622 -0.00682497 -0.90421166] [ 0.00134598 0.99999626 -0.00238084 0.1198012 ] [ 0.00682819 0.0023716 0.99997388 -0.29873819] [ 0. 0. 0. 1. ]] SLAMing on 164.61313336499998 meters Centerline goodness : 0.125545 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99969485e-01 3.23481105e-04 -7.80538981e-03 -9.01651934e-01] [-3.34611334e-04 9.99998929e-01 -1.42470331e-03 1.25416553e-01] [ 7.80492059e-03 1.42727161e-03 9.99968523e-01 -2.99393807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64313336499998 meters Centerline goodness : 0.125798 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99966551e-01 4.81190535e-04 -8.16484649e-03 -9.00779417e-01] [-4.94109632e-04 9.99998629e-01 -1.58033951e-03 1.27202461e-01] [ 8.16407486e-03 1.58432097e-03 9.99965418e-01 -2.99470051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67313336499998 meters Centerline goodness : 0.126966 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99965441e-01 5.84235512e-04 -8.29313571e-03 -9.00393827e-01] [-5.98621956e-04 9.99998320e-01 -1.73236489e-03 1.28657592e-01] [ 8.29210967e-03 1.73726947e-03 9.99964111e-01 -2.99633569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70313336499999 meters Centerline goodness : 0.140284 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99966076e-01 6.06475515e-04 -8.21459866e-03 -9.00540370e-01] [-6.22432153e-04 9.99997924e-01 -1.94005595e-03 1.29918624e-01] [ 8.21340501e-03 1.94510317e-03 9.99964378e-01 -2.99678620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.733133365 meters Centerline goodness : 0.107355 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99970006e-01 8.38701614e-04 -7.69956530e-03 -9.02017453e-01] [-8.55473929e-04 9.99997268e-01 -2.17531088e-03 1.32138759e-01] [ 7.69771983e-03 2.18183241e-03 9.99967992e-01 -2.99289475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.763133365 meters Centerline goodness : 0.110294 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99971343e-01 8.52204247e-04 -7.52241450e-03 -9.02474316e-01] [-8.69929058e-04 9.99996853e-01 -2.35330875e-03 1.33388961e-01] [ 7.52038532e-03 2.35978528e-03 9.99968937e-01 -2.99301840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.793133365 meters Centerline goodness : 0.205139 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.13, Z:-0.30 [[ 9.99971984e-01 8.65188689e-04 -7.43524867e-03 -9.02598223e-01] [-8.83574015e-04 9.99996560e-01 -2.46979615e-03 1.34217341e-01] [ 7.43308625e-03 2.47629655e-03 9.99969308e-01 -2.99473503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.823133365 meters Centerline goodness : 0.123349 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99970217e-01 8.69361265e-04 -7.66876541e-03 -9.01441689e-01] [-8.90212982e-04 9.99995915e-01 -2.71605051e-03 1.35709645e-01] [ 7.66637285e-03 2.72279645e-03 9.99966906e-01 -3.00453396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.853133365 meters Centerline goodness : 0.176726 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99969428e-01 7.70408243e-04 -7.78138624e-03 -9.00972976e-01] [-7.93374235e-04 9.99995338e-01 -2.94874569e-03 1.36461426e-01] [ 7.77907822e-03 2.95482909e-03 9.99965377e-01 -3.00838865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.883133365 meters Centerline goodness : 0.126210 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99968841e-01 6.83422392e-04 -7.86442783e-03 -9.00630497e-01] [-7.08929591e-04 9.99994497e-01 -3.24103317e-03 1.37824680e-01] [ 7.86216955e-03 3.24650751e-03 9.99963823e-01 -3.01100339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.913133365 meters Centerline goodness : 0.137343 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99968506e-01 6.88774584e-04 -7.90646009e-03 -9.00428296e-01] [-7.16595644e-04 9.99993560e-01 -3.51648237e-03 1.39758919e-01] [ 7.90398711e-03 3.52203736e-03 9.99962560e-01 -3.01313039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.943133365 meters Centerline goodness : 0.121710 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 0.99997053 0.00101782 -0.00760961 -0.90114143] [-0.00104583 0.99999269 -0.00367729 0.14263399] [ 0.00760581 0.00368514 0.99996429 -0.30132246] [ 0. 0. 0. 1. ]] SLAMing on 164.973133365 meters Centerline goodness : 0.121710 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 0.99997053 0.00101782 -0.00760961 -0.90114143] [-0.00104583 0.99999269 -0.00367729 0.14263399] [ 0.00760581 0.00368514 0.99996429 -0.30132246] [ 0. 0. 0. 1. ]] SLAMing on 165.003133365 meters Centerline goodness : 0.121668 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99971963e-01 9.56759011e-04 -7.42677555e-03 -9.01573770e-01] [-9.84959225e-04 9.99992316e-01 -3.79437211e-03 1.42748740e-01] [ 7.42308819e-03 3.80158080e-03 9.99965222e-01 -3.01379183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.033133365 meters Centerline goodness : 0.171528 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.14, Z:-0.30 [[ 9.99973165e-01 8.72663933e-04 -7.27374593e-03 -9.01856432e-01] [-9.00456657e-04 9.99992304e-01 -3.81856560e-03 1.41944113e-01] [ 7.27035762e-03 3.82501282e-03 9.99966255e-01 -3.01576590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.063133365 meters Centerline goodness : 0.121497 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99952072e-01 3.99479208e-04 -9.78231505e-03 -9.46391725e-01] [-4.45973352e-04 9.99988614e-01 -4.75115738e-03 1.40585308e-01] [ 9.78030568e-03 4.75529232e-03 9.99940865e-01 -3.01743326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.093133365 meters Centerline goodness : 0.152543 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99951815e-01 4.84875726e-04 -9.80468278e-03 -9.46143596e-01] [-5.28785074e-04 9.99989841e-01 -4.47630946e-03 1.38962896e-01] [ 9.80241272e-03 4.48127834e-03 9.99941914e-01 -3.02088634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.123133365 meters Centerline goodness : 0.117883 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99952281e-01 7.23741061e-04 -9.74228857e-03 -9.46124047e-01] [-7.62049019e-04 9.99991991e-01 -3.92899361e-03 1.36466592e-01] [ 9.73936697e-03 3.93623023e-03 9.99944824e-01 -3.02385588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.153133365 meters Centerline goodness : 0.141360 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.14, Z:-0.30 [[ 9.99952855e-01 8.04033546e-04 -9.67680706e-03 -9.46225519e-01] [-8.40250604e-04 9.99992656e-01 -3.73918273e-03 1.35387651e-01] [ 9.67372957e-03 3.74713740e-03 9.99946188e-01 -3.02487310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.183133365 meters Centerline goodness : 0.183562 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.14, Z:-0.30 [[ 0.99993364 -0.0069659 -0.00917608 -0.9265961 ] [ 0.00694352 0.99997285 -0.00246898 0.13878091] [ 0.00919303 0.0024051 0.99995485 -0.30178732] [ 0. 0. 0. 1. ]] SLAMing on 165.213133365 meters Centerline goodness : 0.111843 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.13, Z:-0.30 [[ 0.9999526 0.001521 -0.00961656 -0.94627322] [-0.00155598 0.9999922 -0.00363135 0.1346312 ] [ 0.00961096 0.00364614 0.99994717 -0.30367266] [ 0. 0. 0. 1. ]] SLAMing on 165.24313336499998 meters Centerline goodness : 0.190745 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.13, Z:-0.30 [[ 0.99990587 0.00493033 -0.01280389 -0.98834019] [-0.00494969 0.99998665 -0.00148069 0.13484428] [ 0.01279642 0.00154392 0.99991693 -0.30463781] [ 0. 0. 0. 1. ]] SLAMing on 165.27313336499998 meters Centerline goodness : 0.139882 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.14, Z:-0.30 [[ 0.99990189 0.0050758 -0.01305533 -0.98759766] [-0.00509725 0.99998571 -0.00161058 0.13617542] [ 0.01304697 0.00167697 0.99991348 -0.30497575] [ 0. 0. 0. 1. ]] SLAMing on 165.30313336499998 meters Centerline goodness : 0.041298 Centerline is valid? [False, False] Translation: X:-0.99, Y:0.14, Z:-0.31 [[ 0.99989979 0.00512696 -0.01319576 -0.98709742] [-0.00515095 0.99998514 -0.00178447 0.13726884] [ 0.01318641 0.00185227 0.99991134 -0.30535566] [ 0. 0. 0. 1. ]] SLAMing on 165.33313336499998 meters Centerline goodness : 0.120364 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99894654e-01 -2.80970985e-03 -1.42403084e-02 -1.00697120e+00] [ 2.79869753e-03 9.99995769e-01 -7.93189662e-04 1.41236458e-01] [ 1.42424768e-02 7.53251787e-04 9.99898287e-01 -3.06823493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36313336499998 meters Centerline goodness : 0.101849 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99902834e-01 -2.58193104e-03 -1.36988021e-02 -1.00829224e+00] [ 2.57293562e-03 9.99996463e-01 -6.74240735e-04 1.41594642e-01] [ 1.37004945e-02 6.38929085e-04 9.99905940e-01 -3.06872717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39313336499998 meters Centerline goodness : 0.098276 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99904610e-01 -2.55373520e-03 -1.35738807e-02 -1.00851226e+00] [ 2.54522832e-03 9.99996554e-01 -6.43947344e-04 1.41377285e-01] [ 1.35754783e-02 6.09337292e-04 9.99907663e-01 -3.07003446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42313336499998 meters Centerline goodness : 0.144260 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99904339e-01 -2.56566636e-03 -1.35915398e-02 -1.00818598e+00] [ 2.55760375e-03 9.99996543e-01 -6.10556337e-04 1.40786514e-01] [ 1.35930593e-02 5.75736157e-04 9.99907444e-01 -3.07475036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45313336499999 meters Centerline goodness : 0.093636 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99902743e-01 -2.59300045e-03 -1.37032947e-02 -1.00761004e+00] [ 2.58544771e-03 9.99996496e-01 -5.68849588e-04 1.39948993e-01] [ 1.37047217e-02 5.33365112e-04 9.99905944e-01 -3.07966425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.483133365 meters Centerline goodness : 0.326351 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99902258e-01 -2.61534520e-03 -1.37344434e-02 -1.00727591e+00] [ 2.60842549e-03 9.99996462e-01 -5.21710871e-04 1.39088533e-01] [ 1.37357593e-02 4.85834606e-04 9.99905542e-01 -3.08391795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.513133365 meters Centerline goodness : 0.095080 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99901565e-01 -2.60901570e-03 -1.37859558e-02 -1.00702859e+00] [ 2.60271339e-03 9.99996500e-01 -4.75076126e-04 1.38646371e-01] [ 1.37871470e-02 4.39148470e-04 9.99904856e-01 -3.08620057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.573133365 meters Centerline goodness : 0.134330 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.14, Z:-0.31 [[ 9.99904532e-01 -2.37856651e-03 -1.36113676e-02 -1.00728948e+00] [ 2.37479546e-03 9.99997137e-01 -2.93207945e-04 1.38641289e-01] [ 1.36120260e-02 2.60855740e-04 9.99907318e-01 -3.08912157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.603133365 meters Centerline goodness : 0.288418 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.13, Z:-0.31 [[ 0.99988684 0.00596056 -0.01381211 -1.02718241] [-0.00597954 0.99998123 -0.00133371 0.13375758] [ 0.0138039 0.00141615 0.99990372 -0.31040213] [ 0. 0. 0. 1. ]] SLAMing on 165.633133365 meters Centerline goodness : 0.328080 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.13, Z:-0.31 [[ 0.9998828 0.00607508 -0.01405278 -1.02614059] [-0.00609169 0.9999808 -0.00113958 0.13292868] [ 0.01404559 0.00122505 0.99990061 -0.31122174] [ 0. 0. 0. 1. ]] SLAMing on 165.663133365 meters Centerline goodness : 0.093567 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.13, Z:-0.31 [[ 9.99880417e-01 6.11421167e-03 -1.42045304e-02 -1.02545480e+00] [-6.12844940e-03 9.99980761e-01 -9.59025354e-04 1.31783738e-01] [ 1.41983934e-02 1.04596242e-03 9.99898651e-01 -3.11731657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.693133365 meters Centerline goodness : 0.341359 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.13, Z:-0.31 [[ 9.99877289e-01 6.17081521e-03 -1.43989179e-02 -1.02482105e+00] [-6.18119553e-03 9.99980667e-01 -6.76516559e-04 1.30058239e-01] [ 1.43944648e-02 7.65436070e-04 9.99896101e-01 -3.12010600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.723133365 meters Centerline goodness : 0.089655 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.13, Z:-0.31 [[ 9.99875713e-01 6.24337547e-03 -1.44768032e-02 -1.02465310e+00] [-6.24809932e-03 9.99980441e-01 -2.81098857e-04 1.27714057e-01] [ 1.44747650e-02 3.71516424e-04 9.99895166e-01 -3.11963801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.843133365 meters Centerline goodness : 0.098433 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:-0.31 [[ 0.99990093 0.00165605 -0.01397818 -1.02588714] [-0.00169559 0.99999459 -0.00281711 0.11281516] [ 0.01397344 0.00284053 0.99989833 -0.31174653] [ 0. 0. 0. 1. ]] SLAMing on 165.873133365 meters Centerline goodness : 0.234194 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.11, Z:-0.31 [[ 0.99990241 0.00179221 -0.01385514 -1.02590361] [-0.00182517 0.99999553 -0.00236676 0.11026046] [ 0.01385083 0.00239182 0.99990121 -0.31218177] [ 0. 0. 0. 1. ]] SLAMing on 165.903133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.933133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 165.963133365 meters Centerline goodness : 0.102293 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.10, Z:-0.31 [[ 0.99989703 0.0012126 -0.0142992 -1.02461043] [-0.00124134 0.99999723 -0.00200108 0.09946811] [ 0.01429673 0.00201863 0.99989576 -0.31251156] [ 0. 0. 0. 1. ]] SLAMing on 165.99313336499998 meters Centerline goodness : 0.096934 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:-0.31 [[ 0.99984378 0.00958277 -0.01485203 -1.04454505] [-0.00962452 0.99994992 -0.00274255 0.09277157] [ 0.014825 0.00288507 0.99988594 -0.31378479] [ 0. 0. 0. 1. ]] SLAMing on 166.02313336499998 meters Centerline goodness : 0.101216 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99895673e-01 1.97789377e-03 -1.43084560e-02 -1.02619727e+00] [-1.99239704e-03 9.99997516e-01 -9.99431887e-04 9.43163194e-02] [ 1.43064437e-02 1.02783574e-03 9.99897129e-01 -3.12185091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05313336499998 meters Centerline goodness : 0.092626 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99898606e-01 2.08003511e-03 -1.40872378e-02 -1.02674382e+00] [-2.09175179e-03 9.99997479e-01 -8.17040023e-04 9.34151861e-02] [ 1.40855028e-02 8.46424185e-04 9.99900436e-01 -3.12174513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.11313336499998 meters Centerline goodness : 0.094067 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:-0.31 [[ 0.99985348 0.01052168 -0.01350219 -1.04829726] [-0.010546 0.99994289 -0.00173089 0.08817983] [ 0.01348321 0.00187303 0.99990734 -0.3136105 ] [ 0. 0. 0. 1. ]] SLAMing on 166.14313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.17313336499998 meters Centerline goodness : 0.096274 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.09, Z:-0.31 [[ 0.99985999 0.01112472 -0.01249992 -1.05148588] [-0.0111468 0.99993643 -0.00169822 0.09016644] [ 0.01248023 0.00183731 0.99992043 -0.31247938] [ 0. 0. 0. 1. ]] SLAMing on 166.20313336499999 meters Centerline goodness : 0.164122 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99916560e-01 3.71837736e-03 -1.23711691e-02 -1.03278697e+00] [-3.72387520e-03 9.99992978e-01 -4.21401425e-04 9.58486453e-02] [ 1.23695153e-02 4.67434953e-04 9.99923385e-01 -3.10981680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.233133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.263133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.293133365 meters Centerline goodness : 0.126963 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99906653e-01 3.88175937e-03 -1.31002881e-02 -1.03041784e+00] [-3.88913404e-03 9.99992293e-01 -5.37510598e-04 9.64722946e-02] [ 1.30981006e-02 5.88409199e-04 9.99914043e-01 -3.12142561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.323133365 meters Centerline goodness : 0.134127 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 9.99917574e-01 -3.84135986e-03 -1.22510747e-02 -1.01148978e+00] [ 3.85152013e-03 9.99992258e-01 8.05851360e-04 1.00383725e-01] [ 1.22478843e-02 -8.52970198e-04 9.99924628e-01 -3.10791552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.353133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.383133365 meters Centerline goodness : 0.132377 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99992159 -0.00377602 -0.01193942 -1.01218551] [ 0.00378852 0.9999923 0.00102511 0.09903284] [ 0.01193545 -0.00107027 0.9999282 -0.3108639 ] [ 0. 0. 0. 1. ]] SLAMing on 166.413133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 166.443133365 meters Centerline goodness : 0.134617 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991963 -0.00361267 -0.01215253 -1.01120324] [ 0.00362713 0.99999274 0.00116847 0.09907659] [ 0.01214822 -0.00121245 0.99992547 -0.31165216] [ 0. 0. 0. 1. ]] SLAMing on 166.473133365 meters Centerline goodness : 0.134670 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991743 -0.00361017 -0.01233249 -1.0105901 ] [ 0.00362429 0.9999928 0.0011226 0.0994257 ] [ 0.01232835 -0.0011672 0.99992332 -0.31199129] [ 0. 0. 0. 1. ]] SLAMing on 166.503133365 meters Centerline goodness : 0.124615 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991466 -0.00360376 -0.01255743 -1.00976328] [ 0.00361823 0.99999282 0.00112935 0.09938222] [ 0.01255327 -0.00117469 0.99992051 -0.31244196] [ 0. 0. 0. 1. ]] SLAMing on 166.533133365 meters Centerline goodness : 0.122564 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991285 -0.00362835 -0.01269355 -1.0092214 ] [ 0.00364278 0.99999274 0.00111406 0.09922011] [ 0.01268941 -0.0011602 0.99991881 -0.31279008] [ 0. 0. 0. 1. ]] SLAMing on 166.563133365 meters Centerline goodness : 0.153022 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99991114 -0.00363614 -0.01282541 -1.00872235] [ 0.00365112 0.99999268 0.00114451 0.09888538] [ 0.01282115 -0.00119124 0.9999171 -0.31306206] [ 0. 0. 0. 1. ]] SLAMing on 166.593133365 meters Centerline goodness : 0.130499 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.10, Z:-0.31 [[ 0.99990862 -0.00363031 -0.01302164 -1.00787102] [ 0.00364558 0.99999269 0.00114943 0.09897511] [ 0.01301737 -0.0011968 0.99991455 -0.31364455] [ 0. 0. 0. 1. ]] SLAMing on 166.623133365 meters Centerline goodness : 0.133576 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99892627e-01 4.54822587e-03 -1.39301276e-02 -1.02759392e+00] [-4.54720853e-03 9.99989656e-01 1.04704027e-04 9.42865177e-02] [ 1.39304598e-02 -4.13495898e-05 9.99902966e-01 -3.14620039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.653133365 meters Centerline goodness : 0.129520 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99890810e-01 4.51532876e-03 -1.40705419e-02 -1.02722714e+00] [-4.51647428e-03 9.99989799e-01 -4.96377268e-05 9.52718117e-02] [ 1.40701742e-02 1.13181547e-04 9.99901004e-01 -3.14715704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.683133365 meters Centerline goodness : 0.121577 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99885906e-01 4.44895946e-03 -1.44354558e-02 -1.02630509e+00] [-4.45577354e-03 9.99989976e-01 -4.39910128e-04 9.73478357e-02] [ 1.44333539e-02 5.04181058e-04 9.99895707e-01 -3.14892722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.713133365 meters Centerline goodness : 0.137999 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99885647e-01 4.39560992e-03 -1.44696885e-02 -1.02625150e+00] [-4.40531766e-03 9.99990092e-01 -6.39096677e-04 9.84079929e-02] [ 1.44667359e-02 7.02767168e-04 9.99895104e-01 -3.14908809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74313336499998 meters Centerline goodness : 0.198627 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.10, Z:-0.31 [[ 9.99887171e-01 4.34024753e-03 -1.43808132e-02 -1.02649209e+00] [-4.35218100e-03 9.99990210e-01 -7.98627083e-04 9.92903208e-02] [ 1.43772062e-02 8.61124877e-04 9.99896272e-01 -3.14916804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77313336499998 meters Centerline goodness : 0.143041 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.32 [[ 9.99900289e-01 -3.77922689e-03 -1.36062090e-02 -1.04721839e+00] [ 3.78168688e-03 9.99992837e-01 1.55074447e-04 1.03503134e-01] [ 1.36055255e-02 -2.06513407e-04 9.99907419e-01 -3.16317441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80313336499998 meters Centerline goodness : 0.129336 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.32 [[ 9.99901965e-01 -3.83867368e-03 -1.34657278e-02 -1.04797974e+00] [ 3.83958766e-03 9.99992628e-01 4.20227426e-05 1.04039976e-01] [ 1.34654672e-02 -9.37214652e-05 9.99909332e-01 -3.15660757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83313336499998 meters Centerline goodness : 0.122466 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901935e-01 -3.94317392e-03 -1.34377109e-02 -1.04849558e+00] [ 3.94238550e-03 9.99992225e-01 -8.51613347e-05 1.04411705e-01] [ 1.34379423e-02 3.21763466e-05 9.99909706e-01 -3.14902437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86313336499998 meters Centerline goodness : 0.122466 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901935e-01 -3.94317392e-03 -1.34377109e-02 -1.04849558e+00] [ 3.94238550e-03 9.99992225e-01 -8.51613347e-05 1.04411705e-01] [ 1.34379423e-02 3.21763466e-05 9.99909706e-01 -3.14902437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89313336499998 meters Centerline goodness : 0.132283 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901264e-01 -3.93271661e-03 -1.34906024e-02 -1.04835351e+00] [ 3.93250155e-03 9.99992267e-01 -4.24684770e-05 1.04149381e-01] [ 1.34906651e-02 -1.05875311e-05 9.99908997e-01 -3.14925937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92313336499998 meters Centerline goodness : 0.127723 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99900598e-01 -3.95826811e-03 -1.35324119e-02 -1.04823650e+00] [ 3.95787280e-03 9.99992166e-01 -5.59926132e-05 1.04057101e-01] [ 1.35325276e-02 2.42748227e-06 9.99908431e-01 -3.14920339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95313336499999 meters Centerline goodness : 0.142863 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99900512e-01 -3.96455115e-03 -1.35369407e-02 -1.04817034e+00] [ 3.96418523e-03 9.99992141e-01 -5.38645553e-05 1.03950476e-01] [ 1.35370478e-02 1.96256264e-07 9.99908370e-01 -3.14997140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.983133365 meters Centerline goodness : 0.132826 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901671e-01 -3.90086651e-03 -1.34696170e-02 -1.04864108e+00] [ 3.90265541e-03 9.99992379e-01 1.06526967e-04 1.03228603e-01] [ 1.34690988e-02 -1.59083765e-04 9.99909275e-01 -3.14444670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.013133365 meters Centerline goodness : 0.140863 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99904629e-01 -3.87194538e-03 -1.32567211e-02 -1.04945374e+00] [ 3.87472054e-03 9.99992476e-01 1.83661834e-04 1.02789337e-01] [ 1.32559102e-02 -2.35010407e-04 9.99912109e-01 -3.13952152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.043133365 meters Centerline goodness : 0.138106 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99908172e-01 -3.84854350e-03 -1.29937364e-02 -1.05039200e+00] [ 3.85266148e-03 9.99992536e-01 2.91903432e-04 1.02101523e-01] [ 1.29925160e-02 -3.41937095e-04 9.99915535e-01 -3.13443282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.073133365 meters Centerline goodness : 0.136910 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99909652e-01 -3.84606161e-03 -1.28800367e-02 -1.05074754e+00] [ 3.85093606e-03 9.99992523e-01 3.53669995e-04 1.01582523e-01] [ 1.28785801e-02 -4.03238239e-04 9.99916986e-01 -3.13276203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.103133365 meters Centerline goodness : 0.145562 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99906342e-01 -3.88116789e-03 -1.31241467e-02 -1.04987199e+00] [ 3.88445949e-03 9.99992430e-01 2.25322753e-04 1.02024335e-01] [ 1.31231728e-02 -2.76281866e-04 9.99913849e-01 -3.13801852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.133133365 meters Centerline goodness : 0.141024 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99904272e-01 -3.87514229e-03 -1.32827297e-02 -1.04932368e+00] [ 3.87765971e-03 9.99992468e-01 1.63776928e-04 1.02463447e-01] [ 1.32819950e-02 -2.15267156e-04 9.99911767e-01 -3.14113735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.163133365 meters Centerline goodness : 0.392983 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99903249e-01 -3.82626484e-03 -1.33735342e-02 -1.04910387e+00] [ 3.82992131e-03 9.99992635e-01 2.47810551e-04 1.02175164e-01] [ 1.33724875e-02 -2.99006159e-04 9.99910540e-01 -3.14142531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.193133365 meters Centerline goodness : 0.142634 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99903162e-01 -3.74974069e-03 -1.34017469e-02 -1.04907910e+00] [ 3.75631090e-03 9.99992837e-01 4.65111818e-04 1.01121326e-01] [ 1.33999069e-02 -5.15407905e-04 9.99910084e-01 -3.14082455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.223133365 meters Centerline goodness : 0.281558 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99901976e-01 -3.69227156e-03 -1.35057880e-02 -1.04878157e+00] [ 3.70231979e-03 9.99992888e-01 7.19067430e-04 9.97043780e-02] [ 1.35030369e-02 -7.68999690e-04 9.99908534e-01 -3.14105726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.253133365 meters Centerline goodness : 0.147773 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.31 [[ 9.99898878e-01 -3.65013999e-03 -1.37444288e-02 -1.04801315e+00] [ 3.66426249e-03 9.99992784e-01 1.00246454e-03 9.79602527e-02] [ 1.37406704e-02 -1.05272636e-03 9.99905038e-01 -3.14337969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.283133365 meters Centerline goodness : 0.131173 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:-0.32 [[ 0.99988017 -0.00390734 -0.01497927 -1.0442807 ] [ 0.00392595 0.99999156 0.0012134 0.0952222 ] [ 0.0149744 -0.00127206 0.99988707 -0.31554931] [ 0. 0. 0. 1. ]] SLAMing on 167.313133365 meters Centerline goodness : 0.202965 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:-0.32 [[ 0.99987533 -0.00386435 -0.01530976 -1.04321036] [ 0.00388705 0.99999139 0.0014531 0.0937807 ] [ 0.01530401 -0.00151243 0.99988174 -0.31594701] [ 0. 0. 0. 1. ]] SLAMing on 167.343133365 meters Centerline goodness : 0.157711 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.09, Z:-0.32 [[ 0.9998732 -0.00384838 -0.01545263 -1.04271971] [ 0.00387432 0.99999114 0.00164855 0.09250704] [ 0.01544615 -0.00170821 0.99987924 -0.31614425] [ 0. 0. 0. 1. ]] SLAMing on 167.373133365 meters Centerline goodness : 0.154814 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99892929e-01 2.35080995e-03 -1.44431178e-02 -1.02140964e+00] [-2.36445512e-03 9.99996774e-01 -9.27748933e-04 8.97396925e-02] [ 1.44408902e-02 9.61799702e-04 9.99895262e-01 -3.15970941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.403133365 meters Centerline goodness : 0.145923 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99893142e-01 2.44455792e-03 -1.44127702e-02 -1.02183102e+00] [-2.44889816e-03 9.99996961e-01 -2.83497705e-04 8.61591338e-02] [ 1.44120334e-02 3.18762818e-04 9.99896090e-01 -3.15245175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.433133365 meters Centerline goodness : 0.131209 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99893065e-01 2.57312920e-03 -1.43957320e-02 -1.02211413e+00] [-2.57184313e-03 9.99996687e-01 1.07849282e-04 8.43471629e-02] [ 1.43959618e-02 -7.08141848e-05 9.99896370e-01 -3.14801072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.463133365 meters Centerline goodness : 0.162397 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99892312e-01 2.65999870e-03 -1.44321874e-02 -1.02211640e+00] [-2.65422632e-03 9.99996390e-01 4.19105186e-04 8.26895370e-02] [ 1.44332501e-02 -3.80753762e-04 9.99895763e-01 -3.14604302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49313336499998 meters Centerline goodness : 0.146446 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99891823e-01 2.72310641e-03 -1.44542959e-02 -1.02202185e+00] [-2.71365866e-03 9.99996091e-01 6.73201776e-04 8.11497248e-02] [ 1.44560726e-02 -6.33904926e-04 9.99895305e-01 -3.14617647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52313336499998 meters Centerline goodness : 0.138801 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99891730e-01 2.76386316e-03 -1.44530138e-02 -1.02194578e+00] [-2.75166578e-03 9.99995841e-01 8.63751235e-04 7.98956825e-02] [ 1.44553410e-02 -8.23887853e-04 9.99895177e-01 -3.14685045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55313336499998 meters Centerline goodness : 0.147630 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99892543e-01 2.78877595e-03 -1.43918758e-02 -1.02209215e+00] [-2.77602815e-03 9.99995737e-01 9.05664946e-04 7.93800831e-02] [ 1.43943402e-02 -8.65615374e-04 9.99896021e-01 -3.14647988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58313336499998 meters Centerline goodness : 0.095588 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99891236e-01 2.78003831e-03 -1.44840123e-02 -1.02188117e+00] [-2.76954083e-03 9.99995887e-01 7.44770702e-04 8.01873504e-02] [ 1.44860232e-02 -7.04575635e-04 9.99894824e-01 -3.14658622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61313336499998 meters Centerline goodness : 0.123305 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99888758e-01 2.75834022e-03 -1.46582255e-02 -1.02147658e+00] [-2.75119975e-03 9.99996087e-01 5.07273797e-04 8.14807989e-02] [ 1.46595674e-02 -4.66889660e-04 9.99892434e-01 -3.14687765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64313336499998 meters Centerline goodness : 0.122990 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99885943e-01 2.78241834e-03 -1.48444739e-02 -1.02101570e+00] [-2.77922063e-03 9.99996110e-01 2.36039182e-04 8.32195961e-02] [ 1.48450729e-02 -1.94756192e-04 9.99889787e-01 -3.14823801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67313336499998 meters Centerline goodness : 0.089396 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99889688e-01 3.23396774e-03 -1.44966650e-02 -1.02197999e+00] [-3.23231823e-03 9.99994767e-01 1.37213558e-04 8.57131893e-02] [ 1.44970329e-02 -9.03405870e-05 9.99894908e-01 -3.14790862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70313336499999 meters Centerline goodness : 0.175628 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99893247e-01 3.16386166e-03 -1.42647969e-02 -1.02262843e+00] [-3.16626712e-03 9.99994977e-01 -1.46048158e-04 8.71654555e-02] [ 1.42642632e-02 1.91198725e-04 9.99898242e-01 -3.14733569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.733133365 meters Centerline goodness : 0.144236 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99898172e-01 3.11597240e-03 -1.39260763e-02 -1.02378429e+00] [-3.12071179e-03 9.99995080e-01 -3.18607126e-04 8.80181003e-02] [ 1.39250150e-02 3.62033953e-04 9.99902977e-01 -3.14247681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.763133365 meters Centerline goodness : 0.148487 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99903621e-01 3.05619200e-03 -1.35428142e-02 -1.02520919e+00] [-3.06235075e-03 9.99995217e-01 -4.34047565e-04 8.85411694e-02] [ 1.35414228e-02 4.75478579e-04 9.99908198e-01 -3.13425481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.793133365 meters Centerline goodness : 0.161795 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99908599e-01 3.04339436e-03 -1.31731693e-02 -1.02673803e+00] [-3.05044237e-03 9.99995215e-01 -5.14967844e-04 8.92284199e-02] [ 1.31715390e-02 5.55104769e-04 9.99913097e-01 -3.12382304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.823133365 meters Centerline goodness : 0.088837 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99906818e-01 2.97992559e-03 -1.33220097e-02 -1.02624247e+00] [-2.98834965e-03 9.99995347e-01 -6.12480508e-04 8.95092680e-02] [ 1.33201226e-02 6.52234258e-04 9.99911071e-01 -3.12596202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.853133365 meters Centerline goodness : 0.156608 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.09, Z:-0.31 [[ 9.99904780e-01 2.92558849e-03 -1.34859697e-02 -1.02548256e+00] [-2.93565404e-03 9.99995427e-01 -7.26636704e-04 8.99076337e-02] [ 1.34837822e-02 7.66157655e-04 9.99908796e-01 -3.13169915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.883133365 meters Centerline goodness : 0.102444 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99902670e-01 2.90207326e-03 -1.36465665e-02 -1.02487042e+00] [-2.91302241e-03 9.99995451e-01 -7.82528362e-04 9.01110221e-02] [ 1.36442334e-02 8.22204952e-04 9.99906575e-01 -3.13568295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.913133365 meters Centerline goodness : 0.117483 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99900556e-01 2.96690692e-03 -1.37868258e-02 -1.02435714e+00] [-2.97807398e-03 9.99995254e-01 -7.89520974e-04 9.05686802e-02] [ 1.37844180e-02 8.30500648e-04 9.99904645e-01 -3.13882777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.943133365 meters Centerline goodness : 0.089029 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99897535e-01 2.99385361e-03 -1.39984300e-02 -1.02364444e+00] [-3.00539059e-03 9.99995161e-01 -8.03198200e-04 9.08320808e-02] [ 1.39959576e-02 8.45186650e-04 9.99901695e-01 -3.14248292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.973133365 meters Centerline goodness : 0.150492 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99894356e-01 2.99438331e-03 -1.42235979e-02 -1.02273678e+00] [-3.00640642e-03 9.99995141e-01 -8.23986292e-04 9.09547291e-02] [ 1.42210615e-02 8.66661159e-04 9.99898500e-01 -3.14853548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.003133365 meters Centerline goodness : 0.108624 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99891142e-01 2.96834788e-03 -1.44531661e-02 -1.02199306e+00] [-2.98119287e-03 9.99995180e-01 -8.67268289e-04 9.10440237e-02] [ 1.44505220e-02 9.10261555e-04 9.99895171e-01 -3.15202211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.033133365 meters Centerline goodness : 0.148989 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.32 [[ 9.99891561e-01 2.96715947e-03 -1.44243853e-02 -1.02211337e+00] [-2.97948607e-03 9.99995214e-01 -8.33151747e-04 9.07743862e-02] [ 1.44218442e-02 8.76038656e-04 9.99895616e-01 -3.15101457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.063133365 meters Centerline goodness : 0.142090 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99900838e-01 2.91800227e-03 -1.37767536e-02 -1.02419155e+00] [-2.92684898e-03 9.99995523e-01 -6.22028611e-04 8.90847994e-02] [ 1.37748769e-02 6.62289407e-04 9.99904903e-01 -3.14165513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.093133365 meters Centerline goodness : 0.220488 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99902764e-01 2.96760788e-03 -1.36255601e-02 -1.02479374e+00] [-2.97283007e-03 9.99995515e-01 -3.63026240e-04 8.76007931e-02] [ 1.36244217e-02 4.03497416e-04 9.99907102e-01 -3.13721837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.123133365 meters Centerline goodness : 0.088945 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.09, Z:-0.31 [[ 9.99901384e-01 3.04230312e-03 -1.37101097e-02 -1.02448988e+00] [-3.04369788e-03 9.99995365e-01 -8.08674795e-05 8.60863574e-02] [ 1.37098001e-02 1.22588937e-04 9.99906009e-01 -3.13855227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.153133365 meters Centerline goodness : 0.089187 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99897998e-01 3.12795722e-03 -1.39359246e-02 -1.02369902e+00] [-3.12551336e-03 9.99995096e-01 1.97139862e-04 8.46843292e-02] [ 1.39364729e-02 -1.53562835e-04 9.99902871e-01 -3.14233706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.183133365 meters Centerline goodness : 0.143095 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99892729e-01 3.23057729e-03 -1.42861723e-02 -1.02245031e+00] [-3.22251169e-03 9.99994635e-01 5.87557712e-04 8.23071806e-02] [ 1.42879939e-02 -5.41457326e-04 9.99897775e-01 -3.14800112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.213133365 meters Centerline goodness : 0.176883 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99893130e-01 3.26511525e-03 -1.42501562e-02 -1.02255269e+00] [-3.25442060e-03 9.99994405e-01 7.73617753e-04 8.10402553e-02] [ 1.42526024e-02 -7.27159075e-04 9.99898162e-01 -3.14747641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24313336499998 meters Centerline goodness : 0.156782 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 9.99893439e-01 3.32146343e-03 -1.42154660e-02 -1.02288065e+00] [-3.30783139e-03 9.99994047e-01 9.82363604e-04 7.97650013e-02] [ 1.42186442e-02 -9.35236558e-04 9.99898473e-01 -3.14345833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27313336499998 meters Centerline goodness : 0.130065 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.08, Z:-0.31 [[ 0.99989396 0.0033852 -0.01416373 -1.02325605] [-0.0033679 0.99999355 0.00124507 0.07815216] [ 0.01416785 -0.00119723 0.99989891 -0.31391711] [ 0. 0. 0. 1. ]] SLAMing on 168.30313336499998 meters Centerline goodness : 0.149410 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:-0.31 [[ 0.99988968 0.00359049 -0.01441334 -1.02273982] [-0.00356272 0.99999175 0.00195152 0.07439102] [ 0.01442022 -0.00189996 0.99989422 -0.31371193] [ 0. 0. 0. 1. ]] SLAMing on 168.33313336499998 meters Centerline goodness : 0.145160 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:-0.31 [[ 0.99988848 0.00373509 -0.0144595 -1.02247593] [-0.0037008 0.99999028 0.00239719 0.07211148] [ 0.01446832 -0.00234341 0.99989258 -0.31389267] [ 0. 0. 0. 1. ]] SLAMing on 168.36313336499998 meters Centerline goodness : 0.159964 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.07, Z:-0.31 [[ 0.99988931 0.00384608 -0.01437293 -1.02257797] [-0.0038063 0.99998885 0.00279409 0.06999376] [ 0.01438351 -0.00273907 0.9998928 -0.31399312] [ 0. 0. 0. 1. ]] SLAMing on 168.39313336499998 meters Centerline goodness : 0.148364 Centerline is valid? [False, False] Translation: X:-1.03, Y:0.07, Z:-0.31 [[ 9.99914972e-01 1.70350249e-03 -1.29285012e-02 -1.02782743e+00] [-1.69049124e-03 9.99998054e-01 1.01726166e-03 6.65148812e-02] [ 1.29302089e-02 -9.95319644e-04 9.99915906e-01 -3.11927752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42313336499998 meters Centerline goodness : 0.149472 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.06, Z:-0.31 [[ 9.99885367e-01 1.27230305e-03 -1.50875800e-02 -1.07377843e+00] [-1.25841946e-03 9.99998776e-01 9.29658094e-04 6.29537052e-02] [ 1.50887443e-02 -9.10565020e-04 9.99885744e-01 -3.11140007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45313336499999 meters Centerline goodness : 0.148144 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.06, Z:-0.31 [[ 9.99884290e-01 1.31676657e-03 -1.51549315e-02 -1.07365667e+00] [-1.30307914e-03 9.99998734e-01 9.13005686e-04 6.32478665e-02] [ 1.51561146e-02 -8.93151968e-04 9.99884741e-01 -3.11143294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.483133365 meters Centerline goodness : 0.146233 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.06, Z:-0.31 [[ 9.99881410e-01 1.39059349e-03 -1.53372881e-02 -1.07312372e+00] [-1.37824596e-03 9.99998718e-01 8.15606378e-04 6.42791861e-02] [ 1.53384026e-02 -7.94371100e-04 9.99882044e-01 -3.11356110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.513133365 meters Centerline goodness : 0.098423 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984341 0.00188422 -0.01759554 -1.11922864] [-0.00185777 0.99999712 0.00151963 0.06225091] [ 0.01759835 -0.0014867 0.99984403 -0.31068484] [ 0. 0. 0. 1. ]] SLAMing on 168.543133365 meters Centerline goodness : 0.147547 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984574 0.0018883 -0.01746227 -1.11966447] [-0.00186422 0.99999729 0.00139511 0.06319514] [ 0.01746486 -0.00136235 0.99984655 -0.31055505] [ 0. 0. 0. 1. ]] SLAMing on 168.573133365 meters Centerline goodness : 0.088913 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984777 0.00180632 -0.01735447 -1.11991561] [-0.00178531 0.99999766 0.00122577 0.06385316] [ 0.01735664 -0.0011946 0.99984865 -0.31060482] [ 0. 0. 0. 1. ]] SLAMing on 168.603133365 meters Centerline goodness : 0.145347 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99984482 0.00169829 -0.01753417 -1.11924042] [-0.00167829 0.99999792 0.00115525 0.06360375] [ 0.01753609 -0.00112564 0.9998456 -0.31098725] [ 0. 0. 0. 1. ]] SLAMing on 168.633133365 meters Centerline goodness : 0.150594 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99983997 0.00162358 -0.01781562 -1.11837139] [-0.00160275 0.99999802 0.00118363 0.06294773] [ 0.01781751 -0.00115488 0.99984059 -0.31129986] [ 0. 0. 0. 1. ]] SLAMing on 168.663133365 meters Centerline goodness : 0.146907 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 0.99983549 0.00161494 -0.01806595 -1.11774702] [-0.00159091 0.99999783 0.00134443 0.0618371 ] [ 0.01806808 -0.00131547 0.99983589 -0.31134498] [ 0. 0. 0. 1. ]] SLAMing on 168.693133365 meters Centerline goodness : 0.158106 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.07, Z:-0.31 [[ 0.99982394 -0.00653024 -0.01759119 -1.09763277] [ 0.00657284 0.9999756 0.00236501 0.06519731] [ 0.01757531 -0.00248022 0.99984247 -0.31020444] [ 0. 0. 0. 1. ]] SLAMing on 168.723133365 meters Centerline goodness : 0.150505 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.06, Z:-0.31 [[ 9.99882454e-01 -1.43268088e-04 -1.53315670e-02 -1.11708369e+00] [ 1.63545263e-04 9.99999114e-01 1.32133116e-03 5.69875903e-02] [ 1.53313641e-02 -1.32368324e-03 9.99881592e-01 -3.12184637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.753133365 meters Centerline goodness : 0.152314 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.31 [[ 9.99889596e-01 -9.58411538e-04 -1.48282486e-02 -1.11889172e+00] [ 9.79162074e-04 9.99998552e-01 1.39219547e-03 5.05819603e-02] [ 1.48268929e-02 -1.40656102e-03 9.99889086e-01 -3.11169993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.783133365 meters Centerline goodness : 0.152314 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.31 [[ 9.99889596e-01 -9.58411538e-04 -1.48282486e-02 -1.11889172e+00] [ 9.79162074e-04 9.99998552e-01 1.39219547e-03 5.05819603e-02] [ 1.48268929e-02 -1.40656102e-03 9.99889086e-01 -3.11169993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.813133365 meters Centerline goodness : 0.160398 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.05, Z:-0.31 [[ 9.99885326e-01 -9.82620272e-04 -1.51118711e-02 -1.11805535e+00] [ 1.01110258e-03 9.99997727e-01 1.87723925e-03 4.73093250e-02] [ 1.51099921e-02 -1.89230363e-03 9.99884047e-01 -3.11312076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.843133365 meters Centerline goodness : 0.243789 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.31 [[ 9.99879142e-01 -9.72190492e-04 -1.55163149e-02 -1.11672966e+00] [ 1.00901486e-03 9.99996693e-01 2.36561536e-03 4.40477524e-02] [ 1.55139638e-02 -2.38098565e-03 9.99876816e-01 -3.11817717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.873133365 meters Centerline goodness : 0.126291 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.04, Z:-0.31 [[ 9.99871615e-01 -7.23277326e-04 -1.60072266e-02 -1.11500837e+00] [ 7.76042676e-04 9.99994286e-01 3.29037950e-03 3.82563454e-02] [ 1.60047553e-02 -3.30237935e-03 9.99866462e-01 -3.12530568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.903133365 meters Centerline goodness : 0.129157 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99869371e-01 -5.67748273e-04 -1.61529527e-02 -1.11453530e+00] [ 6.26438138e-04 9.99993221e-01 3.62855537e-03 3.66749668e-02] [ 1.61507831e-02 -3.63820020e-03 9.99862948e-01 -3.12695113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.933133365 meters Centerline goodness : 0.128919 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.04, Z:-0.31 [[ 9.99868382e-01 -3.74295660e-04 -1.62196735e-02 -1.11442180e+00] [ 4.37768791e-04 9.99992260e-01 3.90996837e-03 3.55961348e-02] [ 1.62180844e-02 -3.91655421e-03 9.99860807e-01 -3.12648661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96313336499998 meters Centerline goodness : 0.141284 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.03, Z:-0.31 [[ 9.99870177e-01 -2.74266912e-04 -1.61106887e-02 -1.11471631e+00] [ 3.39746798e-04 9.99991693e-01 4.06177898e-03 3.49235188e-02] [ 1.61094409e-02 -4.06672522e-03 9.99861964e-01 -3.12583760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99313336499998 meters Centerline goodness : 0.128217 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99871356e-01 -1.63762873e-04 -1.60388767e-02 -1.11502815e+00] [ 2.31293829e-04 9.99991117e-01 4.20868975e-03 3.40970022e-02] [ 1.60380450e-02 -4.21185802e-03 9.99862511e-01 -3.12408646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02313336499998 meters Centerline goodness : 0.120190 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99875044e-01 9.57029217e-05 -1.58078327e-02 -1.11563188e+00] [-2.28586143e-05 9.99989382e-01 4.60823119e-03 3.22110110e-02] [ 1.58081058e-02 -4.60729402e-03 9.99864429e-01 -3.12370805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05313336499998 meters Centerline goodness : 0.120190 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99875044e-01 9.57029217e-05 -1.58078327e-02 -1.11563188e+00] [-2.28586143e-05 9.99989382e-01 4.60823119e-03 3.22110110e-02] [ 1.58081058e-02 -4.60729402e-03 9.99864429e-01 -3.12370805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08313336499998 meters Centerline goodness : 0.120265 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.03, Z:-0.31 [[ 9.99873375e-01 2.96304727e-04 -1.59105898e-02 -1.11526419e+00] [-2.15491977e-04 9.99987070e-01 5.08065423e-03 2.97653783e-02] [ 1.59118895e-02 -5.07658228e-03 9.99860510e-01 -3.12566974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11313336499998 meters Centerline goodness : 0.148214 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.02, Z:-0.31 [[ 9.99835335e-01 -4.25186799e-04 -1.81416984e-02 -1.16108531e+00] [ 5.20462864e-04 9.99986097e-01 5.24737389e-03 2.48825122e-02] [ 1.81392151e-02 -5.25595191e-03 9.99821656e-01 -3.11745637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14313336499998 meters Centerline goodness : 0.120896 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.02, Z:-0.31 [[ 0.99982769 0.00760814 -0.01693238 -1.14214782] [-0.00754123 0.99996352 0.00401159 0.02015538] [ 0.01696228 -0.00388321 0.99984859 -0.3100315 ] [ 0. 0. 0. 1. ]] SLAMing on 169.17313336499998 meters Centerline goodness : 0.145491 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.02, Z:-0.31 [[ 0.99983004 0.00771806 -0.01674282 -1.14295779] [-0.0076455 0.99996112 0.00439356 0.01803702] [ 0.01677608 -0.0042648 0.99985018 -0.30944119] [ 0. 0. 0. 1. ]] SLAMing on 169.20313336499999 meters Centerline goodness : 0.142444 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.31 [[ 0.99986181 0.00565091 -0.01563441 -1.14738319] [-0.00561024 0.99998077 0.00264414 0.01485845] [ 0.01564905 -0.00255606 0.99987428 -0.30750665] [ 0. 0. 0. 1. ]] SLAMing on 169.233133365 meters Centerline goodness : 0.135828 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.31 [[ 9.99889794e-01 3.47449086e-03 -1.44335653e-02 -1.15189373e+00] [-3.46232794e-03 9.99993630e-01 8.67586242e-04 1.12738302e-02] [ 1.44364878e-02 -8.17516893e-04 9.99895454e-01 -3.05629014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.263133365 meters Centerline goodness : 0.134982 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.31 [[ 0.99989169 0.00360021 -0.01427073 -1.1524502 ] [-0.00358028 0.99999258 0.00142214 0.00807533] [ 0.01427574 -0.00137089 0.99989716 -0.30532536] [ 0. 0. 0. 1. ]] SLAMing on 169.293133365 meters Centerline goodness : 0.133511 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.00, Z:-0.31 [[ 0.99988782 0.00387201 -0.01446914 -1.15181934] [-0.00383765 0.99998975 0.00240189 0.00254081] [ 0.0144783 -0.00234609 0.99989243 -0.30547278] [ 0. 0. 0. 1. ]] SLAMing on 169.323133365 meters Centerline goodness : 0.134829 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.00, Z:-0.31 [[ 0.99987131 -0.00479713 -0.01530871 -1.17216003] [ 0.00485446 0.99998133 0.00370999 0.00300403] [ 0.01529063 -0.00378383 0.99987593 -0.30672392] [ 0. 0. 0. 1. ]] SLAMing on 169.353133365 meters Centerline goodness : 0.135715 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.00, Z:-0.31 [[ 9.99873888e-01 -4.65159023e-03 -1.51845850e-02 -1.17241867e+00] [ 4.71406558e-03 9.99980561e-01 4.08119639e-03 1.07017179e-03] [ 1.51653058e-02 -4.15226283e-03 9.99876378e-01 -3.06739374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.383133365 meters Centerline goodness : 0.132891 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-0.30 [[ 0.9998895 0.00371661 -0.01439331 -1.15361678] [-0.0036764 0.99998927 0.00281887 -0.00341355] [ 0.01440363 -0.00276565 0.99989244 -0.30495836] [ 0. 0. 0. 1. ]] SLAMing on 169.413133365 meters Centerline goodness : 0.132350 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-0.30 [[ 0.99989177 0.00376404 -0.01422229 -1.15408748] [-0.00372302 0.99998884 0.00290908 -0.00402447] [ 0.01423308 -0.00285581 0.99989463 -0.30489179] [ 0. 0. 0. 1. ]] SLAMing on 169.443133365 meters Centerline goodness : 0.130899 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.00, Z:-0.30 [[ 0.99989135 0.00387282 -0.01422301 -1.15404734] [-0.00382992 0.99998804 0.00304175 -0.00454395] [ 0.01423462 -0.00298695 0.99989422 -0.30497851] [ 0. 0. 0. 1. ]] SLAMing on 169.473133365 meters Centerline goodness : 0.123805 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.31 [[ 0.99988593 0.00419145 -0.01451079 -1.15300485] [-0.00414112 0.99998531 0.00349669 -0.00613885] [ 0.01452524 -0.0034362 0.9998886 -0.30562444] [ 0. 0. 0. 1. ]] SLAMing on 169.503133365 meters Centerline goodness : 0.139881 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.30 [[ 0.99988567 -0.003305 -0.01475545 -1.13299149] [ 0.00337109 0.99998439 0.0044567 -0.00229335] [ 0.01474049 -0.00450593 0.9998812 -0.3047631 ] [ 0. 0. 0. 1. ]] SLAMing on 169.533133365 meters Centerline goodness : 0.127487 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.00, Z:-0.30 [[ 0.99988524 -0.0031832 -0.01481132 -1.13272938] [ 0.00325424 0.99998331 0.00477462 -0.00407122] [ 0.01479587 -0.00482227 0.99987891 -0.30492466] [ 0. 0. 0. 1. ]] SLAMing on 169.563133365 meters Centerline goodness : 0.127798 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99988722 -0.00308696 -0.01469776 -1.13292412] [ 0.00316272 0.99998182 0.00513397 -0.00623914] [ 0.01468164 -0.00517988 0.9998788 -0.3050015 ] [ 0. 0. 0. 1. ]] SLAMing on 169.593133365 meters Centerline goodness : 0.129853 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.9998883 -0.00298963 -0.01464428 -1.13299451] [ 0.00307081 0.99998003 0.00552428 -0.00857283] [ 0.01462747 -0.00556863 0.99987751 -0.30501249] [ 0. 0. 0. 1. ]] SLAMing on 169.623133365 meters Centerline goodness : 0.127301 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99988165 -0.00274988 -0.01513706 -1.13143483] [ 0.00284442 0.99997656 0.00622761 -0.01236086] [ 0.01511958 -0.00626993 0.99986603 -0.30554466] [ 0. 0. 0. 1. ]] SLAMing on 169.653133365 meters Centerline goodness : 0.126243 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99987781 -0.00264788 -0.01540645 -1.13048264] [ 0.00274734 0.9999755 0.00643817 -0.01337994] [ 0.01538902 -0.00647971 0.99986059 -0.30601805] [ 0. 0. 0. 1. ]] SLAMing on 169.683133365 meters Centerline goodness : 0.126243 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99987781 -0.00264788 -0.01540645 -1.13048264] [ 0.00274734 0.9999755 0.00643817 -0.01337994] [ 0.01538902 -0.00647971 0.99986059 -0.30601805] [ 0. 0. 0. 1. ]] SLAMing on 169.71313336499998 meters Centerline goodness : 0.172524 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.01, Z:-0.31 [[ 0.99987329 -0.00257173 -0.01570979 -1.12943783] [ 0.00267497 0.99997494 0.0065547 -0.01404909] [ 0.01569254 -0.00659589 0.99985511 -0.30651 ] [ 0. 0. 0. 1. ]] SLAMing on 169.74313336499998 meters Centerline goodness : 0.128043 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99985798 0.00521837 -0.01602482 -1.14855291] [-0.00513017 0.99997149 0.00554037 -0.02072524] [ 0.01605327 -0.00545737 0.99985624 -0.30857285] [ 0. 0. 0. 1. ]] SLAMing on 169.77313336499998 meters Centerline goodness : 0.124813 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99986129 0.00526774 -0.01580023 -1.14926672] [-0.00518012 0.99997101 0.00558111 -0.02078698] [ 0.01582918 -0.00549849 0.99985959 -0.30836511] [ 0. 0. 0. 1. ]] SLAMing on 169.80313336499998 meters Centerline goodness : 0.126368 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.02, Z:-0.31 [[ 0.99987516 -0.00350182 -0.01540775 -1.17058283] [ 0.00360187 0.99997258 0.00647029 -0.01735538] [ 0.01538467 -0.00652498 0.99986036 -0.30949919] [ 0. 0. 0. 1. ]] SLAMing on 169.83313336499998 meters Centerline goodness : 0.123095 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99987413 0.0048906 -0.01509329 -1.15124302] [-0.00481524 0.99997578 0.00502522 -0.01993371] [ 0.0151175 -0.00495191 0.99987346 -0.30776941] [ 0. 0. 0. 1. ]] SLAMing on 169.86313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 169.89313336499998 meters Centerline goodness : 0.124788 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99987927 0.00487262 -0.01475476 -1.15207476] [-0.0048019 0.99997683 0.00482453 -0.01875517] [ 0.01477792 -0.00475309 0.9998795 -0.30780829] [ 0. 0. 0. 1. ]] SLAMing on 169.92313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 169.95313336499999 meters Centerline goodness : 0.125455 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99988788 0.00483813 -0.01417108 -1.1539787 ] [-0.0047742 0.99997829 0.00454183 -0.01690517] [ 0.01419274 -0.00447367 0.99988927 -0.30703891] [ 0. 0. 0. 1. ]] SLAMing on 169.983133365 meters Centerline goodness : 0.085459 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99988909 0.00473455 -0.01412044 -1.15407919] [-0.00467428 0.99997984 0.00429877 -0.01584459] [ 0.01414051 -0.00423229 0.99989106 -0.30714933] [ 0. 0. 0. 1. ]] SLAMing on 170.013133365 meters Centerline goodness : 0.128927 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.99988931 0.00465823 -0.01413068 -1.15394943] [-0.00460048 0.99998094 0.00411718 -0.01500737] [ 0.01414958 -0.00405171 0.99989168 -0.30739198] [ 0. 0. 0. 1. ]] SLAMing on 170.043133365 meters Centerline goodness : 0.185904 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-0.31 [[ 0.99987314 -0.00417589 -0.01537116 -1.17409514] [ 0.00425433 0.99997808 0.00507392 -0.01169715] [ 0.01534964 -0.00513867 0.99986898 -0.30854151] [ 0. 0. 0. 1. ]] SLAMing on 170.073133365 meters Centerline goodness : 0.125775 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.01, Z:-0.31 [[ 0.99986971 -0.00427897 -0.01556478 -1.17360532] [ 0.00435891 0.99997747 0.00510546 -0.01234405] [ 0.01554258 -0.00517264 0.99986583 -0.30856046] [ 0. 0. 0. 1. ]] SLAMing on 170.103133365 meters Centerline goodness : 0.126268 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.31 [[ 0.9998828 0.00314518 -0.01498303 -1.15475565] [-0.00309961 0.9999905 0.00306417 -0.01615177] [ 0.01499253 -0.00301736 0.99988305 -0.30655818] [ 0. 0. 0. 1. ]] SLAMing on 170.133133365 meters Centerline goodness : 0.129752 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988447 0.00314556 -0.01487118 -1.15541629] [-0.00309675 0.99998975 0.00330406 -0.01783045] [ 0.01488142 -0.00325763 0.99988396 -0.3058709 ] [ 0. 0. 0. 1. ]] SLAMing on 170.163133365 meters Centerline goodness : 0.138778 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988656 0.00315417 -0.0147283 -1.15608553] [-0.00310243 0.99998894 0.00353479 -0.01925753] [ 0.01473929 -0.00348869 0.99988528 -0.30530973] [ 0. 0. 0. 1. ]] SLAMing on 170.193133365 meters Centerline goodness : 0.143623 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988814 0.00326019 -0.01459711 -1.15652249] [-0.00320474 0.99998757 0.00382047 -0.02050823] [ 0.01460938 -0.00377326 0.99988616 -0.30509531] [ 0. 0. 0. 1. ]] SLAMing on 170.223133365 meters Centerline goodness : 0.137738 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.9998893 0.00332313 -0.01450301 -1.15661318] [-0.00326507 0.99998657 0.00402482 -0.02152747] [ 0.01451619 -0.00397703 0.99988673 -0.30528514] [ 0. 0. 0. 1. ]] SLAMing on 170.253133365 meters Centerline goodness : 0.176233 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988924 0.00339707 -0.01448997 -1.15641735] [-0.00333611 0.99998549 0.00422916 -0.02260052] [ 0.01450412 -0.00418035 0.99988607 -0.30560271] [ 0. 0. 0. 1. ]] SLAMing on 170.283133365 meters Centerline goodness : 0.124941 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99988721 0.00337977 -0.01463345 -1.15577379] [-0.00331495 0.99998459 0.00445208 -0.02457821] [ 0.01464827 -0.00440307 0.99988301 -0.30599499] [ 0. 0. 0. 1. ]] SLAMing on 170.313133365 meters Centerline goodness : 0.126478 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.03, Z:-0.31 [[ 0.99988623 0.00337338 -0.01470175 -1.1555136 ] [-0.00330735 0.99998434 0.00451347 -0.02518606] [ 0.01471675 -0.00446433 0.99988174 -0.30613768] [ 0. 0. 0. 1. ]] SLAMing on 170.343133365 meters Centerline goodness : 0.131735 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99988185 0.00340349 -0.01498982 -1.15478617] [-0.00333482 0.99998384 0.00460356 -0.02570603] [ 0.01500524 -0.00455302 0.99987705 -0.30621753] [ 0. 0. 0. 1. ]] SLAMing on 170.373133365 meters Centerline goodness : 0.132424 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99987671 0.0034121 -0.01532748 -1.15371682] [-0.00334154 0.99998371 0.00462688 -0.02589125] [ 0.01534302 -0.00457509 0.99987182 -0.30669503] [ 0. 0. 0. 1. ]] SLAMing on 170.403133365 meters Centerline goodness : 0.156563 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99987033 0.00342934 -0.01573381 -1.15236596] [-0.00335654 0.99998355 0.00465126 -0.02606005] [ 0.01574951 -0.00459785 0.9998654 -0.30730866] [ 0. 0. 0. 1. ]] SLAMing on 170.433133365 meters Centerline goodness : 0.134636 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99986743 0.00342243 -0.01591883 -1.15161737] [-0.00334905 0.99998365 0.00463404 -0.02610744] [ 0.01593443 -0.00458012 0.99986255 -0.30780987] [ 0. 0. 0. 1. ]] SLAMing on 170.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 170.49313336499998 meters Centerline goodness : 0.060158 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99988159 0.00360114 -0.01496153 -1.15454861] [-0.00352976 0.99998228 0.00479428 -0.02652548] [ 0.01497853 -0.0047409 0.99987658 -0.30674436] [ 0. 0. 0. 1. ]] SLAMing on 170.52313336499998 meters Centerline goodness : 0.130793 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99988238 0.00357345 -0.01491523 -1.15490292] [-0.00350257 0.99998246 0.00477545 -0.02671079] [ 0.01493203 -0.00472265 0.99987736 -0.30644103] [ 0. 0. 0. 1. ]] SLAMing on 170.55313336499998 meters Centerline goodness : 0.133581 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.99987971 0.00355143 -0.01509783 -1.1544375 ] [-0.00347992 0.99998262 0.00476009 -0.02684294] [ 0.01511447 -0.00470698 0.99987469 -0.30652978] [ 0. 0. 0. 1. ]] SLAMing on 170.58313336499998 meters Centerline goodness : 0.146494 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.9998756 0.00351468 -0.01537641 -1.15347825] [-0.00344275 0.99998302 0.00470182 -0.02671597] [ 0.01539267 -0.0046483 0.99987072 -0.30701863] [ 0. 0. 0. 1. ]] SLAMing on 170.61313336499998 meters Centerline goodness : 0.150447 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.03, Z:-0.31 [[ 0.9998725 0.00348517 -0.01558292 -1.15263669] [-0.00341331 0.99998343 0.00463512 -0.02639695] [ 0.01559882 -0.00458134 0.99986784 -0.3075856 ] [ 0. 0. 0. 1. ]] SLAMing on 170.64313336499998 meters Centerline goodness : 0.437819 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.31 [[ 0.99984235 0.00264534 -0.01755796 -1.19958175] [-0.00256632 0.99998648 0.00452152 -0.02785836] [ 0.01756969 -0.00447575 0.99983562 -0.30634192] [ 0. 0. 0. 1. ]] SLAMing on 170.67313336499998 meters Centerline goodness : 0.437819 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.03, Z:-0.31 [[ 0.99984235 0.00264534 -0.01755796 -1.19958175] [-0.00256632 0.99998648 0.00452152 -0.02785836] [ 0.01756969 -0.00447575 0.99983562 -0.30634192] [ 0. 0. 0. 1. ]] SLAMing on 170.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 170.733133365 meters Centerline goodness : 0.126804 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.31 [[ 0.99984891 0.00273224 -0.01716668 -1.20077114] [-0.00266286 0.9999882 0.00406289 -0.02417464] [ 0.01717758 -0.00401657 0.99984439 -0.3061196 ] [ 0. 0. 0. 1. ]] SLAMing on 170.763133365 meters Centerline goodness : 0.123339 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.02, Z:-0.31 [[ 0.99985941 0.0051151 -0.01596888 -1.15598575] [-0.00504201 0.99997664 0.00461412 -0.0174253 ] [ 0.0159921 -0.00453295 0.99986184 -0.3063217 ] [ 0. 0. 0. 1. ]] SLAMing on 170.793133365 meters Centerline goodness : 0.188325 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.01, Z:-0.31 [[ 0.99986308 -0.00295585 -0.01628135 -1.17535632] [ 0.0030532 0.99997759 0.00595784 -0.01061029] [ 0.01626337 -0.00600674 0.9998497 -0.30853864] [ 0. 0. 0. 1. ]] SLAMing on 170.823133365 meters Centerline goodness : 0.125019 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.00, Z:-0.31 [[ 0.99986186 -0.0030455 -0.01633967 -1.17496025] [ 0.00312577 0.99998316 0.00488923 -0.00364875] [ 0.0163245 -0.00493963 0.99985454 -0.30932151] [ 0. 0. 0. 1. ]] SLAMing on 170.853133365 meters Centerline goodness : 0.137646 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.00, Z:-0.31 [[ 9.99872176e-01 5.37026993e-03 -1.50595969e-02 -1.15545866e+00] [-5.32534213e-03 9.99981254e-01 3.02184971e-03 -1.15449090e-03] [ 1.50755427e-02 -2.94126594e-03 9.99882032e-01 -3.08065635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.883133365 meters Centerline goodness : 0.127109 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99991458 -0.00226754 -0.01287196 -1.17670912] [ 0.00231888 0.99998941 0.00397494 0.00681581] [ 0.01286281 -0.00400445 0.99990925 -0.30988159] [ 0. 0. 0. 1. ]] SLAMing on 170.913133365 meters Centerline goodness : 0.135074 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99992171 -0.00229539 -0.01230063 -1.1785731 ] [ 0.00233886 0.99999107 0.00352094 0.01019866] [ 0.01229243 -0.00354943 0.99991815 -0.30926565] [ 0. 0. 0. 1. ]] SLAMing on 170.943133365 meters Centerline goodness : 0.125562 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99992649 -0.0024189 -0.01188094 -1.18003225] [ 0.00245515 0.99999237 0.00303741 0.01328236] [ 0.0118735 -0.00306636 0.99992481 -0.30865971] [ 0. 0. 0. 1. ]] SLAMing on 170.973133365 meters Centerline goodness : 0.136591 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99992903 -0.00261287 -0.01162372 -1.18079426] [ 0.00264247 0.9999933 0.00253136 0.01595506] [ 0.01161703 -0.0025619 0.99992924 -0.30853311] [ 0. 0. 0. 1. ]] SLAMing on 171.003133365 meters Centerline goodness : 0.136382 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99992877 -0.00304898 -0.01153954 -1.18088886] [ 0.00306872 0.99999386 0.00169377 0.01966475] [ 0.0115343 -0.00172906 0.99993198 -0.30877386] [ 0. 0. 0. 1. ]] SLAMing on 171.033133365 meters Centerline goodness : 0.136473 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.02, Z:-0.31 [[ 9.99915374e-01 4.40143467e-03 -1.22422544e-02 -1.19989737e+00] [-4.39941462e-03 9.99990304e-01 1.91932630e-04 1.56248227e-02] [ 1.22429805e-02 -1.38057634e-04 9.99925042e-01 -3.10176866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.063133365 meters Centerline goodness : 0.140116 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99908974e-01 -3.07265017e-03 -1.31378541e-02 -1.18078251e+00] [ 3.08562961e-03 9.99994771e-01 9.67786087e-04 2.29873504e-02] [ 1.31348117e-02 -1.00823654e-03 9.99913226e-01 -3.08374248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.093133365 meters Centerline goodness : 0.141800 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99905650e-01 -3.21108567e-03 -1.33559079e-02 -1.18007290e+00] [ 3.22058259e-03 9.99994576e-01 6.89618297e-04 2.43662997e-02] [ 1.33536210e-02 -7.32567036e-04 9.99910568e-01 -3.08700249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.123133365 meters Centerline goodness : 0.142770 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99902528e-01 -3.28906413e-03 -1.35689820e-02 -1.17918426e+00] [ 3.29596876e-03 9.99994450e-01 4.86523078e-04 2.55267833e-02] [ 1.35673065e-02 -5.31198596e-04 9.99907819e-01 -3.09333730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.153133365 meters Centerline goodness : 0.144922 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99900821e-01 -3.35822137e-03 -1.36773797e-02 -1.17877048e+00] [ 3.36311197e-03 9.99994289e-01 3.34583653e-04 2.63874592e-02] [ 1.36761780e-02 -3.80549028e-04 9.99906404e-01 -3.09605524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.183133365 meters Centerline goodness : 0.146720 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99895943e-01 -3.60396734e-03 -1.39683487e-02 -1.17829711e+00] [ 3.60592506e-03 9.99993492e-01 1.14970508e-04 2.67852613e-02] [ 1.39678434e-02 -1.65327363e-04 9.99902431e-01 -3.09259564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21313336499998 meters Centerline goodness : 0.146720 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99895943e-01 -3.60396734e-03 -1.39683487e-02 -1.17829711e+00] [ 3.60592506e-03 9.99993492e-01 1.14970508e-04 2.67852613e-02] [ 1.39678434e-02 -1.65327363e-04 9.99902431e-01 -3.09259564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24313336499998 meters Centerline goodness : 0.145080 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.03, Z:-0.31 [[ 9.99893928e-01 -3.64586384e-03 -1.41010471e-02 -1.17795840e+00] [ 3.64878461e-03 9.99993327e-01 1.81409706e-04 2.61164388e-02] [ 1.41002916e-02 -2.32842147e-04 9.99900559e-01 -3.09263879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27313336499998 meters Centerline goodness : 0.144541 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99886800e-01 -3.93353125e-03 -1.45228768e-02 -1.17664527e+00] [ 3.93909791e-03 9.99992179e-01 3.54717389e-04 2.36864253e-02] [ 1.45213679e-02 -4.11884268e-04 9.99894475e-01 -3.09597339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30313336499998 meters Centerline goodness : 0.149599 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99886922e-01 -3.91275237e-03 -1.45201026e-02 -1.17651556e+00] [ 3.92219902e-03 9.99992115e-01 6.22171456e-04 2.19084866e-02] [ 1.45175537e-02 -6.79051834e-04 9.99894384e-01 -3.09731703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33313336499998 meters Centerline goodness : 0.145597 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99885249e-01 -3.87435689e-03 -1.46451010e-02 -1.17613348e+00] [ 3.88768389e-03 9.99992054e-01 8.81637130e-04 2.02049131e-02] [ 1.46415688e-02 -9.38471484e-04 9.99892366e-01 -3.09817271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36313336499998 meters Centerline goodness : 0.139136 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 9.99883530e-01 -3.80939960e-03 -1.47788959e-02 -1.17576471e+00] [ 3.82661497e-03 9.99992032e-01 1.13675866e-03 1.87432252e-02] [ 1.47744477e-02 -1.19317940e-03 9.99890140e-01 -3.09862692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39313336499998 meters Centerline goodness : 0.142044 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99988176 -0.00366906 -0.01493306 -1.17548012] [ 0.0036913 0.99999212 0.00146236 0.01722799] [ 0.01492758 -0.00151731 0.99988743 -0.30969975] [ 0. 0. 0. 1. ]] SLAMing on 171.42313336499998 meters Centerline goodness : 0.147715 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.02, Z:-0.31 [[ 0.99988174 -0.00352986 -0.01496809 -1.17541678] [ 0.00355707 0.99999207 0.00179151 0.01568936] [ 0.01496164 -0.00184454 0.99988637 -0.30961316] [ 0. 0. 0. 1. ]] SLAMing on 171.45313336499999 meters Centerline goodness : 0.148143 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.9998827 -0.00341044 -0.01493175 -1.17566464] [ 0.00344338 0.99999169 0.00218131 0.01314998] [ 0.01492418 -0.00223247 0.99988614 -0.30929637] [ 0. 0. 0. 1. ]] SLAMing on 171.483133365 meters Centerline goodness : 0.144928 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.31 [[ 0.99988306 -0.00333998 -0.01492327 -1.17575895] [ 0.00337542 0.99999154 0.00234986 0.01208197] [ 0.01491529 -0.00239996 0.99988588 -0.30918031] [ 0. 0. 0. 1. ]] SLAMing on 171.513133365 meters Centerline goodness : 0.131023 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.01, Z:-0.31 [[ 0.9998898 0.00464393 -0.01410009 -1.19592841] [-0.00461847 0.99998765 0.00183746 0.00542522] [ 0.01410845 -0.00177214 0.9998989 -0.31065637] [ 0. 0. 0. 1. ]] SLAMing on 171.543133365 meters Centerline goodness : 0.135134 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.31 [[ 0.9998919 0.00478681 -0.01390255 -1.19663413] [-0.00475848 0.99998654 0.00207022 0.00463539] [ 0.01391227 -0.00200384 0.99990121 -0.31031184] [ 0. 0. 0. 1. ]] SLAMing on 171.573133365 meters Centerline goodness : 0.147585 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.31 [[ 0.99989405 0.00486368 -0.01371979 -1.19727558] [-0.00483317 0.99998577 0.00225636 0.00364386] [ 0.01373057 -0.00218981 0.99990333 -0.30996289] [ 0. 0. 0. 1. ]] SLAMing on 171.603133365 meters Centerline goodness : 0.128614 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.00, Z:-0.31 [[ 9.99897532e-01 4.92192233e-03 -1.34424563e-02 -1.19817912e+00] [-4.88731739e-03 9.99984661e-01 2.60594004e-03 1.03696057e-03] [ 1.34550764e-02 -2.53997546e-03 9.99906250e-01 -3.09603453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.633133365 meters Centerline goodness : 0.143343 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.00, Z:-0.31 [[ 9.99898304e-01 4.98680040e-03 -1.33608901e-02 -1.19849448e+00] [-4.94903644e-03 9.99983669e-01 2.85803024e-03 -3.84854730e-04] [ 1.33749244e-02 -2.79161606e-03 9.99906655e-01 -3.09403264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.663133365 meters Centerline goodness : 0.128671 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.00, Z:-0.31 [[ 0.9998992 0.00509793 -0.01325169 -1.1989703 ] [-0.00505558 0.99998201 0.00322745 -0.00223464] [ 0.01326791 -0.00316013 0.99990698 -0.30905581] [ 0. 0. 0. 1. ]] SLAMing on 171.693133365 meters Centerline goodness : 0.129045 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-0.31 [[ 0.99989776 -0.00415057 -0.01368372 -1.2211261 ] [ 0.00420636 0.99998295 0.00405064 -0.00172797] [ 0.01366668 -0.00410779 0.99989817 -0.30940086] [ 0. 0. 0. 1. ]] SLAMing on 171.723133365 meters Centerline goodness : 0.127478 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.00, Z:-0.31 [[ 0.99989565 -0.00420407 -0.01382053 -1.22095042] [ 0.00426468 0.99998141 0.00435859 -0.00412569] [ 0.01380195 -0.00441708 0.99989499 -0.30909889] [ 0. 0. 0. 1. ]] SLAMing on 171.753133365 meters Centerline goodness : 0.128795 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-0.31 [[ 0.99989348 -0.00428102 -0.01395373 -1.22075943] [ 0.00434701 0.9999795 0.00470234 -0.00676547] [ 0.01393331 -0.0047625 0.99989158 -0.30883756] [ 0. 0. 0. 1. ]] SLAMing on 171.783133365 meters Centerline goodness : 0.129781 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-0.31 [[ 0.99989101 -0.004563 -0.01404068 -1.22039609] [ 0.00463749 0.99997532 0.00527712 -0.01143067] [ 0.01401626 -0.00534166 0.9998875 -0.30889322] [ 0. 0. 0. 1. ]] SLAMing on 171.813133365 meters Centerline goodness : 0.129917 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.01, Z:-0.31 [[ 0.99989235 -0.00448302 -0.01397074 -1.22063154] [ 0.00456388 0.99997299 0.00576093 -0.01397347] [ 0.01394454 -0.00582407 0.99988581 -0.30868802] [ 0. 0. 0. 1. ]] SLAMing on 171.843133365 meters Centerline goodness : 0.130634 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.31 [[ 0.999894 -0.00452244 -0.0138397 -1.22113185] [ 0.00460749 0.99997066 0.00611923 -0.01649396] [ 0.01381162 -0.00618235 0.9998855 -0.30830218] [ 0. 0. 0. 1. ]] SLAMing on 171.873133365 meters Centerline goodness : 0.127938 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.02, Z:-0.31 [[ 9.99901085e-01 8.97657718e-04 -1.40361912e-02 -1.20078189e+00] [-8.62796497e-04 9.99996529e-01 2.48952498e-03 -2.09113999e-02] [ 1.40383772e-02 -2.47716835e-03 9.99898389e-01 -3.06995646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.903133365 meters Centerline goodness : 0.132617 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 0.99985242 -0.00143824 -0.01711952 -1.24441769] [ 0.00146456 0.99999777 0.00152446 -0.02568439] [ 0.01711729 -0.0015493 0.99985229 -0.30666632] [ 0. 0. 0. 1. ]] SLAMing on 171.933133365 meters Centerline goodness : 0.131663 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 0.99984215 -0.00152144 -0.01770174 -1.24278054] [ 0.00155376 0.99999715 0.00181202 -0.02801272] [ 0.01769894 -0.00183924 0.99984167 -0.30704324] [ 0. 0. 0. 1. ]] SLAMing on 171.96313336499998 meters Centerline goodness : 0.133723 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 0.99983631 -0.00152163 -0.0180287 -1.24194439] [ 0.00156868 0.9999954 0.00259571 -0.03304077] [ 0.01802467 -0.00262356 0.9998341 -0.30706266] [ 0. 0. 0. 1. ]] SLAMing on 171.99313336499998 meters Centerline goodness : 0.124389 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 0.99983697 -0.00138683 -0.01800316 -1.24222357] [ 0.00144298 0.99999413 0.00310663 -0.03583235] [ 0.01799874 -0.0031321 0.9998331 -0.30665347] [ 0. 0. 0. 1. ]] SLAMing on 172.02313336499998 meters Centerline goodness : 0.134678 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 0.99983575 -0.00138585 -0.01807066 -1.24224593] [ 0.00144758 0.99999316 0.00340362 -0.03793218] [ 0.01806582 -0.00342922 0.99983092 -0.30640525] [ 0. 0. 0. 1. ]] SLAMing on 172.05313336499998 meters Centerline goodness : 0.125822 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 0.99982846 -0.00134508 -0.01847267 -1.24127305] [ 0.00141445 0.99999199 0.00374304 -0.04021564] [ 0.01846748 -0.00376853 0.99982236 -0.30639096] [ 0. 0. 0. 1. ]] SLAMing on 172.08313336499998 meters Centerline goodness : 0.131118 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 9.99819592e-01 -1.20303614e-03 -1.89561659e-02 -1.23985779e+00] [ 1.28143410e-03 9.99990675e-01 4.12414625e-03 -4.22044683e-02] [ 1.89510276e-02 -4.14769330e-03 9.99811810e-01 -3.06766804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11313336499998 meters Centerline goodness : 0.132680 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 9.99813071e-01 -1.09278650e-03 -1.93035834e-02 -1.23877436e+00] [ 1.17852004e-03 9.99989491e-01 4.43051033e-03 -4.37823117e-02] [ 1.92985389e-02 -4.45243180e-03 9.99803852e-01 -3.07168954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14313336499998 meters Centerline goodness : 0.128797 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99810366e-01 -7.59171066e-04 -1.94591009e-02 -1.23821810e+00] [ 8.57311666e-04 9.99986954e-01 5.03558355e-03 -4.59072458e-02] [ 1.94550242e-02 -5.05131114e-03 9.99797973e-01 -3.07389255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17313336499998 meters Centerline goodness : 0.124035 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99810730e-01 -7.80827218e-04 -1.94394925e-02 -1.23855615e+00] [ 8.78985193e-04 9.99986906e-01 5.04137821e-03 -4.61914320e-02] [ 1.94353015e-02 -5.05751105e-03 9.99798325e-01 -3.06911644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20313336499999 meters Centerline goodness : 0.129356 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99809901e-01 -7.75942383e-04 -1.94823052e-02 -1.23859779e+00] [ 8.76243562e-04 9.99986405e-01 5.14031340e-03 -4.70391681e-02] [ 1.94780517e-02 -5.15640747e-03 9.99796988e-01 -3.06665799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.233133365 meters Centerline goodness : 0.139703 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99808112e-01 -7.63227816e-04 -1.95744021e-02 -1.23839766e+00] [ 8.65270091e-04 9.99986079e-01 5.20510739e-03 -4.74490906e-02] [ 1.95701569e-02 -5.22104573e-03 9.99794854e-01 -3.06639758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.263133365 meters Centerline goodness : 0.128511 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99808321e-01 -6.95156177e-04 -1.95662434e-02 -1.23845491e+00] [ 7.99331596e-04 9.99985546e-01 5.31692516e-03 -4.77158130e-02] [ 1.95622645e-02 -5.33154594e-03 9.99794425e-01 -3.06581081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.293133365 meters Centerline goodness : 0.136099 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99810979e-01 -6.29438683e-04 -1.94321779e-02 -1.23898542e+00] [ 7.36289640e-04 9.99984648e-01 5.49199618e-03 -4.84192452e-02] [ 1.94284227e-02 -5.50526579e-03 9.99796093e-01 -3.06316308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.323133365 meters Centerline goodness : 0.135663 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99820859e-01 -6.48298153e-04 -1.89164050e-02 -1.24075283e+00] [ 7.58126326e-04 9.99982896e-01 5.79938152e-03 -5.05558352e-02] [ 1.89123218e-02 -5.81268363e-03 9.99804249e-01 -3.05409856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.353133365 meters Centerline goodness : 0.113746 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99826466e-01 -7.30559234e-04 -1.86146005e-02 -1.24183890e+00] [ 8.42066852e-04 9.99981746e-01 5.98319730e-03 -5.17845123e-02] [ 1.86098896e-02 -5.99783375e-03 9.99808831e-01 -3.05015339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.383133365 meters Centerline goodness : 0.137893 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.30 [[ 9.99825608e-01 -6.69091996e-04 -1.86629491e-02 -1.24185828e+00] [ 7.86744622e-04 9.99979861e-01 6.29744518e-03 -5.35175483e-02] [ 1.86583596e-02 -6.31102994e-03 9.99805999e-01 -3.04809283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.413133365 meters Centerline goodness : 0.133160 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99821144e-01 -6.47443110e-04 -1.89013185e-02 -1.24118307e+00] [ 7.71476892e-04 9.99978214e-01 6.55562229e-03 -5.50444141e-02] [ 1.88966623e-02 -6.56903171e-03 9.99799862e-01 -3.04967434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.443133365 meters Centerline goodness : 0.152248 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99818492e-01 -6.24723954e-04 -1.90418655e-02 -1.24075725e+00] [ 7.53524699e-04 9.99976883e-01 6.75765806e-03 -5.62471025e-02] [ 1.90372036e-02 -6.77078001e-03 9.99795850e-01 -3.05070367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.473133365 meters Centerline goodness : 0.133960 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99818303e-01 -6.33798373e-04 -1.90514865e-02 -1.24074791e+00] [ 7.64703762e-04 9.99976146e-01 6.86463830e-03 -5.71145164e-02] [ 1.90466812e-02 -6.87795976e-03 9.99794938e-01 -3.05007269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.503133365 meters Centerline goodness : 0.115507 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99819715e-01 -6.42243031e-04 -1.89769461e-02 -1.24123227e+00] [ 7.73469041e-04 9.99975837e-01 6.90849221e-03 -5.75915416e-02] [ 1.89720506e-02 -6.92192479e-03 9.99796053e-01 -3.04557233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.533133365 meters Centerline goodness : 0.121729 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99819470e-01 -6.47557316e-04 -1.89897053e-02 -1.24138492e+00] [ 7.78765795e-04 9.99975872e-01 6.90287239e-03 -5.75934866e-02] [ 1.89847771e-02 -6.91641475e-03 9.99795850e-01 -3.04287101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.563133365 meters Centerline goodness : 0.141013 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99815167e-01 -7.47515439e-04 -1.92112995e-02 -1.24058255e+00] [ 8.74353723e-04 9.99977872e-01 6.59472384e-03 -5.59800447e-02] [ 1.92059448e-02 -6.61030239e-03 9.99793697e-01 -3.04687256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.593133365 meters Centerline goodness : 0.141013 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.30 [[ 9.99815167e-01 -7.47515439e-04 -1.92112995e-02 -1.24058255e+00] [ 8.74353723e-04 9.99977872e-01 6.59472384e-03 -5.59800447e-02] [ 1.92059448e-02 -6.61030239e-03 9.99793697e-01 -3.04687256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.623133365 meters Centerline goodness : 0.134490 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99811041e-01 -8.80117275e-04 -1.94192700e-02 -1.23989124e+00] [ 1.00332697e-03 9.99979425e-01 6.33588246e-03 -5.49140395e-02] [ 1.94132941e-02 -6.35416912e-03 9.99791353e-01 -3.05013542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.653133365 meters Centerline goodness : 0.114011 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99807412e-01 -1.01538540e-03 -1.95986910e-02 -1.23931063e+00] [ 1.13432477e-03 9.99981003e-01 6.05857821e-03 -5.38260453e-02] [ 1.95921669e-02 -6.07964268e-03 9.99789570e-01 -3.05246895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.683133365 meters Centerline goodness : 0.139442 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99805175e-01 -1.15505122e-03 -1.97047606e-02 -1.23885690e+00] [ 1.26917803e-03 9.99982488e-01 5.78031754e-03 -5.25975859e-02] [ 1.96977390e-02 -5.80420024e-03 9.99789133e-01 -3.05580451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71313336499998 meters Centerline goodness : 0.141030 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99803694e-01 -1.22695094e-03 -1.97754412e-02 -1.23861460e+00] [ 1.33790744e-03 9.99983433e-01 5.59856944e-03 -5.16550999e-02] [ 1.97682445e-02 -5.62392812e-03 9.99788772e-01 -3.05739905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74313336499998 meters Centerline goodness : 0.140748 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.05, Z:-0.30 [[ 0.99979245 0.00705088 -0.01911388 -1.21907221] [-0.00697093 0.99996669 0.00424616 -0.05428045] [ 0.01914318 -0.00411204 0.9998083 -0.30473978] [ 0. 0. 0. 1. ]] SLAMing on 172.77313336499998 meters Centerline goodness : 0.140687 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99815106e-01 -8.52955149e-04 -1.92100509e-02 -1.19988684e+00] [ 9.47069179e-04 9.99987592e-01 4.89064323e-03 -4.88315744e-02] [ 1.92056411e-02 -4.90793223e-03 9.99803508e-01 -3.02544297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80313336499998 meters Centerline goodness : 0.140661 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99814439e-01 -8.81978828e-04 -1.92434220e-02 -1.19992529e+00] [ 9.76178728e-04 9.99987585e-01 4.88632991e-03 -4.87469933e-02] [ 1.92388734e-02 -4.90420821e-03 9.99802888e-01 -3.02407835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83313336499998 meters Centerline goodness : 0.142664 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99811626e-01 -8.79127358e-04 -1.93891568e-02 -1.19965311e+00] [ 9.74757599e-04 9.99987406e-01 4.92325144e-03 -4.86727700e-02] [ 1.93845845e-02 -4.94122375e-03 9.99799891e-01 -3.02303086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86313336499998 meters Centerline goodness : 0.131912 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 9.99808053e-01 -8.76017758e-04 -1.95726877e-02 -1.19923080e+00] [ 9.73505647e-04 9.99987166e-01 4.97183990e-03 -4.87529535e-02] [ 1.95680811e-02 -4.98993970e-03 9.99796075e-01 -3.02320844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89313336499998 meters Centerline goodness : 0.139630 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 0.99980771 0.00574684 -0.01874886 -1.17775403] [-0.00570044 0.99998056 0.00252757 -0.05104635] [ 0.01876302 -0.00242021 0.99982103 -0.30221093] [ 0. 0. 0. 1. ]] SLAMing on 172.92313336499998 meters Centerline goodness : 0.145288 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.05, Z:-0.31 [[ 9.99891412e-01 -5.62220886e-04 -1.47257615e-02 -1.19452938e+00] [ 6.09393861e-04 9.99994697e-01 3.19914072e-03 -4.80489343e-02] [ 1.47238847e-02 -3.20776712e-03 9.99886452e-01 -3.05187437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95313336499999 meters Centerline goodness : 0.040837 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 0.99987026 0.00750645 -0.01425163 -1.1751641 ] [-0.00747859 0.99997002 0.0020076 -0.05234626] [ 0.01426628 -0.00190075 0.99989642 -0.30408785] [ 0. 0. 0. 1. ]] SLAMing on 172.983133365 meters Centerline goodness : 0.144183 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.05, Z:-0.30 [[ 0.99986915 0.00749164 -0.01433721 -1.17488117] [-0.00746232 0.99996996 0.00209727 -0.05290887] [ 0.01435249 -0.00199 0.99989502 -0.30425132] [ 0. 0. 0. 1. ]] SLAMing on 173.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 173.043133365 meters Centerline goodness : 0.120045 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.99989221 -0.00148468 -0.01460725 -1.19546391] [ 0.00153101 0.99999383 0.00316122 -0.04990596] [ 0.01460247 -0.00318325 0.99988831 -0.30488473] [ 0. 0. 0. 1. ]] SLAMing on 173.073133365 meters Centerline goodness : 0.140162 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.99989475 -0.00147143 -0.01443367 -1.19619622] [ 0.00151868 0.99999352 0.00326346 -0.05025486] [ 0.01442878 -0.00328504 0.9998905 -0.30438332] [ 0. 0. 0. 1. ]] SLAMing on 173.103133365 meters Centerline goodness : 0.139965 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.9998963 -0.0014664 -0.01432604 -1.19667364] [ 0.00151282 0.99999364 0.00323014 -0.04960835] [ 0.01432121 -0.00325148 0.99989216 -0.30403779] [ 0. 0. 0. 1. ]] SLAMing on 173.133133365 meters Centerline goodness : 0.138885 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.9998945 -0.00154034 -0.01444362 -1.1962224 ] [ 0.00158388 0.99999423 0.00300383 -0.04827896] [ 0.01443891 -0.00302639 0.99989117 -0.30429616] [ 0. 0. 0. 1. ]] SLAMing on 173.163133365 meters Centerline goodness : 0.123163 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.05, Z:-0.30 [[ 0.99989414 -0.00163702 -0.01445786 -1.19593384] [ 0.00167636 0.99999492 0.00270955 -0.04676903] [ 0.01445335 -0.0027335 0.99989181 -0.30469819] [ 0. 0. 0. 1. ]] SLAMing on 173.193133365 meters Centerline goodness : 0.148497 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 0.99988795 0.00661119 -0.01343074 -1.1764533 ] [-0.00659395 0.99997738 0.00132804 -0.04847735] [ 0.01343921 -0.00123933 0.99990892 -0.30366578] [ 0. 0. 0. 1. ]] SLAMing on 173.223133365 meters Centerline goodness : 0.117958 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.05, Z:-0.30 [[ 9.99891197e-01 6.49820642e-03 -1.32426085e-02 -1.17728262e+00] [-6.48590014e-03 9.99978494e-01 9.72029744e-04 -4.65849151e-02] [ 1.32486401e-02 -8.86033748e-04 9.99911840e-01 -3.03053195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.253133365 meters Centerline goodness : 0.123018 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99951165e-01 7.58645114e-04 -9.85357503e-03 -1.19327558e+00] [-7.41400640e-04 9.99998188e-01 1.75360776e-03 -3.88031342e-02] [ 9.85488754e-03 -1.74621668e-03 9.99949915e-01 -3.05872570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.283133365 meters Centerline goodness : 0.158138 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99951688e-01 5.89925480e-04 -9.81187542e-03 -1.19303769e+00] [-5.77185962e-04 9.99998987e-01 1.30115852e-03 -3.64456223e-02] [ 9.81263306e-03 -1.29543238e-03 9.99951016e-01 -3.06406861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.313133365 meters Centerline goodness : 0.125142 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99950250e-01 5.11867614e-04 -9.96169723e-03 -1.19264128e+00] [-5.00147152e-04 9.99999180e-01 1.17900842e-03 -3.58062990e-02] [ 9.96229256e-03 -1.17396745e-03 9.99949686e-01 -3.06479971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.343133365 meters Centerline goodness : 0.135339 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.04, Z:-0.31 [[ 9.99948458e-01 4.57355261e-04 -1.01425787e-02 -1.19225500e+00] [-4.46692324e-04 9.99999345e-01 1.05354473e-03 -3.51554920e-02] [ 1.01430539e-02 -1.04895981e-03 9.99948008e-01 -3.06455031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.373133365 meters Centerline goodness : 0.122588 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.03, Z:-0.31 [[ 9.99946190e-01 4.63759896e-04 -1.03634872e-02 -1.19166745e+00] [-4.53618492e-04 9.99999416e-01 9.80899766e-04 -3.43231125e-02] [ 1.03639360e-02 -9.76145914e-04 9.99945817e-01 -3.06575583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.403133365 meters Centerline goodness : 0.148317 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.03, Z:-0.31 [[ 9.99944257e-01 4.64656203e-04 -1.05483430e-02 -1.19109799e+00] [-4.56220246e-04 9.99999574e-01 8.02134470e-04 -3.28748239e-02] [ 1.05487112e-02 -7.97277389e-04 9.99944043e-01 -3.06793425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.433133365 meters Centerline goodness : 0.144417 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.31 [[ 9.99900872e-01 9.23290959e-03 -1.06301655e-02 -1.16927704e+00] [-9.23639163e-03 9.99957305e-01 -2.78513867e-04 -3.33702292e-02] [ 1.06271402e-02 3.76670630e-04 9.99943459e-01 -3.06521723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 173.49313336499998 meters Centerline goodness : 0.136534 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.31 [[ 9.99901025e-01 9.22329953e-03 -1.06241090e-02 -1.16922114e+00] [-9.23285925e-03 9.99957014e-01 -8.51117731e-04 -2.98291246e-02] [ 1.06158022e-02 9.49124395e-04 9.99943200e-01 -3.06556877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52313336499998 meters Centerline goodness : 0.144076 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.03, Z:-0.31 [[ 9.99903025e-01 9.23231324e-03 -1.04261742e-02 -1.16979219e+00] [-9.24432157e-03 9.99956661e-01 -1.10414274e-03 -2.80298519e-02] [ 1.04155285e-02 1.20041857e-03 9.99945036e-01 -3.06400622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55313336499998 meters Centerline goodness : 0.142897 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.02, Z:-0.31 [[ 0.99990578 0.00942341 -0.00998105 -1.17107988] [-0.00943901 0.9999543 -0.00151707 -0.02440793] [ 0.0099663 0.00161114 0.99994904 -0.30594962] [ 0. 0. 0. 1. ]] SLAMing on 173.58313336499998 meters Centerline goodness : 0.122393 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 9.99922787e-01 3.32068021e-03 -1.19746693e-02 -1.15364986e+00] [-3.32693219e-03 9.99994340e-01 -5.02217891e-04 -1.72553489e-02] [ 1.19729338e-02 5.42018027e-04 9.99928175e-01 -3.03428609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61313336499998 meters Centerline goodness : 0.135565 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.02, Z:-0.30 [[ 9.99920436e-01 3.21280568e-03 -1.21983575e-02 -1.15284551e+00] [-3.22418713e-03 9.99994385e-01 -9.13479877e-04 -1.50822258e-02] [ 1.21953542e-02 9.52736984e-04 9.99925180e-01 -3.03874497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64313336499998 meters Centerline goodness : 0.140485 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.9999187 0.00317093 -0.01235079 -1.15223592] [-0.00318544 0.99999426 -0.00115551 -0.01359759] [ 0.01234706 0.00119476 0.99992306 -0.30427405] [ 0. 0. 0. 1. ]] SLAMing on 173.67313336499998 meters Centerline goodness : 0.136510 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99991837 0.00319167 -0.01237223 -1.15216367] [-0.00320693 0.99999412 -0.00121387 -0.01294098] [ 0.01236829 0.00125345 0.99992272 -0.30432551] [ 0. 0. 0. 1. ]] SLAMing on 173.70313336499999 meters Centerline goodness : 0.140875 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99991947 0.00320895 -0.0122779 -1.15259308] [-0.00322439 0.99999404 -0.00123753 -0.01258442] [ 0.01227386 0.00127702 0.99992386 -0.30399955] [ 0. 0. 0. 1. ]] SLAMing on 173.733133365 meters Centerline goodness : 0.143570 Centerline is valid? [False, False] Translation: X:-1.15, Y:-0.01, Z:-0.30 [[ 0.99992129 0.00319724 -0.01213264 -1.15341102] [-0.00321184 0.99999414 -0.00118478 -0.01300447] [ 0.01212878 0.00122366 0.99992569 -0.30324346] [ 0. 0. 0. 1. ]] SLAMing on 173.763133365 meters Centerline goodness : 0.137479 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 0.99994379 0.00355693 -0.00998826 -1.10998452] [-0.00357158 0.99999257 -0.00144953 -0.01263907] [ 0.00998303 0.00148512 0.99994907 -0.30317595] [ 0. 0. 0. 1. ]] SLAMing on 173.793133365 meters Centerline goodness : 0.147785 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 0.99994416 0.00361011 -0.00993169 -1.11029845] [-0.00362295 0.99999262 -0.00127509 -0.01356479] [ 0.00992702 0.001311 0.99994987 -0.30289179] [ 0. 0. 0. 1. ]] SLAMing on 173.823133365 meters Centerline goodness : 0.139727 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 0.99994419 0.00365621 -0.00991213 -1.11056341] [-0.00366747 0.99999265 -0.0011179 -0.01448162] [ 0.00990797 0.00115419 0.99995025 -0.30254279] [ 0. 0. 0. 1. ]] SLAMing on 173.853133365 meters Centerline goodness : 0.137534 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.02, Z:-0.30 [[ 9.99944423e-01 3.71772765e-03 -9.86559126e-03 -1.11091450e+00] [-3.72753781e-03 9.99992576e-01 -9.76180699e-04 -1.51978540e-02] [ 9.86188885e-03 1.01290081e-03 9.99950857e-01 -3.02160530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.883133365 meters Centerline goodness : 0.155294 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.02, Z:-0.30 [[ 9.99944810e-01 3.84312344e-03 -9.77791419e-03 -1.11144076e+00] [-3.85087191e-03 9.99992286e-01 -7.73742313e-04 -1.58652609e-02] [ 9.77486518e-03 8.11353106e-04 9.99951896e-01 -3.01662293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.913133365 meters Centerline goodness : 0.130614 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:-0.30 [[ 9.99957527e-01 -2.96754908e-03 -8.72570093e-03 -1.09348751e+00] [ 2.97658412e-03 9.99995047e-01 1.02264671e-03 -1.25925086e-02] [ 8.72262295e-03 -1.04857606e-03 9.99961407e-01 -2.99849459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.943133365 meters Centerline goodness : 0.154975 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:-0.30 [[ 9.99956218e-01 -2.87088168e-03 -8.90619752e-03 -1.09282380e+00] [ 2.88029394e-03 9.99995307e-01 1.04417506e-03 -1.24202331e-02] [ 8.90315802e-03 -1.06978181e-03 9.99959794e-01 -3.00062602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.973133365 meters Centerline goodness : 0.141180 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.02, Z:-0.30 [[ 9.99938542e-01 5.12072434e-03 -9.83314108e-03 -1.11314043e+00] [-5.12098938e-03 9.99986888e-01 -1.77539993e-06 -1.62156202e-02] [ 9.83300306e-03 5.21307019e-05 9.99951653e-01 -3.01442302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.003133365 meters Centerline goodness : 0.139675 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.01, Z:-0.30 [[ 0.99994324 -0.00191325 -0.01048155 -1.09347337] [ 0.00192672 0.99999733 0.00127564 -0.00977103] [ 0.01047908 -0.00129576 0.99994425 -0.30037215] [ 0. 0. 0. 1. ]] SLAMing on 174.033133365 meters Centerline goodness : 0.116629 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99926172e-01 6.06742005e-03 -1.05278726e-02 -1.11358683e+00] [-6.06588478e-03 9.99981587e-01 1.77754712e-04 -1.33186652e-02] [ 1.05287572e-02 -1.13880727e-04 9.99944565e-01 -3.01841447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.063133365 meters Centerline goodness : 0.135562 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99925388e-01 5.95758358e-03 -1.06642645e-02 -1.11327336e+00] [-5.95993231e-03 9.99982222e-01 -1.88476375e-04 -1.16549761e-02] [ 1.06629521e-02 2.52020607e-04 9.99943117e-01 -3.01785142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.093133365 meters Centerline goodness : 0.112431 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99924365e-01 5.83387630e-03 -1.08273280e-02 -1.11274663e+00] [-5.84041471e-03 9.99982781e-01 -5.72360097e-04 -9.85396082e-03] [ 1.08238025e-02 6.35552892e-04 9.99941219e-01 -3.01956014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.123133365 meters Centerline goodness : 0.131898 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.01, Z:-0.30 [[ 9.99921674e-01 5.77221989e-03 -1.11052720e-02 -1.11189581e+00] [-5.78291124e-03 9.99982846e-01 -9.30856573e-04 -7.65843423e-03] [ 1.10997084e-02 9.95004465e-04 9.99937901e-01 -3.02290315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.153133365 meters Centerline goodness : 0.131582 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.00, Z:-0.30 [[ 9.99910833e-01 6.38413680e-03 -1.17290015e-02 -1.10973086e+00] [-6.39636170e-03 9.99979038e-01 -1.00506250e-03 -3.86009097e-03] [ 1.17223392e-02 1.07999581e-03 9.99930708e-01 -3.03303515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.183133365 meters Centerline goodness : 0.125681 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.00, Z:-0.30 [[ 9.99911898e-01 6.22321707e-03 -1.17246444e-02 -1.10948313e+00] [-6.24194093e-03 9.99979300e-01 -1.56104923e-03 -1.08581723e-03] [ 1.17146869e-02 1.63409624e-03 9.99930045e-01 -3.03738334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21313336499998 meters Centerline goodness : 0.137633 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.00, Z:-0.30 [[ 0.99991204 0.00601918 -0.01181895 -1.10917688] [-0.00604462 0.99997949 -0.002118 0.00143703] [ 0.01180596 0.00218926 0.99992791 -0.3039207 ] [ 0. 0. 0. 1. ]] SLAMing on 174.24313336499998 meters Centerline goodness : 0.140359 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.00, Z:-0.30 [[ 0.9999129 0.00587984 -0.01181587 -1.10913624] [-0.00591033 0.99997929 -0.0025468 0.00354316] [ 0.01180065 0.00261641 0.99992695 -0.30403324] [ 0. 0. 0. 1. ]] SLAMing on 174.27313336499998 meters Centerline goodness : 0.133325 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.9999147 0.00580452 -0.0117004 -1.10942517] [-0.00583829 0.99997888 -0.00285411 0.00537242] [ 0.01168359 0.00292217 0.99992747 -0.30407007] [ 0. 0. 0. 1. ]] SLAMing on 174.30313336499998 meters Centerline goodness : 0.142070 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.99991579 0.00579726 -0.01161067 -1.10973298] [-0.00583241 0.9999785 -0.00299567 0.00652909] [ 0.01159306 0.00306314 0.99992811 -0.30394204] [ 0. 0. 0. 1. ]] SLAMing on 174.33313336499998 meters Centerline goodness : 0.137207 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.99991758 0.00565651 -0.01152593 -1.11010494] [-0.00569484 0.99997835 -0.00329601 0.00793371] [ 0.01150704 0.00336138 0.99992814 -0.30366911] [ 0. 0. 0. 1. ]] SLAMing on 174.36313336499998 meters Centerline goodness : 0.153586 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.01, Z:-0.30 [[ 0.99991822 0.00549036 -0.01155029 -1.11024744] [-0.00553248 0.99997815 -0.00361762 0.00917161] [ 0.01153017 0.00368122 0.99992675 -0.30337997] [ 0. 0. 0. 1. ]] SLAMing on 174.39313336499998 meters Centerline goodness : 0.133831 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.01, Z:-0.30 [[ 0.99993056 -0.00271557 -0.01146701 -1.12963731] [ 0.00268865 0.9999936 -0.00236234 0.01485003] [ 0.01147336 0.00233134 0.99993146 -0.30490573] [ 0. 0. 0. 1. ]] SLAMing on 174.42313336499998 meters Centerline goodness : 0.134916 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993343 -0.00261089 -0.01123897 -1.13037462] [ 0.00258407 0.99999378 -0.00240069 0.0160845 ] [ 0.01124516 0.00237149 0.99993396 -0.30464471] [ 0. 0. 0. 1. ]] SLAMing on 174.45313336499999 meters Centerline goodness : 0.131542 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993975 -0.00242296 -0.01070642 -1.13222431] [ 0.00239804 0.99999439 -0.00234033 0.01718682] [ 0.01071203 0.00231451 0.99993995 -0.3037274 ] [ 0. 0. 0. 1. ]] SLAMing on 174.483133365 meters Centerline goodness : 0.131542 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993975 -0.00242296 -0.01070642 -1.13222431] [ 0.00239804 0.99999439 -0.00234033 0.01718682] [ 0.01071203 0.00231451 0.99993995 -0.3037274 ] [ 0. 0. 0. 1. ]] SLAMing on 174.513133365 meters Centerline goodness : 0.129437 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993922 -0.00251286 -0.01073473 -1.1323985 ] [ 0.00248667 0.9999939 -0.00245199 0.01717967] [ 0.01074083 0.00242515 0.99993937 -0.30337113] [ 0. 0. 0. 1. ]] SLAMing on 174.543133365 meters Centerline goodness : 0.133851 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993753 -0.00261611 -0.01086713 -1.13223597] [ 0.0025888 0.99999346 -0.00252656 0.01674341] [ 0.01087367 0.00249827 0.99993776 -0.30315278] [ 0. 0. 0. 1. ]] SLAMing on 174.573133365 meters Centerline goodness : 0.137472 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993497 -0.00261909 -0.01109907 -1.13183186] [ 0.0025922 0.99999367 -0.0024367 0.0159116 ] [ 0.01110538 0.00240777 0.99993543 -0.30297469] [ 0. 0. 0. 1. ]] SLAMing on 174.603133365 meters Centerline goodness : 0.137909 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.02, Z:-0.30 [[ 0.99993489 -0.00253937 -0.01112488 -1.13192444] [ 0.00251423 0.99999426 -0.00227317 0.01526188] [ 0.01113059 0.00224505 0.99993553 -0.30274268] [ 0. 0. 0. 1. ]] SLAMing on 174.633133365 meters Centerline goodness : 0.134260 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.30 [[ 0.99992816 0.00552699 -0.0106362 -1.15265576] [-0.00555667 0.99998074 -0.00276366 0.00956135] [ 0.01062072 0.00282257 0.99993961 -0.30379192] [ 0. 0. 0. 1. ]] SLAMing on 174.663133365 meters Centerline goodness : 0.135397 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.01, Z:-0.30 [[ 0.99996097 -0.00191077 -0.00862644 -1.13502678] [ 0.00189781 0.99999706 -0.00150997 0.01324646] [ 0.0086293 0.00149354 0.99996165 -0.30209484] [ 0. 0. 0. 1. ]] SLAMing on 174.693133365 meters Centerline goodness : 0.136916 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.01, Z:-0.30 [[ 0.99994428 0.00594338 -0.00872464 -1.15556546] [-0.00596588 0.99997894 -0.0025542 0.00812743] [ 0.00870927 0.0026061 0.99995868 -0.30282155] [ 0. 0. 0. 1. ]] SLAMing on 174.723133365 meters Centerline goodness : 0.133693 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.01, Z:-0.30 [[ 0.99994308 0.00597269 -0.00884062 -1.15516542] [-0.00599599 0.99997861 -0.00261158 0.00853063] [ 0.00882483 0.00266444 0.99995751 -0.30308523] [ 0. 0. 0. 1. ]] SLAMing on 174.753133365 meters Centerline goodness : 0.135821 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.30 [[ 0.99994267 0.00598559 -0.00887911 -1.15491311] [-0.00600897 0.99997854 -0.00260834 0.00854485] [ 0.0088633 0.00266155 0.99995718 -0.30337165] [ 0. 0. 0. 1. ]] SLAMing on 174.783133365 meters Centerline goodness : 0.134162 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.01, Z:-0.30 [[ 0.99994309 0.00597415 -0.00883879 -1.15479652] [-0.00599722 0.99997867 -0.00258559 0.00814555] [ 0.00882315 0.00263845 0.99995759 -0.30368936] [ 0. 0. 0. 1. ]] SLAMing on 174.813133365 meters Centerline goodness : 0.135497 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-0.31 [[ 0.99995895 -0.00252199 -0.00870303 -1.17465909] [ 0.00250963 0.99999583 -0.00143067 0.01113785] [ 0.0087066 0.00140877 0.9999611 -0.30518872] [ 0. 0. 0. 1. ]] SLAMing on 174.843133365 meters Centerline goodness : 0.135180 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.30 [[ 0.99996011 -0.00244644 -0.00859086 -1.17509768] [ 0.00243557 0.99999622 -0.0012765 0.01048238] [ 0.00859395 0.00125552 0.99996228 -0.3049405 ] [ 0. 0. 0. 1. ]] SLAMing on 174.873133365 meters Centerline goodness : 0.132196 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.01, Z:-0.30 [[ 9.99960759e-01 -2.33339287e-03 -8.54607755e-03 -1.17527292e+00] [ 2.32432166e-03 9.99996725e-01 -1.07122607e-03 9.72516100e-03] [ 8.54854915e-03 1.05132020e-03 9.99962908e-01 -3.04838294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.903133365 meters Centerline goodness : 0.135882 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.01, Z:-0.31 [[ 9.99959039e-01 -2.19751871e-03 -8.78015547e-03 -1.17444076e+00] [ 2.19004669e-03 9.99997232e-01 -8.60536238e-04 8.96859874e-03] [ 8.78202221e-03 8.41272039e-04 9.99961083e-01 -3.05317854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.933133365 meters Centerline goodness : 0.130889 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99991354 0.00520638 -0.01207461 -1.19172789] [-0.00523174 0.99998417 -0.00206988 0.00288991] [ 0.01206364 0.00213287 0.99992496 -0.30772044] [ 0. 0. 0. 1. ]] SLAMing on 174.96313336499998 meters Centerline goodness : 0.139459 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.9999085 0.00517146 -0.01249968 -1.19020077] [-0.00519715 0.99998445 -0.00202351 0.00203036] [ 0.01248902 0.00208829 0.99991983 -0.30856572] [ 0. 0. 0. 1. ]] SLAMing on 174.99313336499998 meters Centerline goodness : 0.132239 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990616 0.0051278 -0.01270343 -1.18951892] [-0.00515428 0.99998461 -0.00205216 0.00152534] [ 0.01269271 0.00211745 0.9999172 -0.30886884] [ 0. 0. 0. 1. ]] SLAMing on 175.02313336499998 meters Centerline goodness : 0.131349 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990494 0.00515047 -0.01279002 -1.1894886 ] [-0.00517738 0.99998445 -0.00207158 0.00151823] [ 0.01277915 0.0021376 0.99991606 -0.30865244] [ 0. 0. 0. 1. ]] SLAMing on 175.05313336499998 meters Centerline goodness : 0.132034 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990643 0.00581707 -0.01238076 -1.1909648 ] [-0.00584037 0.99998124 -0.00184692 0.00304384] [ 0.01236978 0.00191906 0.99992165 -0.30801688] [ 0. 0. 0. 1. ]] SLAMing on 175.08313336499998 meters Centerline goodness : 0.134338 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.00, Z:-0.31 [[ 0.99990883 0.00594208 -0.01212559 -1.1914275 ] [-0.00596728 0.99998011 -0.00204341 0.0048156 ] [ 0.0121132 0.00211558 0.99992439 -0.30832307] [ 0. 0. 0. 1. ]] SLAMing on 175.11313336499998 meters Centerline goodness : 0.129929 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.01, Z:-0.31 [[ 0.99991131 0.00594686 -0.01191708 -1.19184093] [-0.00597473 0.9999795 -0.00230446 0.00640085] [ 0.01190313 0.00237546 0.99992633 -0.30854688] [ 0. 0. 0. 1. ]] SLAMing on 175.14313336499998 meters Centerline goodness : 0.157042 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99931456e-01 -2.27577384e-03 -1.14849620e-02 -1.21145085e+00] [ 2.26326918e-03 9.99996832e-01 -1.10166570e-03 1.13137242e-02] [ 1.14874328e-02 1.07559663e-03 9.99933439e-01 -3.10601015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17313336499998 meters Centerline goodness : 0.140969 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99932982e-01 -2.28237994e-03 -1.13500014e-02 -1.21183825e+00] [ 2.26879972e-03 9.99996695e-01 -1.20922712e-03 1.21031205e-02] [ 1.13527238e-02 1.18339520e-03 9.99934855e-01 -3.10556258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20313336499999 meters Centerline goodness : 0.142430 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99934627e-01 -2.24550667e-03 -1.12116056e-02 -1.21257755e+00] [ 2.23292873e-03 9.99996864e-01 -1.13426018e-03 1.19255980e-02] [ 1.12141174e-02 1.10915131e-03 9.99936505e-01 -3.09938265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.233133365 meters Centerline goodness : 0.134970 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 9.99933204e-01 -2.27069026e-03 -1.13327399e-02 -1.21240122e+00] [ 2.25851190e-03 9.99996858e-01 -1.08729982e-03 1.14050929e-02] [ 1.13351732e-02 1.06163206e-03 9.99935191e-01 -3.09765660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.263133365 meters Centerline goodness : 0.135975 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.00, Z:-0.31 [[ 0.99992324 0.00491749 -0.01137203 -1.23068688] [-0.00494492 0.99998493 -0.00238496 0.00467471] [ 0.01136013 0.00244102 0.99993249 -0.31132247] [ 0. 0. 0. 1. ]] SLAMing on 175.293133365 meters Centerline goodness : 0.143558 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.01, Z:-0.31 [[ 0.99993134 -0.00289179 -0.01135598 -1.21040925] [ 0.0028735 0.99999455 -0.00162706 0.00939066] [ 0.01136062 0.00159432 0.9999342 -0.31041828] [ 0. 0. 0. 1. ]] SLAMing on 175.323133365 meters Centerline goodness : 0.158256 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.00, Z:-0.31 [[ 0.99990063 -0.0038936 -0.01354862 -1.25588613] [ 0.00387584 0.9999916 -0.00133697 0.00488793] [ 0.01355371 0.00128433 0.99990732 -0.30960798] [ 0. 0. 0. 1. ]] SLAMing on 175.353133365 meters Centerline goodness : 0.142549 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.31 [[ 9.99939273e-01 -2.97533146e-03 -1.06111895e-02 -1.21514831e+00] [ 2.96556926e-03 9.99995165e-01 -9.35607280e-04 6.45512604e-03] [ 1.06139219e-02 9.04082246e-04 9.99943262e-01 -3.08751331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.383133365 meters Centerline goodness : 0.130408 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.01, Z:-0.31 [[ 9.99941763e-01 -2.89968248e-03 -1.03953308e-02 -1.21593957e+00] [ 2.89117638e-03 9.99995473e-01 -8.33195869e-04 6.31803467e-03] [ 1.03976997e-02 8.03092611e-04 9.99945620e-01 -3.08344673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.413133365 meters Centerline goodness : 0.133234 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.00, Z:-0.31 [[ 9.99942006e-01 4.66683924e-03 -9.70590813e-03 -1.23503271e+00] [-4.68288210e-03 9.99987705e-01 -1.63082738e-03 3.04715998e-05] [ 9.69817799e-03 1.67618443e-03 9.99951567e-01 -3.09940940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.443133365 meters Centerline goodness : 0.121959 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.00, Z:-0.31 [[ 9.99945633e-01 -2.93418096e-03 -1.00060576e-02 -1.21482244e+00] [ 2.92504506e-03 9.99995292e-01 -9.27549173e-04 4.95249727e-03] [ 1.00087321e-02 8.98230576e-04 9.99949508e-01 -3.09299696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.473133365 meters Centerline goodness : 0.132829 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.00, Z:-0.31 [[ 9.99905660e-01 -4.14621505e-03 -1.30950249e-02 -1.25804644e+00] [ 4.13092870e-03 9.99990755e-01 -1.19417378e-03 5.81574298e-04] [ 1.30998551e-02 1.13996651e-03 9.99913543e-01 -3.09271007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.503133365 meters Centerline goodness : 0.141143 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.31 [[ 0.99990911 0.00299313 -0.01314572 -1.23697977] [-0.00303828 0.99998955 -0.00341545 -0.00241093] [ 0.01313536 0.00345508 0.99990776 -0.30867978] [ 0. 0. 0. 1. ]] SLAMing on 175.533133365 meters Centerline goodness : 0.133809 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-0.31 [[ 0.99989626 -0.00546433 -0.01332724 -1.25712477] [ 0.00544204 0.99998373 -0.00170828 -0.00178978] [ 0.01333636 0.00163558 0.99990973 -0.31007165] [ 0. 0. 0. 1. ]] SLAMing on 175.563133365 meters Centerline goodness : 0.135702 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-0.31 [[ 0.99989751 -0.00534911 -0.01328025 -1.25722477] [ 0.00533012 0.99998472 -0.00146489 -0.00280653] [ 0.01328788 0.00139395 0.99991074 -0.31007763] [ 0. 0. 0. 1. ]] SLAMing on 175.593133365 meters Centerline goodness : 0.143361 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-0.31 [[ 9.99897796e-01 -5.25105432e-03 -1.32975269e-02 -1.25708700e+00] [ 5.23588889e-03 9.99985602e-01 -1.17502711e-03 -4.27666441e-03] [ 1.33035056e-02 1.10528265e-03 9.99910894e-01 -3.10184937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.623133365 meters Centerline goodness : 0.128606 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99897177e-01 -5.14777581e-03 -1.33841347e-02 -1.25685202e+00] [ 5.13692697e-03 9.99986449e-01 -8.44827327e-04 -6.16129090e-03] [ 1.33883023e-02 7.75987137e-04 9.99910072e-01 -3.10197183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.653133365 meters Centerline goodness : 0.131591 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99895221e-01 -5.03917142e-03 -1.35703316e-02 -1.25648338e+00] [ 5.03304028e-03 9.99987216e-01 -4.85919150e-04 -8.26278209e-03] [ 1.35726068e-02 4.17568210e-04 9.99907801e-01 -3.10044156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.683133365 meters Centerline goodness : 0.145316 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99893765e-01 -4.95838199e-03 -1.37066734e-02 -1.25623578e+00] [ 4.95651946e-03 9.99987702e-01 -1.69851710e-04 -1.02199916e-02] [ 1.37073471e-02 1.01896272e-04 9.99906045e-01 -3.09883480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71313336499998 meters Centerline goodness : 0.131180 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99894876e-01 -4.82630117e-03 -1.36727036e-02 -1.25639041e+00] [ 4.83033682e-03 9.99988299e-01 2.62153284e-04 -1.28698129e-02] [ 1.36712784e-02 -3.28169490e-04 9.99906490e-01 -3.09715355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74313336499998 meters Centerline goodness : 0.067305 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-0.31 [[ 9.99895334e-01 -4.73292408e-03 -1.36718873e-02 -1.25646328e+00] [ 4.74003896e-03 9.99988647e-01 4.88044961e-04 -1.40662100e-02] [ 1.36694222e-02 -5.52799158e-04 9.99906416e-01 -3.09632059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77313336499998 meters Centerline goodness : 0.157992 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99901718e-01 3.62030122e-03 -1.35442717e-02 -1.23753558e+00] [-3.63105438e-03 9.99993112e-01 -7.69419621e-04 -1.83507135e-02] [ 1.35413928e-02 8.18523988e-04 9.99907976e-01 -3.07617183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80313336499998 meters Centerline goodness : 0.059939 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99901991e-01 3.71991121e-03 -1.34970466e-02 -1.23767550e+00] [-3.72768164e-03 9.99992901e-01 -5.50602044e-04 -1.94228762e-02] [ 1.34949026e-02 6.00860773e-04 9.99908759e-01 -3.07615680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83313336499998 meters Centerline goodness : 0.061946 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99901844e-01 3.77640384e-03 -1.34922889e-02 -1.23767877e+00] [-3.78241403e-03 9.99992758e-01 -4.19963678e-04 -2.01054855e-02] [ 1.34906052e-02 4.70955879e-04 9.99908887e-01 -3.07633554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86313336499998 meters Centerline goodness : 0.153400 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.02, Z:-0.31 [[ 9.99903628e-01 -3.33770388e-03 -1.34757111e-02 -1.21909901e+00] [ 3.34842429e-03 9.99994095e-01 7.73052113e-04 -1.56341499e-02] [ 1.34730513e-02 -8.18100011e-04 9.99908900e-01 -3.06200870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89313336499998 meters Centerline goodness : 0.136954 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99919531e-01 3.42280332e-03 -1.22154352e-02 -1.23777225e+00] [-3.42828273e-03 9.99994032e-01 -4.27652286e-04 -2.33573197e-02] [ 1.22138985e-02 4.69495839e-04 9.99925297e-01 -3.08366676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92313336499998 meters Centerline goodness : 0.137556 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99921404e-01 3.45757848e-03 -1.20511675e-02 -1.23858983e+00] [-3.46121666e-03 9.99993970e-01 -2.81050952e-04 -2.41579121e-02] [ 1.20501230e-02 3.22740564e-04 9.99927343e-01 -3.07727996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95313336499999 meters Centerline goodness : 0.141444 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99924480e-01 3.50152261e-03 -1.17802216e-02 -1.23962515e+00] [-3.50389470e-03 9.99993845e-01 -1.80728804e-04 -2.44538536e-02] [ 1.17795162e-02 2.21991812e-04 9.99930594e-01 -3.07136157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.983133365 meters Centerline goodness : 0.067910 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.02, Z:-0.31 [[ 0.99991874 -0.00432113 -0.01199334 -1.2629926 ] [ 0.00434369 0.99998884 0.00185568 -0.02334424] [ 0.01198519 -0.00190762 0.99992636 -0.30632925] [ 0. 0. 0. 1. ]] SLAMing on 176.013133365 meters Centerline goodness : 0.186972 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.02, Z:-0.31 [[ 0.99992267 -0.0044836 -0.01159957 -1.26460612] [ 0.00450508 0.99998818 0.00182665 -0.02401159] [ 0.01159125 -0.00187876 0.99993105 -0.30517416] [ 0. 0. 0. 1. ]] SLAMing on 176.043133365 meters Centerline goodness : 0.142125 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 0.99994389 0.00177016 -0.01044458 -1.24295655] [-0.00178401 0.99999754 -0.00131662 -0.02467867] [ 0.01044222 0.00133518 0.99994459 -0.30504576] [ 0. 0. 0. 1. ]] SLAMing on 176.073133365 meters Centerline goodness : 0.075799 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.30 [[ 0.99994346 0.00173764 -0.01049096 -1.24296421] [-0.00175087 0.99999768 -0.00125225 -0.02545123] [ 0.01048876 0.00127054 0.99994418 -0.30485343] [ 0. 0. 0. 1. ]] SLAMing on 176.103133365 meters Centerline goodness : 0.132175 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.30 [[ 9.99941282e-01 1.70393505e-03 -1.07018406e-02 -1.24244848e+00] [-1.71610977e-03 9.99997891e-01 -1.12854835e-03 -2.64547413e-02] [ 1.06998951e-02 1.14684762e-03 9.99942097e-01 -3.04843341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.133133365 meters Centerline goodness : 0.144092 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 9.99939945e-01 1.69579164e-03 -1.08273090e-02 -1.24196503e+00] [-1.70824783e-03 9.99997890e-01 -1.14129676e-03 -2.65137893e-02] [ 1.08253507e-02 1.15972395e-03 9.99940732e-01 -3.05144403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.163133365 meters Centerline goodness : 0.155700 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-0.31 [[ 9.99938260e-01 1.66452506e-03 -1.09866238e-02 -1.24132615e+00] [-1.67778133e-03 9.99997876e-01 -1.19747637e-03 -2.64087718e-02] [ 1.09846072e-02 1.21583559e-03 9.99938928e-01 -3.05552828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 176.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 176.253133365 meters Centerline goodness : 0.158248 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99927338e-01 2.40932186e-03 -1.18115632e-02 -1.23955428e+00] [-2.42111883e-03 9.99996584e-01 -9.84567884e-04 -2.42611961e-02] [ 1.18091508e-02 1.01309354e-03 9.99929756e-01 -3.05588450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.283133365 meters Centerline goodness : 0.057939 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99926887e-01 3.21005296e-03 -1.16583221e-02 -1.24003525e+00] [-3.22017472e-03 9.99994454e-01 -8.49531956e-04 -2.10381605e-02] [ 1.16555304e-02 8.87011678e-04 9.99931679e-01 -3.05637620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.313133365 meters Centerline goodness : 0.059276 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 9.99928692e-01 3.20002669e-03 -1.15052264e-02 -1.24036826e+00] [-3.21425241e-03 9.99994092e-01 -1.21817842e-03 -1.88184161e-02] [ 1.15012603e-02 1.25507226e-03 9.99933071e-01 -3.05793107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.343133365 meters Centerline goodness : 0.066754 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.02, Z:-0.31 [[ 0.9999308 0.00317976 -0.01132643 -1.2408779 ] [-0.00319802 0.99999361 -0.00159468 -0.01648601] [ 0.01132129 0.00163079 0.99993458 -0.30572506] [ 0. 0. 0. 1. ]] SLAMing on 176.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 176.403133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 176.433133365 meters Centerline goodness : 0.070748 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.01, Z:-0.30 [[ 9.99924074e-01 5.55064966e-03 -1.10017034e-02 -1.24344941e+00] [-5.55343283e-03 9.99984555e-01 -2.22442627e-04 -8.96101632e-03] [ 1.10002988e-02 2.83522959e-04 9.99939455e-01 -3.03881058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46313336499998 meters Centerline goodness : 0.135530 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.01, Z:-0.30 [[ 9.99925194e-01 5.37734204e-03 -1.09859580e-02 -1.24355722e+00] [-5.38450545e-03 9.99985310e-01 -6.22577234e-04 -7.11265043e-03] [ 1.09824488e-02 6.81684612e-04 9.99939459e-01 -3.03865222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49313336499998 meters Centerline goodness : 0.125027 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.01, Z:-0.30 [[ 9.99924569e-01 5.24658164e-03 -1.11054107e-02 -1.24320859e+00] [-5.25686717e-03 9.99985780e-01 -8.97185047e-04 -5.86984096e-03] [ 1.11005456e-02 9.55497040e-04 9.99937931e-01 -3.04026760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52313336499998 meters Centerline goodness : 0.159606 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.30 [[ 9.99923421e-01 5.09954236e-03 -1.12759667e-02 -1.24273821e+00] [-5.11318930e-03 9.99986229e-01 -1.18177003e-03 -4.61085480e-03] [ 1.12697849e-02 1.23933568e-03 9.99935726e-01 -3.04158905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55313336499998 meters Centerline goodness : 0.131217 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.30 [[ 0.9999229 0.00502047 -0.01135708 -1.24253255] [-0.00503617 0.9999864 -0.00135433 -0.00364476] [ 0.01135012 0.00141142 0.99993459 -0.30422343] [ 0. 0. 0. 1. ]] SLAMing on 176.58313336499998 meters Centerline goodness : 0.129381 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.00, Z:-0.30 [[ 0.99992558 0.0049525 -0.01114967 -1.24317941] [-0.00496924 0.99998657 -0.00147414 -0.00295386] [ 0.01114222 0.00152944 0.99993675 -0.30400479] [ 0. 0. 0. 1. ]] SLAMing on 176.61313336499998 meters Centerline goodness : 0.132309 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 9.99950083e-01 3.34544243e-03 -9.41487463e-03 -1.24906403e+00] [-3.37456831e-03 9.99989565e-01 -3.07941899e-03 -5.61662333e-04] [ 9.40447437e-03 3.11103641e-03 9.99950937e-01 -3.01517842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64313336499998 meters Centerline goodness : 0.130054 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 9.99950874e-01 3.26029354e-03 -9.36056608e-03 -1.24957370e+00] [-3.28999749e-03 9.99989596e-01 -3.15966384e-03 -4.78666934e-04] [ 9.35016726e-03 3.19030486e-03 9.99951197e-01 -3.00938677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67313336499998 meters Centerline goodness : 0.131310 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.01, Z:-0.30 [[ 0.99994885 -0.00412803 -0.00923355 -1.23101488] [ 0.00410942 0.99998949 -0.00203383 0.00555903] [ 0.00924185 0.00199578 0.9999553 -0.29904266] [ 0. 0. 0. 1. ]] SLAMing on 176.70313336499999 meters Centerline goodness : 0.136904 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.01, Z:-0.30 [[ 0.99994831 -0.00415313 -0.00928036 -1.23089973] [ 0.00413345 0.99998917 -0.00213895 0.00637128] [ 0.00928914 0.00210048 0.99995465 -0.29908883] [ 0. 0. 0. 1. ]] SLAMing on 176.733133365 meters Centerline goodness : 0.134359 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994559 0.00373621 -0.00973972 -1.25059609] [-0.00376677 0.99998804 -0.00312081 0.00204147] [ 0.00972794 0.00315733 0.9999477 -0.30042432] [ 0. 0. 0. 1. ]] SLAMing on 176.763133365 meters Centerline goodness : 0.131995 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994519 0.00353723 -0.0098537 -1.25008309] [-0.00357108 0.99998777 -0.00342038 0.00282072] [ 0.00984148 0.00345538 0.9999456 -0.30083049] [ 0. 0. 0. 1. ]] SLAMing on 176.793133365 meters Centerline goodness : 0.130574 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994407 0.00348094 -0.00998727 -1.24972032] [-0.00351553 0.99998788 -0.00344812 0.00264925] [ 0.00997515 0.00348304 0.99994418 -0.30089591] [ 0. 0. 0. 1. ]] SLAMing on 176.823133365 meters Centerline goodness : 0.134438 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99994196 0.00348794 -0.01019322 -1.24914981] [-0.00352244 0.99998812 -0.00336819 0.00210081] [ 0.01018135 0.0034039 0.99994238 -0.30106723] [ 0. 0. 0. 1. ]] SLAMing on 176.853133365 meters Centerline goodness : 0.131769 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 0.99993825 0.00350931 -0.01054464 -1.24813808] [-0.00354368 0.99998846 -0.00324313 0.00138172] [ 0.01053314 0.0032803 0.99993914 -0.30134632] [ 0. 0. 0. 1. ]] SLAMing on 176.883133365 meters Centerline goodness : 0.130419 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.00, Z:-0.30 [[ 9.99935885e-01 3.53978225e-03 -1.07562361e-02 -1.24748647e+00] [-3.57315780e-03 9.99988857e-01 -3.08527033e-03 4.27986700e-04] [ 1.07451950e-02 3.12350625e-03 9.99937390e-01 -3.01596307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.913133365 meters Centerline goodness : 0.136672 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 0.99993708 0.00354842 -0.01064134 -1.24802244] [-0.00357717 0.99999 -0.00268403 -0.00262936] [ 0.01063171 0.00272193 0.99993978 -0.30112416] [ 0. 0. 0. 1. ]] SLAMing on 176.943133365 meters Centerline goodness : 0.133364 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.00, Z:-0.30 [[ 0.99993863 0.00361546 -0.01047245 -1.24852931] [-0.00364081 0.99999049 -0.00240193 -0.00443994] [ 0.01046367 0.00243991 0.99994228 -0.30094006] [ 0. 0. 0. 1. ]] SLAMing on 176.973133365 meters Centerline goodness : 0.133646 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.01, Z:-0.30 [[ 0.999939 0.00368686 -0.01041136 -1.24868945] [-0.00370977 0.99999074 -0.00218112 -0.00573758] [ 0.01040322 0.00221961 0.99994342 -0.3009013 ] [ 0. 0. 0. 1. ]] SLAMing on 177.003133365 meters Centerline goodness : 0.153896 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.01, Z:-0.30 [[ 0.9999386 0.00374033 -0.01043077 -1.24836456] [-0.00376223 0.99999076 -0.0020814 -0.00637299] [ 0.01042289 0.00212051 0.99994343 -0.30134631] [ 0. 0. 0. 1. ]] SLAMing on 177.033133365 meters Centerline goodness : 0.137723 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.00, Z:-0.30 [[ 9.99921754e-01 -4.63963353e-03 -1.16172550e-02 -1.26771904e+00] [ 4.63216721e-03 9.99989047e-01 -6.69517460e-04 -4.18735197e-03] [ 1.16202341e-02 6.15652005e-04 9.99932293e-01 -3.02745007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.063133365 meters Centerline goodness : 0.066197 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99922891e-01 -4.43347869e-03 -1.15998102e-02 -1.26763904e+00] [ 4.43026569e-03 9.99990141e-01 -3.02668851e-04 -5.54426959e-03] [ 1.16010377e-02 2.51255271e-04 9.99932674e-01 -3.02949621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.093133365 meters Centerline goodness : 0.132761 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99923466e-01 -4.32024300e-03 -1.15930275e-02 -1.26763549e+00] [ 4.32007286e-03 9.99990668e-01 -3.97187181e-05 -6.78703956e-03] [ 1.15930909e-02 -1.03670451e-05 9.99932798e-01 -3.02954238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.123133365 meters Centerline goodness : 0.159336 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99923377e-01 -4.24837277e-03 -1.16272258e-02 -1.26757412e+00] [ 4.25164672e-03 9.99990929e-01 2.56872703e-04 -8.61004763e-03] [ 1.16260290e-02 -3.06287877e-04 9.99932369e-01 -3.02900383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.153133365 meters Centerline goodness : 0.134032 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.01, Z:-0.30 [[ 9.99923262e-01 -4.20607131e-03 -1.16524283e-02 -1.26766401e+00] [ 4.21337076e-03 9.99990943e-01 6.01953131e-04 -1.09080710e-02] [ 1.16497909e-02 -6.51002939e-04 9.99931927e-01 -3.02646848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.183133365 meters Centerline goodness : 0.140862 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.30 [[ 0.99994532 0.00158994 -0.01033591 -1.29027068] [-0.00160449 0.99999773 -0.00139996 -0.01834127] [ 0.01033367 0.00141647 0.9999456 -0.30303051] [ 0. 0. 0. 1. ]] SLAMing on 177.21313336499998 meters Centerline goodness : 0.131675 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.02, Z:-0.30 [[ 9.99945353e-01 1.70824729e-03 -1.03136892e-02 -1.29041448e+00] [-1.71715482e-03 9.99998160e-01 -8.54867824e-04 -2.12797075e-02] [ 1.03122099e-02 8.72531309e-04 9.99946447e-01 -3.02845193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24313336499998 meters Centerline goodness : 0.146132 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.02, Z:-0.30 [[ 9.99931306e-01 -6.50835943e-03 -9.74808899e-03 -1.26939680e+00] [ 6.51151226e-03 9.99978757e-01 2.91726418e-04 -2.30521945e-02] [ 9.74598325e-03 -3.55181179e-04 9.99952444e-01 -3.02588872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27313336499998 meters Centerline goodness : 0.138280 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.31 [[ 9.99960936e-01 1.94280659e-04 -8.83673699e-03 -1.28648547e+00] [-2.01585804e-04 9.99999639e-01 -8.25795810e-04 -3.18065347e-02] [ 8.83657336e-03 8.27544912e-04 9.99960614e-01 -3.05373160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30313336499998 meters Centerline goodness : 0.161108 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.03, Z:-0.31 [[ 9.99959008e-01 3.06117779e-04 -9.04919188e-03 -1.28577451e+00] [-3.09720471e-04 9.99999873e-01 -3.96724325e-04 -3.44385677e-02] [ 9.04906929e-03 3.99510782e-04 9.99958977e-01 -3.05673758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33313336499998 meters Centerline goodness : 0.161643 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99956888e-01 4.33459665e-04 -9.27546299e-03 -1.28512166e+00] [-4.33315546e-04 9.99999906e-01 1.75473492e-05 -3.67652170e-02] [ 9.27546972e-03 -1.35273904e-05 9.99956982e-01 -3.05835718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36313336499998 meters Centerline goodness : 0.144056 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99958077e-01 6.89762106e-04 -9.13068644e-03 -1.28580427e+00] [-6.82603385e-04 9.99999457e-01 7.87122030e-04 -4.11623815e-02] [ 9.13122441e-03 -7.80856393e-04 9.99958005e-01 -3.05204992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39313336499998 meters Centerline goodness : 0.140688 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.30 [[ 9.99979704e-01 8.52364850e-04 -6.31390462e-03 -1.24527025e+00] [-8.53737719e-04 9.99999613e-01 -2.14743754e-04 -4.11851247e-02] [ 6.31371913e-03 2.20129814e-04 9.99980044e-01 -3.04016671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 177.45313336499999 meters Centerline goodness : 0.143551 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99985151e-01 1.17005292e-03 -5.32250986e-03 -1.24870265e+00] [-1.16623778e-03 9.99999061e-01 7.19841579e-04 -4.73048050e-02] [ 5.32334711e-03 -7.13623578e-04 9.99985576e-01 -3.02334352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.483133365 meters Centerline goodness : 0.141976 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99986139e-01 1.33248063e-03 -5.09373218e-03 -1.24935479e+00] [-1.32731064e-03 9.99998601e-01 1.01821584e-03 -4.84555327e-02] [ 5.09508180e-03 -1.01144076e-03 9.99986508e-01 -3.02150945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.513133365 meters Centerline goodness : 0.148085 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99986281e-01 1.42772841e-03 -5.03986124e-03 -1.24945038e+00] [-1.42186318e-03 9.99998308e-01 1.16715918e-03 -4.91842146e-02] [ 5.04151910e-03 -1.15997717e-03 9.99986619e-01 -3.02145741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.543133365 meters Centerline goodness : 0.106319 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99986107e-01 1.38729817e-03 -5.08540096e-03 -1.24912930e+00] [-1.38189210e-03 9.99998477e-01 1.06641606e-03 -4.91625980e-02] [ 5.08687265e-03 -1.05937377e-03 9.99986501e-01 -3.02516868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.573133365 meters Centerline goodness : 0.054762 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99985550e-01 1.34079173e-03 -5.20605183e-03 -1.24857526e+00] [-1.33616904e-03 9.99998710e-01 8.91322101e-04 -4.86092614e-02] [ 5.20724019e-03 -8.84353055e-04 9.99986051e-01 -3.03006623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.603133365 meters Centerline goodness : 0.167902 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99982608e-01 1.97713325e-03 -5.55640591e-03 -1.24717229e+00] [-1.97134115e-03 9.99997508e-01 1.04770218e-03 -4.68734952e-02] [ 5.55846351e-03 -1.03673039e-03 9.99984014e-01 -3.04136924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.633133365 meters Centerline goodness : 0.178759 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-0.30 [[ 9.99982659e-01 2.07562848e-03 -5.51120949e-03 -1.24710212e+00] [-2.07083409e-03 9.99997473e-01 8.75498251e-04 -4.51805063e-02] [ 5.51301277e-03 -8.64070268e-04 9.99984430e-01 -3.04524266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.663133365 meters Centerline goodness : 0.140238 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.30 [[ 9.99982419e-01 2.08325466e-03 -5.55173938e-03 -1.24688749e+00] [-2.07985383e-03 9.99997646e-01 6.18272155e-04 -4.34452300e-02] [ 5.55301433e-03 -6.06714479e-04 9.99984398e-01 -3.04798105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.693133365 meters Centerline goodness : 0.167970 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99982349e-01 1.98285617e-03 -5.60091350e-03 -1.24661301e+00] [-1.98141662e-03 9.99998003e-01 2.62557582e-04 -4.18076253e-02] [ 5.60142293e-03 -2.51455204e-04 9.99984280e-01 -3.05131801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.723133365 meters Centerline goodness : 0.102305 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99981497e-01 1.83012260e-03 -5.80145317e-03 -1.24589315e+00] [-1.83188384e-03 9.99998278e-01 -2.98286750e-04 -3.90342746e-02] [ 5.80089728e-03 3.08908819e-04 9.99983127e-01 -3.05690085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.753133365 meters Centerline goodness : 0.173906 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99981593e-01 1.79735848e-03 -5.79515873e-03 -1.24585636e+00] [-1.79974361e-03 9.99998298e-01 -4.06385085e-04 -3.84159800e-02] [ 5.79441845e-03 4.16807405e-04 9.99983125e-01 -3.05853520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.783133365 meters Centerline goodness : 0.094011 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99981889e-01 1.79894990e-03 -5.74336505e-03 -1.24591398e+00] [-1.80132962e-03 9.99998294e-01 -4.09196712e-04 -3.82667413e-02] [ 5.74261913e-03 4.19534994e-04 9.99983423e-01 -3.05997345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.813133365 meters Centerline goodness : 0.150608 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99982227e-01 1.84014971e-03 -5.67089334e-03 -1.24601640e+00] [-1.84159027e-03 9.99998273e-01 -2.48815890e-04 -3.90532594e-02] [ 5.67042569e-03 2.59254930e-04 9.99983889e-01 -3.06102957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.843133365 meters Centerline goodness : 0.171769 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.04, Z:-0.31 [[ 9.99982971e-01 1.36529213e-03 -5.67386223e-03 -1.24579205e+00] [-1.36628791e-03 9.99999052e-01 -1.71630953e-04 -4.17997028e-02] [ 5.67362252e-03 1.79380160e-04 9.99983889e-01 -3.06256305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.873133365 meters Centerline goodness : 0.170173 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-0.31 [[ 9.99980929e-01 1.09760274e-03 -6.07751637e-03 -1.24475635e+00] [-1.09827711e-03 9.99999391e-01 -1.07624854e-04 -4.37304737e-02] [ 6.07739454e-03 1.14297599e-04 9.99981526e-01 -3.06327982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.903133365 meters Centerline goodness : 0.126927 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99977915e-01 1.00316729e-03 -6.56981816e-03 -1.24372351e+00] [-1.00190389e-03 9.99999479e-01 1.95592133e-04 -4.64001774e-02] [ 6.57001095e-03 -1.89005487e-04 9.99978399e-01 -3.06114413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.933133365 meters Centerline goodness : 0.178347 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99975711e-01 9.58894519e-04 -6.90349575e-03 -1.24285187e+00] [-9.54770082e-04 9.99999364e-01 6.00712672e-04 -4.93130979e-02] [ 6.90406738e-03 -5.94106830e-04 9.99975990e-01 -3.06200349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96313336499998 meters Centerline goodness : 0.143247 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-0.31 [[ 9.99973164e-01 9.34760559e-04 -7.26616996e-03 -1.24199874e+00] [-9.27163745e-04 9.99999020e-01 1.04880269e-03 -5.22807828e-02] [ 7.26714322e-03 -1.04203762e-03 9.99973051e-01 -3.06127423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99313336499998 meters Centerline goodness : 0.144521 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99972017e-01 7.09987835e-04 -7.44720961e-03 -1.24151447e+00] [-6.97808604e-04 9.99998415e-01 1.63787949e-03 -5.74542371e-02] [ 7.44836068e-03 -1.63263693e-03 9.99970928e-01 -3.06044917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02313336499998 meters Centerline goodness : 0.087409 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99971696e-01 7.65274655e-04 -7.48475292e-03 -1.24131483e+00] [-7.50498666e-04 9.99997765e-01 1.97675468e-03 -5.97361545e-02] [ 7.48624895e-03 -1.97108143e-03 9.99970035e-01 -3.06170785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05313336499998 meters Centerline goodness : 0.141598 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 9.99970839e-01 7.91342247e-04 -7.59567898e-03 -1.24089894e+00] [-7.74903978e-04 9.99997352e-01 2.16685978e-03 -6.11415024e-02] [ 7.59737360e-03 -2.16091067e-03 9.99968805e-01 -3.06405420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08313336499998 meters Centerline goodness : 0.149223 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-0.31 [[ 9.99933748e-01 8.34712917e-03 -7.92618710e-03 -1.26060593e+00] [-8.33822341e-03 9.99964568e-01 1.15596966e-03 -6.67530112e-02] [ 7.93555529e-03 -1.08980275e-03 9.99967919e-01 -3.07960115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11313336499998 meters Centerline goodness : 0.091210 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997397 0.00282539 -0.00663973 -1.24042771] [-0.00279912 0.99998823 0.0039625 -0.06110923] [ 0.00665085 -0.00394382 0.99997011 -0.30783873] [ 0. 0. 0. 1. ]] SLAMing on 178.14313336499998 meters Centerline goodness : 0.146951 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997576 0.00285281 -0.00635137 -1.24106786] [-0.00282827 0.99998852 0.00386905 -0.0603767 ] [ 0.00636234 -0.00385099 0.99997234 -0.30791475] [ 0. 0. 0. 1. ]] SLAMing on 178.17313336499998 meters Centerline goodness : 0.146871 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997746 0.00275767 -0.00612167 -1.24170855] [-0.00273542 0.99998963 0.00364 -0.05951542] [ 0.00613165 -0.00362317 0.99997464 -0.30779165] [ 0. 0. 0. 1. ]] SLAMing on 178.20313336499999 meters Centerline goodness : 0.146056 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-0.31 [[ 0.99997768 0.00266764 -0.00612492 -1.24163308] [-0.00264699 0.99999079 0.00337736 -0.05842671] [ 0.00613387 -0.00336108 0.99997554 -0.30798055] [ 0. 0. 0. 1. ]] SLAMing on 178.233133365 meters Centerline goodness : 0.114840 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996147 0.00161069 -0.00862924 -1.28637278] [-0.00157951 0.9999922 0.0036196 -0.06042103] [ 0.00863501 -0.00360583 0.99995622 -0.3077199 ] [ 0. 0. 0. 1. ]] SLAMing on 178.263133365 meters Centerline goodness : 0.122341 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996143 0.00162299 -0.00863198 -1.28606693] [-0.00159253 0.99999249 0.00353402 -0.0596743 ] [ 0.00863765 -0.00352014 0.9999565 -0.3082439 ] [ 0. 0. 0. 1. ]] SLAMing on 178.293133365 meters Centerline goodness : 0.122341 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996143 0.00162299 -0.00863198 -1.28606693] [-0.00159253 0.99999249 0.00353402 -0.0596743 ] [ 0.00863765 -0.00352014 0.9999565 -0.3082439 ] [ 0. 0. 0. 1. ]] SLAMing on 178.323133365 meters Centerline goodness : 0.121906 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996345 0.00159823 -0.00839944 -1.28634982] [-0.00156907 0.99999272 0.00347728 -0.05926808] [ 0.00840493 -0.00346397 0.99995868 -0.30868623] [ 0. 0. 0. 1. ]] SLAMing on 178.353133365 meters Centerline goodness : 0.121321 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996557 0.00153221 -0.00815567 -1.28717379] [-0.0015042 0.99999295 0.00343965 -0.05947852] [ 0.00816088 -0.00342727 0.99996083 -0.30830835] [ 0. 0. 0. 1. ]] SLAMing on 178.383133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 178.413133365 meters Centerline goodness : 0.161755 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 0.99996616 0.00134613 -0.00811617 -1.2875029 ] [-0.00131919 0.9999936 0.00332427 -0.0596694 ] [ 0.00812059 -0.00331345 0.99996154 -0.30798605] [ 0. 0. 0. 1. ]] SLAMing on 178.443133365 meters Centerline goodness : 0.134851 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99966083e-01 1.29612468e-03 -8.13343942e-03 -1.28714021e+00] [-1.26996167e-03 9.99994006e-01 3.22106215e-03 -5.92573526e-02] [ 8.13756556e-03 -3.21062375e-03 9.99961735e-01 -3.08512674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.473133365 meters Centerline goodness : 0.150376 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99966748e-01 1.26333200e-03 -8.05648934e-03 -1.28732189e+00] [-1.23793230e-03 9.99994251e-01 3.15690797e-03 -5.89828222e-02] [ 8.06043125e-03 -3.14682960e-03 9.99962563e-01 -3.08524455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.503133365 meters Centerline goodness : 0.146169 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99967965e-01 1.24078231e-03 -7.90760156e-03 -1.28780127e+00] [-1.21630153e-03 9.99994456e-01 3.09991182e-03 -5.87719109e-02] [ 7.91140403e-03 -3.09019449e-03 9.99963930e-01 -3.08374340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.533133365 meters Centerline goodness : 0.107922 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99969521e-01 1.16385638e-03 -7.72026191e-03 -1.28829917e+00] [-1.14105749e-03 9.99994977e-01 2.95687082e-03 -5.81828584e-02] [ 7.72366451e-03 -2.94797143e-03 9.99965827e-01 -3.08265630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.563133365 meters Centerline goodness : 0.131221 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-0.31 [[ 9.99969593e-01 1.08492942e-03 -7.72246307e-03 -1.28817413e+00] [-1.06530995e-03 9.99996196e-01 2.54423179e-03 -5.57727977e-02] [ 7.72519400e-03 -2.53592761e-03 9.99966945e-01 -3.08587117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.593133365 meters Centerline goodness : 0.126589 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-0.31 [[ 0.99992348 0.00892841 -0.00856307 -1.30834313] [-0.00891603 0.99995915 0.00148229 -0.05863661] [ 0.00857596 -0.00140582 0.99996224 -0.30985748] [ 0. 0. 0. 1. ]] SLAMing on 178.623133365 meters Centerline goodness : 0.142205 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.31 [[ 0.99994596 0.00235194 -0.01012692 -1.28969588] [-0.00233253 0.99999542 0.00192768 -0.0503091 ] [ 0.01013141 -0.00190396 0.99994686 -0.30856193] [ 0. 0. 0. 1. ]] SLAMing on 178.653133365 meters Centerline goodness : 0.130978 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.31 [[ 0.99994513 0.00224717 -0.01023192 -1.28915808] [-0.00223223 0.99999643 0.0014713 -0.04776016] [ 0.01023519 -0.00144838 0.99994657 -0.30911878] [ 0. 0. 0. 1. ]] SLAMing on 178.683133365 meters Centerline goodness : 0.132890 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.05, Z:-0.31 [[ 9.99944628e-01 2.11042591e-03 -1.03096069e-02 -1.28874043e+00] [-2.10015741e-03 9.99997288e-01 1.00673757e-03 -4.52663771e-02] [ 1.03117036e-02 -9.85030024e-04 9.99946348e-01 -3.09567762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71313336499998 meters Centerline goodness : 0.132374 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946311e-01 1.94413456e-03 -1.01782290e-02 -1.28932853e+00] [-1.93980796e-03 9.99998024e-01 4.34938108e-04 -4.21355254e-02] [ 1.01790544e-02 -4.15170947e-04 9.99948106e-01 -3.09289319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74313336499998 meters Centerline goodness : 0.146304 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946906e-01 1.89905115e-03 -1.01280756e-02 -1.28978038e+00] [-1.89650651e-03 9.99998168e-01 2.60844654e-04 -4.09964140e-02] [ 1.01285524e-02 -2.41622843e-04 9.99948676e-01 -3.08832891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77313336499998 meters Centerline goodness : 0.113016 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946859e-01 1.86618044e-03 -1.01388849e-02 -1.28984285e+00] [-1.86491952e-03 9.99998252e-01 1.33817234e-04 -4.00919694e-02] [ 1.01391169e-02 -1.14901918e-04 9.99948591e-01 -3.08741287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80313336499998 meters Centerline goodness : 0.134244 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946550e-01 1.80307476e-03 -1.01807081e-02 -1.28977421e+00] [-1.80271114e-03 9.99998374e-01 4.48929051e-05 -3.95928956e-02] [ 1.01807725e-02 -2.65376298e-05 9.99948174e-01 -3.08741302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83313336499998 meters Centerline goodness : 0.120840 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99947840e-01 1.75127099e-03 -1.00623258e-02 -1.29017636e+00] [-1.75095010e-03 9.99998466e-01 4.07001053e-05 -3.99863035e-02] [ 1.00623816e-02 -2.30793520e-05 9.99949373e-01 -3.08533782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86313336499998 meters Centerline goodness : 0.145388 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99949995e-01 1.69289997e-03 -9.85600883e-03 -1.29087067e+00] [-1.69247648e-03 9.99998566e-01 5.13085622e-05 -4.04793462e-02] [ 9.85608156e-03 -3.46249334e-05 9.99951427e-01 -3.08210057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89313336499998 meters Centerline goodness : 0.056412 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99950688e-01 1.67667802e-03 -9.78825759e-03 -1.29109166e+00] [-1.67585297e-03 9.99998591e-01 9.24910473e-05 -4.09169668e-02] [ 9.78839888e-03 -7.60828058e-05 9.99952090e-01 -3.08117436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 178.95313336499999 meters Centerline goodness : 0.061276 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99947380e-01 1.68471557e-03 -1.01192810e-02 -1.29000501e+00] [-1.67991898e-03 9.99998473e-01 4.82486014e-04 -4.33244473e-02] [ 1.01200784e-02 -4.65461053e-04 9.99948682e-01 -3.08564158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.983133365 meters Centerline goodness : 0.055633 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99946485e-01 1.67627983e-03 -1.02086390e-02 -1.28984453e+00] [-1.67033479e-03 9.99998430e-01 5.90852407e-04 -4.43065088e-02] [ 1.02096134e-02 -5.73768943e-04 9.99947716e-01 -3.08480926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 179.043133365 meters Centerline goodness : 0.129150 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99948286e-01 1.72640886e-03 -1.00222029e-02 -1.29026015e+00] [-1.71966189e-03 9.99998289e-01 6.81780755e-04 -4.49806363e-02] [ 1.00233628e-02 -6.64510697e-04 9.99949544e-01 -3.08479490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.073133365 meters Centerline goodness : 0.054475 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99949205e-01 1.71051902e-03 -9.93286778e-03 -1.29037939e+00] [-1.70538714e-03 9.99998408e-01 5.25102503e-04 -4.41019488e-02] [ 9.93375016e-03 -5.08136445e-04 9.99950530e-01 -3.08612814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.103133365 meters Centerline goodness : 0.130575 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99950901e-01 1.75105296e-03 -9.75341959e-03 -1.29062883e+00] [-1.74769759e-03 9.99998411e-01 3.52532482e-04 -4.27842623e-02] [ 9.75402139e-03 -3.35469145e-04 9.99952372e-01 -3.08957378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.133133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 179.163133365 meters Centerline goodness : 0.143444 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99954558e-01 2.15024448e-03 -9.28755944e-03 -1.29169287e+00] [-2.14712155e-03 9.99997635e-01 3.46206872e-04 -4.10910203e-02] [ 9.28828191e-03 -3.26249621e-04 9.99956810e-01 -3.09150423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.193133365 meters Centerline goodness : 0.125317 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99954965e-01 2.10579359e-03 -9.25388796e-03 -1.29171952e+00] [-2.10423971e-03 9.99997770e-01 1.77649432e-04 -4.04910874e-02] [ 9.25424142e-03 -1.58169033e-04 9.99957166e-01 -3.09265760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.223133365 meters Centerline goodness : 0.128887 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.04, Z:-0.31 [[ 9.99951786e-01 1.91842106e-03 -9.63048881e-03 -1.29055416e+00] [-1.91841265e-03 9.99998160e-01 1.01114344e-05 -4.11509016e-02] [ 9.63049048e-03 8.36430466e-06 9.99953626e-01 -3.09723758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.253133365 meters Centerline goodness : 0.131666 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99920757e-01 4.03722218e-04 -1.25824326e-02 -1.33498874e+00] [-4.04627301e-04 9.99999916e-01 -6.93866916e-05 -4.62113163e-02] [ 1.25824036e-02 7.44723889e-05 9.99920836e-01 -3.09054618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.283133365 meters Centerline goodness : 0.132526 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919706e-01 5.30002587e-04 -1.26609910e-02 -1.33490118e+00] [-5.25807455e-04 9.99999806e-01 3.34669581e-04 -4.83201740e-02] [ 1.26611659e-02 -3.27985466e-04 9.99919790e-01 -3.08847460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.313133365 meters Centerline goodness : 0.129602 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919852e-01 5.28837724e-04 -1.26495331e-02 -1.33490461e+00] [-5.23751038e-04 9.99999781e-01 4.05433722e-04 -4.89104930e-02] [ 1.26497448e-02 -3.98776021e-04 9.99919909e-01 -3.08846756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.343133365 meters Centerline goodness : 0.131439 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919996e-01 5.22133945e-04 -1.26383997e-02 -1.33497752e+00] [-5.17242198e-04 9.99999790e-01 3.90319899e-04 -4.89291265e-02] [ 1.26386009e-02 -3.83751558e-04 9.99920056e-01 -3.08807706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.373133365 meters Centerline goodness : 0.129144 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.05, Z:-0.31 [[ 9.99920131e-01 5.42379045e-04 -1.26268730e-02 -1.33502853e+00] [-5.37768323e-04 9.99999787e-01 3.68543947e-04 -4.86669551e-02] [ 1.26270702e-02 -3.61724180e-04 9.99920210e-01 -3.08825246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.403133365 meters Centerline goodness : 0.119432 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99919655e-01 5.44634844e-04 -1.26644290e-02 -1.33488779e+00] [-5.41988311e-04 9.99999831e-01 2.12404937e-04 -4.73694273e-02] [ 1.26645425e-02 -2.05523898e-04 9.99919780e-01 -3.08975399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.433133365 meters Centerline goodness : 0.128067 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.05, Z:-0.31 [[ 9.99917721e-01 5.84994482e-04 -1.28143914e-02 -1.33410599e+00] [-5.84643657e-04 9.99999829e-01 3.11234209e-05 -4.57000512e-02] [ 1.28144074e-02 -2.36290074e-05 9.99917892e-01 -3.09716211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46313336499998 meters Centerline goodness : 0.127485 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99913954e-01 5.64534354e-04 -1.31059443e-02 -1.33297792e+00] [-5.68776802e-04 9.99999787e-01 -3.19979013e-04 -4.32501795e-02] [ 1.31057608e-02 3.27405837e-04 9.99914062e-01 -3.10499683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49313336499998 meters Centerline goodness : 0.131388 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99914238e-01 4.28982642e-04 -1.30893793e-02 -1.33285885e+00] [-4.44534760e-04 9.99999199e-01 -1.18526148e-03 -3.80831047e-02] [ 1.30888604e-02 1.19097851e-03 9.99913628e-01 -3.10932957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52313336499998 meters Centerline goodness : 0.128944 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99918051e-01 2.81002032e-04 -1.27989041e-02 -1.33395433e+00] [-3.03271847e-04 9.99998444e-01 -1.73807067e-03 -3.50383301e-02] [ 1.27983958e-02 1.74180979e-03 9.99916580e-01 -3.10422275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55313336499998 meters Centerline goodness : 0.126662 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99923588e-01 2.31231540e-04 -1.23598249e-02 -1.33559611e+00] [-2.57562780e-04 9.99997701e-01 -2.12884002e-03 -3.22862432e-02] [ 1.23593043e-02 2.13186078e-03 9.99921348e-01 -3.09600302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58313336499998 meters Centerline goodness : 0.126893 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99928484e-01 1.90869363e-04 -1.19578956e-02 -1.33705045e+00] [-2.20889951e-04 9.99996827e-01 -2.50925393e-03 -2.94242387e-02] [ 1.19573787e-02 2.51171586e-03 9.99925353e-01 -3.08939790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61313336499998 meters Centerline goodness : 0.129865 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931611e-01 8.14966942e-05 -1.16947549e-02 -1.33811098e+00] [-1.15912233e-04 9.99995665e-01 -2.94217068e-03 -2.66338131e-02] [ 1.16944645e-02 2.94332503e-03 9.99927286e-01 -3.08357023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64313336499998 meters Centerline goodness : 0.095678 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99934724e-01 -3.03647928e-04 -1.14217418e-02 -1.33932134e+00] [ 2.60566733e-04 9.99992848e-01 -3.77315764e-03 -2.23061161e-02] [ 1.14228058e-02 3.76993521e-03 9.99927651e-01 -3.07604077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67313336499998 meters Centerline goodness : 0.245532 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99933734e-01 -4.96007228e-04 -1.15014083e-02 -1.33940367e+00] [ 4.48464545e-04 9.99991347e-01 -4.13585088e-03 -2.06531958e-02] [ 1.15033602e-02 4.13041884e-03 9.99925303e-01 -3.07220822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70313336499999 meters Centerline goodness : 0.130503 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932053e-01 -6.37017737e-04 -1.16397489e-02 -1.33911680e+00] [ 5.85561271e-04 9.99990044e-01 -4.42362732e-03 -1.91926939e-02] [ 1.16424509e-02 4.41651096e-03 9.99922471e-01 -3.07170922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.733133365 meters Centerline goodness : 0.121006 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99931280e-01 -8.97776675e-04 -1.16888151e-02 -1.33930927e+00] [ 8.41253875e-04 9.99987935e-01 -4.83965042e-03 -1.71299587e-02] [ 1.16930190e-02 4.82948458e-03 9.99919971e-01 -3.06667744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.763133365 meters Centerline goodness : 0.136855 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99931362e-01 -9.87358583e-04 -1.16746449e-02 -1.33953908e+00] [ 9.29613797e-04 9.99987314e-01 -4.95056317e-03 -1.66444645e-02] [ 1.16793848e-02 4.93937046e-03 9.99919594e-01 -3.06330323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.793133365 meters Centerline goodness : 0.125238 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99929138e-01 -1.06309891e-03 -1.18570148e-02 -1.33921050e+00] [ 1.00346932e-03 9.99986827e-01 -5.03387183e-03 -1.63967613e-02] [ 1.18622101e-02 5.02161697e-03 9.99917032e-01 -3.06166718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.823133365 meters Centerline goodness : 0.123072 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926053e-01 -1.11810070e-03 -1.21094375e-02 -1.33851806e+00] [ 1.05665808e-03 9.99986543e-01 -5.07915540e-03 -1.63764610e-02] [ 1.21149535e-02 5.06598427e-03 9.99913778e-01 -3.06290052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.853133365 meters Centerline goodness : 0.126308 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99921850e-01 -1.18413913e-03 -1.24455211e-02 -1.33751660e+00] [ 1.12010643e-03 9.99986107e-01 -5.15075135e-03 -1.61975367e-02] [ 1.24514474e-02 5.13640851e-03 9.99909285e-01 -3.06634328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.883133365 meters Centerline goodness : 0.125165 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99919564e-01 -1.19135006e-03 -1.26271669e-02 -1.33696596e+00] [ 1.12640360e-03 9.99986108e-01 -5.14925554e-03 -1.62161673e-02] [ 1.26331261e-02 5.13461807e-03 9.99907016e-01 -3.06822047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.913133365 meters Centerline goodness : 0.125742 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99922080e-01 -1.13776790e-03 -1.24313545e-02 -1.33761874e+00] [ 1.07614260e-03 9.99987106e-01 -4.96281209e-03 -1.72189350e-02] [ 1.24368407e-02 4.94904748e-03 9.99910412e-01 -3.06466731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.943133365 meters Centerline goodness : 0.108370 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99923554e-01 -1.09249023e-03 -1.23163380e-02 -1.33791573e+00] [ 1.03404363e-03 9.99988180e-01 -4.75082283e-03 -1.86621517e-02] [ 1.23213826e-02 4.73772402e-03 9.99912865e-01 -3.06387925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 180.003133365 meters Centerline goodness : 0.121866 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99922754e-01 -1.09176610e-03 -1.23811762e-02 -1.33768235e+00] [ 1.03792150e-03 9.99989980e-01 -4.35450033e-03 -2.19478295e-02] [ 1.23858063e-02 4.34131327e-03 9.99913869e-01 -3.06431794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.033133365 meters Centerline goodness : 0.124908 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99914976e-01 -9.58141640e-04 -1.30047504e-02 -1.33542275e+00] [ 9.06771399e-04 9.99991766e-01 -3.95543538e-03 -2.41538829e-02] [ 1.30084332e-02 3.94330674e-03 9.99907611e-01 -3.07590176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.063133365 meters Centerline goodness : 0.124350 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99911556e-01 -8.89879030e-04 -1.32698215e-02 -1.33440033e+00] [ 8.38961620e-04 9.99992267e-01 -3.84215645e-03 -2.47140756e-02] [ 1.32731379e-02 3.83068377e-03 9.99904570e-01 -3.08193349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.093133365 meters Centerline goodness : 0.124761 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99909371e-01 -8.81917501e-04 -1.34339704e-02 -1.33373000e+00] [ 8.30182492e-04 9.99992220e-01 -3.85614859e-03 -2.47081768e-02] [ 1.34372667e-02 3.84464646e-03 9.99902325e-01 -3.08643933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.123133365 meters Centerline goodness : 0.124808 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99908032e-01 -8.61911099e-04 -1.35345947e-02 -1.33337557e+00] [ 8.09626256e-04 9.99992191e-01 -3.86805620e-03 -2.46844355e-02] [ 1.35378229e-02 3.85674249e-03 9.99900922e-01 -3.08870021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 180.183133365 meters Centerline goodness : 0.142190 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99912556e-01 -6.16876882e-04 -1.32098479e-02 -1.33424452e+00] [ 5.69302676e-04 9.99993340e-01 -3.60487720e-03 -2.47692978e-02] [ 1.32119837e-02 3.59704157e-03 9.99906248e-01 -3.08691902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21313336499998 meters Centerline goodness : 0.142190 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99912556e-01 -6.16876882e-04 -1.32098479e-02 -1.33424452e+00] [ 5.69302676e-04 9.99993340e-01 -3.60487720e-03 -2.47692978e-02] [ 1.32119837e-02 3.59704157e-03 9.99906248e-01 -3.08691902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24313336499998 meters Centerline goodness : 0.126170 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99912118e-01 -5.58386818e-04 -1.32455266e-02 -1.33420268e+00] [ 5.12606507e-04 9.99993885e-01 -3.45942801e-03 -2.53838878e-02] [ 1.32473773e-02 3.45233425e-03 9.99906290e-01 -3.08605802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27313336499998 meters Centerline goodness : 0.123863 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99907677e-01 -6.91132948e-04 -1.35705395e-02 -1.33365703e+00] [ 6.45353085e-04 9.99994088e-01 -3.37756337e-03 -2.69323871e-02] [ 1.35727936e-02 3.36849375e-03 9.99902211e-01 -3.08250032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30313336499998 meters Centerline goodness : 0.123802 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99907252e-01 -6.43650077e-04 -1.36041733e-02 -1.33366038e+00] [ 6.00086548e-04 9.99994681e-01 -3.20605751e-03 -2.78929501e-02] [ 1.36061646e-02 3.19759647e-03 9.99902319e-01 -3.08116176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33313336499998 meters Centerline goodness : 0.123625 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99910140e-01 -5.56130654e-04 -1.33941094e-02 -1.33425366e+00] [ 5.16557508e-04 9.99995492e-01 -2.95779701e-03 -2.90431898e-02] [ 1.33956939e-02 2.95061239e-03 9.99905920e-01 -3.07966809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36313336499998 meters Centerline goodness : 0.127119 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 9.99913045e-01 -4.90854619e-04 -1.31780757e-02 -1.33489167e+00] [ 4.54532680e-04 9.99996090e-01 -2.75909359e-03 -3.00019492e-02] [ 1.31793785e-02 2.75286381e-03 9.99909359e-01 -3.07765420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39313336499998 meters Centerline goodness : 0.122727 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99915490e-01 -4.55175233e-04 -1.29925268e-02 -1.33555065e+00] [ 4.21577412e-04 9.99996561e-01 -2.58855595e-03 -3.09362157e-02] [ 1.29936604e-02 2.58285983e-03 9.99912243e-01 -3.07413138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42313336499998 meters Centerline goodness : 0.124514 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99915877e-01 -4.55843914e-04 -1.29626528e-02 -1.33586443e+00] [ 4.23531733e-04 9.99996797e-01 -2.49534954e-03 -3.16411157e-02] [ 1.29637487e-02 2.48964953e-03 9.99912868e-01 -3.07068969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45313336499999 meters Centerline goodness : 0.125592 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99911411e-01 -4.11511421e-04 -1.33041956e-02 -1.33518971e+00] [ 3.83043346e-04 9.99997632e-01 -2.14225909e-03 -3.39017441e-02] [ 1.33050456e-02 2.13697322e-03 9.99909200e-01 -3.06837566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.483133365 meters Centerline goodness : 0.126553 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99909302e-01 -3.19990522e-04 -1.34642126e-02 -1.33477595e+00] [ 2.95128051e-04 9.99998248e-01 -1.84850606e-03 -3.55659628e-02] [ 1.34647805e-02 1.84436474e-03 9.99907645e-01 -3.06876724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.513133365 meters Centerline goodness : 0.123328 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99907927e-01 -2.42780690e-04 -1.35675792e-02 -1.33459067e+00] [ 2.21868677e-04 9.99998785e-01 -1.54280626e-03 -3.75371628e-02] [ 1.35679372e-02 1.53965399e-03 9.99906766e-01 -3.06752367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.543133365 meters Centerline goodness : 0.127654 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 9.99908457e-01 -1.61564801e-04 -1.35296661e-02 -1.33489614e+00] [ 1.44725257e-04 9.99999214e-01 -1.24560840e-03 -3.94365281e-02] [ 1.35298567e-02 1.24353629e-03 9.99907694e-01 -3.06383681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.573133365 meters Centerline goodness : 0.144368 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99911349e-01 -5.15227676e-05 -1.33150641e-02 -1.33579553e+00] [ 3.84985161e-05 9.99999521e-01 -9.78413590e-04 -4.09156397e-02] [ 1.33151081e-02 9.77814242e-04 9.99910872e-01 -3.05773378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.603133365 meters Centerline goodness : 0.125697 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99915001e-01 9.51214015e-05 -1.30376886e-02 -1.33671473e+00] [-1.05569662e-04 9.99999674e-01 -8.00703111e-04 -4.14609692e-02] [ 1.30376082e-02 8.02011437e-04 9.99914685e-01 -3.05342977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.633133365 meters Centerline goodness : 0.119548 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 0.99990557 0.00402936 -0.01313817 -1.33621062] [-0.00399204 0.99998792 0.00286616 -0.04084681] [ 0.01314956 -0.00281344 0.99990958 -0.3057051 ] [ 0. 0. 0. 1. ]] SLAMing on 180.663133365 meters Centerline goodness : 0.093705 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 0.9999003 0.0041813 -0.01348753 -1.33495601] [-0.00414633 0.99998797 0.00261969 -0.03884953] [ 0.01349832 -0.0025635 0.99990561 -0.30649592] [ 0. 0. 0. 1. ]] SLAMing on 180.693133365 meters Centerline goodness : 0.056438 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.04, Z:-0.31 [[ 0.9998969 0.00428891 -0.01370346 -1.33403314] [-0.0042579 0.99998831 0.00229173 -0.03654772] [ 0.01371313 -0.00223314 0.99990348 -0.30727073] [ 0. 0. 0. 1. ]] SLAMing on 180.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 180.753133365 meters Centerline goodness : 0.058231 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 0.99986764 0.0077021 -0.01433115 -1.33170392] [-0.00763356 0.99995919 0.00483114 -0.03139943] [ 0.01436777 -0.0047211 0.99988563 -0.30860929] [ 0. 0. 0. 1. ]] SLAMing on 180.783133365 meters Centerline goodness : 0.128787 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.03, Z:-0.31 [[ 0.99986482 0.0077702 -0.01449004 -1.3310554 ] [-0.00770672 0.99996048 0.00443194 -0.02849765] [ 0.0145239 -0.00431967 0.99988519 -0.30922839] [ 0. 0. 0. 1. ]] SLAMing on 180.813133365 meters Centerline goodness : 0.141771 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 0.99985549 0.00778295 -0.01511373 -1.32883827] [-0.0077284 0.99996342 0.00366451 -0.02358241] [ 0.0151417 -0.00354718 0.99987907 -0.31068708] [ 0. 0. 0. 1. ]] SLAMing on 180.843133365 meters Centerline goodness : 0.136733 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.02, Z:-0.31 [[ 9.99880511e-01 2.71047608e-04 -1.54561011e-02 -1.30951205e+00] [-2.10820071e-04 9.99992380e-01 3.89817992e-03 -1.59177437e-02] [ 1.54570399e-02 -3.89445567e-03 9.99872948e-01 -3.09855364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.873133365 meters Centerline goodness : 0.073418 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99881991e-01 1.61295573e-04 -1.53616057e-02 -1.30997797e+00] [-1.04722286e-04 9.99993210e-01 3.68350493e-03 -1.49742513e-02] [ 1.53620955e-02 -3.68146154e-03 9.99875219e-01 -3.09547564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.903133365 meters Centerline goodness : 0.140013 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99884443e-01 1.35501161e-04 -1.52014170e-02 -1.31081022e+00] [-8.02797542e-05 9.99993397e-01 3.63320003e-03 -1.45573281e-02] [ 1.52018090e-02 -3.63155982e-03 9.99877851e-01 -3.08876637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.933133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 180.96313336499998 meters Centerline goodness : 0.084204 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99883903e-01 4.40461233e-05 -1.52374035e-02 -1.31143390e+00] [ 9.06451927e-06 9.99993926e-01 3.48545751e-03 -1.31894156e-02] [ 1.52374645e-02 -3.48519098e-03 9.99877829e-01 -3.07830609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 181.02313336499998 meters Centerline goodness : 0.123638 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99868505e-01 -3.50487659e-04 -1.62126177e-02 -1.30836693e+00] [ 3.95392811e-04 9.99996095e-01 2.76664321e-03 -9.76848586e-03] [ 1.62115847e-02 -2.77268976e-03 9.99864739e-01 -3.09035086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05313336499998 meters Centerline goodness : 0.124922 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99869979e-01 -4.31900475e-04 -1.61195023e-02 -1.30856471e+00] [ 4.71972741e-04 9.99996808e-01 2.48222786e-03 -7.83341382e-03] [ 1.61183787e-02 -2.48951309e-03 9.99866991e-01 -3.09122203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08313336499998 meters Centerline goodness : 0.119565 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.01, Z:-0.31 [[ 9.99873440e-01 -5.12268330e-04 -1.59010079e-02 -1.30934085e+00] [ 5.47157064e-04 9.99997453e-01 2.18984801e-03 -5.89382186e-03] [ 1.58998456e-02 -2.19827121e-03 9.99871173e-01 -3.08795025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 181.14313336499998 meters Centerline goodness : 0.125647 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.00, Z:-0.31 [[ 9.99851654e-01 7.25758639e-03 -1.56204477e-02 -1.33125761e+00] [-7.24711902e-03 9.99973475e-01 7.26608832e-04 -4.61765431e-03] [ 1.56253068e-02 -6.13297798e-04 9.99877729e-01 -3.08794235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17313336499998 meters Centerline goodness : 0.123248 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.00, Z:-0.31 [[ 9.99869803e-01 -2.80362193e-04 -1.61337968e-02 -1.31204415e+00] [ 2.99581716e-04 9.99999248e-01 1.18885395e-03 3.26698462e-03] [ 1.61334514e-02 -1.19353255e-03 9.99869135e-01 -3.07535680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20313336499999 meters Centerline goodness : 0.125073 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.00, Z:-0.31 [[ 9.99869582e-01 -4.04982793e-04 -1.61448255e-02 -1.31187276e+00] [ 4.19546890e-04 9.99999508e-01 8.98713921e-04 4.75726672e-03] [ 1.61444536e-02 -9.05370224e-04 9.99869260e-01 -3.07800686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.233133365 meters Centerline goodness : 0.125761 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99869978e-01 -4.94324132e-04 -1.61177738e-02 -1.31196983e+00] [ 5.05583352e-04 9.99999631e-01 6.94492073e-04 5.97163745e-03] [ 1.61174245e-02 -7.02550652e-04 9.99869859e-01 -3.07779172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.263133365 meters Centerline goodness : 0.127373 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99871606e-01 -5.36733622e-04 -1.60150726e-02 -1.31231074e+00] [ 5.45906946e-04 9.99999689e-01 5.68426981e-04 6.90039194e-03] [ 1.60147626e-02 -5.77096738e-04 9.99871589e-01 -3.07672424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.293133365 meters Centerline goodness : 0.128105 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99873093e-01 -5.80131026e-04 -1.59204948e-02 -1.31278833e+00] [ 5.87630006e-04 9.99999719e-01 4.66352893e-04 7.65593055e-03] [ 1.59202197e-02 -4.75649070e-04 9.99873152e-01 -3.07289269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.323133365 meters Centerline goodness : 0.127005 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.00, Z:-0.31 [[ 0.99988962 0.0050914 -0.01395802 -1.33720845] [-0.00512011 0.99998485 -0.00202198 0.00448023] [ 0.01394751 0.00209323 0.99990054 -0.30725275] [ 0. 0. 0. 1. ]] SLAMing on 181.353133365 meters Centerline goodness : 0.128480 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99906697e-01 -2.65633784e-03 -1.33992845e-02 -1.31746130e+00] [ 2.64118975e-03 9.99995853e-01 -1.14808428e-03 9.76057365e-03] [ 1.34022786e-02 1.11258710e-03 9.99909566e-01 -3.06149011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.383133365 meters Centerline goodness : 0.143268 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99904693e-01 -2.65115758e-03 -1.35490407e-02 -1.31695111e+00] [ 2.63664269e-03 9.99995931e-01 -1.08903652e-03 9.33415818e-03] [ 1.35518728e-02 1.05320875e-03 9.99907614e-01 -3.06404062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.413133365 meters Centerline goodness : 0.130983 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99902151e-01 -2.68498131e-03 -1.37287675e-02 -1.31622937e+00] [ 2.67020949e-03 9.99995836e-01 -1.09419209e-03 9.18322616e-03] [ 1.37316483e-02 1.05742634e-03 9.99905157e-01 -3.06860303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.443133365 meters Centerline goodness : 0.131164 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.01, Z:-0.31 [[ 9.99897858e-01 -2.77344531e-03 -1.40207600e-02 -1.31519579e+00] [ 2.75707641e-03 9.99995495e-01 -1.18667001e-03 9.19274026e-03] [ 1.40239880e-02 1.14789249e-03 9.99901000e-01 -3.07406895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.473133365 meters Centerline goodness : 0.116903 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99895613e-01 -2.78531525e-03 -1.41776379e-02 -1.31467737e+00] [ 2.76941251e-03 9.99995514e-01 -1.14118697e-03 8.71986219e-03] [ 1.41807529e-02 1.10180412e-03 9.99898841e-01 -3.07625898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.503133365 meters Centerline goodness : 0.134141 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99893038e-01 -2.77460976e-03 -1.43601592e-02 -1.31444569e+00] [ 2.76072010e-03 9.99995702e-01 -9.86968856e-04 7.81241775e-03] [ 1.43628360e-02 9.47218907e-04 9.99896400e-01 -3.07329232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.533133365 meters Centerline goodness : 0.128859 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99890976e-01 -2.74376883e-03 -1.45089145e-02 -1.31407392e+00] [ 2.73192795e-03 9.99995919e-01 -8.35867758e-04 6.87753056e-03] [ 1.45111487e-02 7.96139319e-04 9.99894391e-01 -3.07330382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.563133365 meters Centerline goodness : 0.141035 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.01, Z:-0.31 [[ 9.99889295e-01 -2.71945006e-03 -1.46288401e-02 -1.31379074e+00] [ 2.71030448e-03 9.99996119e-01 -6.44963704e-04 5.49593650e-03] [ 1.46305373e-02 6.05243692e-04 9.99892785e-01 -3.07291024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.593133365 meters Centerline goodness : 0.113685 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.00, Z:-0.31 [[ 9.99895543e-01 3.01689115e-03 -1.41350968e-02 -1.33659071e+00] [-3.06262101e-03 9.99990143e-01 -3.21467105e-03 -2.40443458e-04] [ 1.41252592e-02 3.25762570e-03 9.99894927e-01 -3.07651317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.623133365 meters Centerline goodness : 0.127466 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.00, Z:-0.31 [[ 0.99990433 -0.00511132 -0.01285324 -1.31647318] [ 0.00508029 0.9999841 -0.00244587 0.00211901] [ 0.01286554 0.00238034 0.9999144 -0.30702489] [ 0. 0. 0. 1. ]] SLAMing on 181.653133365 meters Centerline goodness : 0.127433 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.00, Z:-0.31 [[ 0.9999156 -0.00507585 -0.01195919 -1.31921388] [ 0.00505603 0.9999858 -0.00168661 -0.00268009] [ 0.01196758 0.001626 0.99992706 -0.30589892] [ 0. 0. 0. 1. ]] SLAMing on 181.683133365 meters Centerline goodness : 0.126543 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.01, Z:-0.31 [[ 0.99994499 0.00189564 -0.01031635 -1.33786719] [-0.00191869 0.99999569 -0.00222447 -0.01157304] [ 0.01031209 0.00224414 0.99994431 -0.30804351] [ 0. 0. 0. 1. ]] SLAMing on 181.71313336499998 meters Centerline goodness : 0.144501 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.02, Z:-0.31 [[ 9.99915549e-01 4.39199882e-04 -1.29884997e-02 -1.38103956e+00] [-4.71546340e-04 9.99996795e-01 -2.48743457e-03 -1.66447396e-02] [ 1.29873656e-02 2.49334919e-03 9.99912552e-01 -3.08487151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74313336499998 meters Centerline goodness : 0.126195 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99919752e-01 9.70621137e-05 -1.26680816e-02 -1.33487826e+00] [-1.41802785e-04 9.99993756e-01 -3.53091335e-03 -1.66161980e-02] [ 1.26676598e-02 3.53242637e-03 9.99913522e-01 -3.09185427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77313336499998 meters Centerline goodness : 0.126761 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99916057e-01 1.95867414e-04 -1.29553155e-02 -1.33395781e+00] [-2.37424830e-04 9.99994832e-01 -3.20628998e-03 -1.85874192e-02] [ 1.29546206e-02 3.20909675e-03 9.99910936e-01 -3.09539481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80313336499998 meters Centerline goodness : 0.128072 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.02, Z:-0.31 [[ 9.99916112e-01 3.44154910e-04 -1.29480217e-02 -1.33390444e+00] [-3.81867468e-04 9.99995692e-01 -2.91025196e-03 -1.98900789e-02] [ 1.29469644e-02 2.91495225e-03 9.99911936e-01 -3.09704031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83313336499998 meters Centerline goodness : 0.123578 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99922980e-01 7.11650616e-04 -1.23906381e-02 -1.33548479e+00] [-7.41658125e-04 9.99996803e-01 -2.41736226e-03 -2.11991347e-02] [ 1.23888782e-02 2.42636569e-03 9.99920311e-01 -3.09277308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86313336499998 meters Centerline goodness : 0.126190 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99925201e-01 7.65309575e-04 -1.22068588e-02 -1.33604853e+00] [-7.94385116e-04 9.99996859e-01 -2.37723116e-03 -2.14420399e-02] [ 1.22050011e-02 2.38675029e-03 9.99922668e-01 -3.09065667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89313336499998 meters Centerline goodness : 0.128062 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926067e-01 8.43697976e-04 -1.21304685e-02 -1.33630636e+00] [-8.71217610e-04 9.99997059e-01 -2.26353206e-03 -2.18588705e-02] [ 1.21285230e-02 2.27393299e-03 9.99923861e-01 -3.08976446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92313336499998 meters Centerline goodness : 0.127052 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926721e-01 9.47045607e-04 -1.20688038e-02 -1.33646173e+00] [-9.72112261e-04 9.99997382e-01 -2.07128208e-03 -2.27227045e-02] [ 1.20668106e-02 2.08286253e-03 9.99925024e-01 -3.09014545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95313336499999 meters Centerline goodness : 0.112507 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99927791e-01 1.03941599e-03 -1.19721673e-02 -1.33676359e+00] [-1.06148160e-03 9.99997750e-01 -1.83686897e-03 -2.38934916e-02] [ 1.19702311e-02 1.84944457e-03 9.99926644e-01 -3.08915050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.983133365 meters Centerline goodness : 0.125778 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99930447e-01 1.10393813e-03 -1.17423132e-02 -1.33748725e+00] [-1.12240742e-03 9.99998143e-01 -1.56640958e-03 -2.55902058e-02] [ 1.17405622e-02 1.57948029e-03 9.99929830e-01 -3.08656909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.013133365 meters Centerline goodness : 0.114631 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931836e-01 1.17267576e-03 -1.16167001e-02 -1.33807213e+00] [-1.18730609e-03 9.99998511e-01 -1.25260577e-03 -2.75288660e-02] [ 1.16152139e-02 1.26631296e-03 9.99931739e-01 -3.08173010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.043133365 meters Centerline goodness : 0.128159 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99932186e-01 1.21670616e-03 -1.15820206e-02 -1.33842736e+00] [-1.22858055e-03 9.99998727e-01 -1.01818353e-03 -2.91134567e-02] [ 1.15807670e-02 1.03234393e-03 9.99932408e-01 -3.07732632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.073133365 meters Centerline goodness : 0.110818 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931420e-01 1.23854240e-03 -1.16456804e-02 -1.33831612e+00] [-1.24885636e-03 9.99998834e-01 -8.78416072e-04 -3.01306037e-02] [ 1.16445789e-02 8.92899612e-04 9.99931801e-01 -3.07654566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.103133365 meters Centerline goodness : 0.110818 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931420e-01 1.23854240e-03 -1.16456804e-02 -1.33831612e+00] [-1.24885636e-03 9.99998834e-01 -8.78416072e-04 -3.01306037e-02] [ 1.16445789e-02 8.92899612e-04 9.99931801e-01 -3.07654566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.133133365 meters Centerline goodness : 0.125245 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99931155e-01 1.31731516e-03 -1.16597966e-02 -1.33839883e+00] [-1.32616112e-03 9.99998839e-01 -7.50973345e-04 -3.08616645e-02] [ 1.16587938e-02 7.66384413e-04 9.99931740e-01 -3.07481608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.163133365 meters Centerline goodness : 0.126207 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.03, Z:-0.31 [[ 9.99900023e-01 -6.99329536e-03 -1.22897047e-02 -1.35818009e+00] [ 7.00140989e-03 9.99975299e-01 6.17369567e-04 -2.73865835e-02] [ 1.22850836e-02 -7.03353104e-04 9.99924288e-01 -3.08631608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.193133365 meters Centerline goodness : 0.108473 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929230e-01 1.51322581e-03 -1.18001879e-02 -1.33835806e+00] [-1.52152835e-03 9.99998601e-01 -6.94648158e-04 -2.95753928e-02] [ 1.17991203e-02 7.12553318e-04 9.99930134e-01 -3.07414451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.223133365 meters Centerline goodness : 0.112626 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929523e-01 1.51098164e-03 -1.17756686e-02 -1.33831630e+00] [-1.52041417e-03 9.99998530e-01 -7.92107988e-04 -2.90615648e-02] [ 1.17744544e-02 8.09956055e-04 9.99930351e-01 -3.07604933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.253133365 meters Centerline goodness : 0.152985 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929272e-01 1.49933668e-03 -1.17983966e-02 -1.33826303e+00] [-1.50960028e-03 9.99998490e-01 -8.61057145e-04 -2.88227957e-02] [ 1.17970878e-02 8.78807107e-04 9.99930026e-01 -3.07647747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.283133365 meters Centerline goodness : 0.093784 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99927438e-01 1.43550499e-03 -1.19607112e-02 -1.33782061e+00] [-1.44793409e-03 9.99998421e-01 -1.03056623e-03 -2.82185566e-02] [ 1.19592129e-02 1.04780978e-03 9.99927937e-01 -3.07759772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.313133365 meters Centerline goodness : 0.123943 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99924894e-01 1.40050693e-03 -1.21755646e-02 -1.33725718e+00] [-1.41606253e-03 9.99998192e-01 -1.26908091e-03 -2.67549996e-02] [ 1.21737652e-02 1.28622696e-03 9.99925070e-01 -3.07914040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.343133365 meters Centerline goodness : 0.442501 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 0.99992577 0.00141765 -0.01210182 -1.33746781] [-0.00143481 0.99999798 -0.00140884 -0.02554456] [ 0.0120998 0.0014261 0.99992578 -0.30791811] [ 0. 0. 0. 1. ]] SLAMing on 182.373133365 meters Centerline goodness : 0.103897 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 0.99992767 0.00143257 -0.01194125 -1.33784381] [-0.00145157 0.99999769 -0.00158261 -0.02405235] [ 0.01193896 0.00159983 0.99992745 -0.30794423] [ 0. 0. 0. 1. ]] SLAMing on 182.403133365 meters Centerline goodness : 0.123058 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 0.99993038 0.00138551 -0.01171852 -1.33833922] [-0.00140732 0.99999729 -0.00185336 -0.02244721] [ 0.01171592 0.00186972 0.99992962 -0.30803732] [ 0. 0. 0. 1. ]] SLAMing on 182.433133365 meters Centerline goodness : 0.123203 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99933063e-01 1.27826544e-03 -1.14993543e-02 -1.33883504e+00] [-1.30298502e-03 9.99996856e-01 -2.14241489e-03 -2.12654510e-02] [ 1.14965796e-02 2.15725497e-03 9.99931585e-01 -3.08096565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46313336499998 meters Centerline goodness : 0.233021 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932026e-01 1.11785908e-03 -1.16057682e-02 -1.33831541e+00] [-1.14856229e-03 9.99995858e-01 -2.63918458e-03 -1.87502958e-02] [ 1.16027699e-02 2.65233513e-03 9.99929168e-01 -3.08635036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49313336499998 meters Centerline goodness : 0.122349 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99928455e-01 1.11271339e-03 -1.19099294e-02 -1.33715092e+00] [-1.14624425e-03 9.99995398e-01 -2.80891428e-03 -1.72536737e-02] [ 1.19067491e-02 2.82236501e-03 9.99925129e-01 -3.09395488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52313336499998 meters Centerline goodness : 0.121064 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99926339e-01 1.11905499e-03 -1.20856787e-02 -1.33641637e+00] [-1.15452392e-03 9.99995046e-01 -2.92821161e-03 -1.60538289e-02] [ 1.20823420e-02 2.94194913e-03 9.99922678e-01 -3.09914998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55313336499998 meters Centerline goodness : 0.126285 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99925735e-01 1.05642955e-03 -1.21411987e-02 -1.33619398e+00] [-1.09323840e-03 9.99994826e-01 -3.02549425e-03 -1.56277860e-02] [ 1.21379396e-02 3.03854279e-03 9.99921716e-01 -3.10088703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58313336499998 meters Centerline goodness : 0.123263 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99923901e-01 8.65753546e-04 -1.23061911e-02 -1.33589832e+00] [-9.05193145e-04 9.99994471e-01 -3.19964979e-03 -1.56722264e-02] [ 1.23033529e-02 3.21054578e-03 9.99919157e-01 -3.09915735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61313336499998 meters Centerline goodness : 0.126918 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99923952e-01 7.40764442e-04 -1.23101919e-02 -1.33607370e+00] [-7.80883950e-04 9.99994399e-01 -3.25456115e-03 -1.61786475e-02] [ 1.23077121e-02 3.26392648e-03 9.99918930e-01 -3.09613332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64313336499998 meters Centerline goodness : 0.128965 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99928782e-01 9.95205705e-04 -1.18928813e-02 -1.33754042e+00] [-1.02719800e-03 9.99995870e-01 -2.68423213e-03 -1.78336857e-02] [ 1.18901608e-02 2.69625730e-03 9.99925674e-01 -3.08834997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67313336499998 meters Centerline goodness : 0.127733 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99930701e-01 1.15804782e-03 -1.17154261e-02 -1.33804584e+00] [-1.18625679e-03 9.99996414e-01 -2.40118628e-03 -1.85601459e-02] [ 1.17126033e-02 2.41491739e-03 9.99928489e-01 -3.08664749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70313336499999 meters Centerline goodness : 0.112751 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932554e-01 1.18938178e-03 -1.15530006e-02 -1.33862419e+00] [-1.21548386e-03 9.99996724e-01 -2.25257480e-03 -1.94814785e-02] [ 1.15502836e-02 2.26646536e-03 9.99930725e-01 -3.08303837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.733133365 meters Centerline goodness : 0.127449 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99932105e-01 1.06168492e-03 -1.16042329e-02 -1.33849989e+00] [-1.08792174e-03 9.99996866e-01 -2.25489126e-03 -2.05709706e-02] [ 1.16018026e-02 2.26736266e-03 9.99930126e-01 -3.08268776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.763133365 meters Centerline goodness : 0.173210 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99930091e-01 9.80689574e-04 -1.17834978e-02 -1.33799896e+00] [-1.00667735e-03 9.99997074e-01 -2.19970919e-03 -2.16850137e-02] [ 1.17813061e-02 2.21141759e-03 9.99928153e-01 -3.08381026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.793133365 meters Centerline goodness : 0.127293 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99928221e-01 1.03213883e-03 -1.19367886e-02 -1.33735176e+00] [-1.05647395e-03 9.99997376e-01 -2.03253985e-03 -2.26196121e-02] [ 1.19346594e-02 2.04500486e-03 9.99926688e-01 -3.08840776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.823133365 meters Centerline goodness : 0.128229 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.02, Z:-0.31 [[ 9.99927623e-01 1.24766938e-03 -1.19662948e-02 -1.33688684e+00] [-1.26591299e-03 9.99998048e-01 -1.51712989e-03 -2.48616682e-02] [ 1.19643786e-02 1.53216837e-03 9.99927250e-01 -3.09418757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.853133365 meters Centerline goodness : 0.127714 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99927256e-01 1.30523111e-03 -1.19907782e-02 -1.33698907e+00] [-1.32031629e-03 9.99998347e-01 -1.25023476e-03 -2.66318835e-02] [ 1.19891265e-02 1.26597544e-03 9.99927326e-01 -3.09159283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.883133365 meters Centerline goodness : 0.129994 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99927245e-01 1.31056233e-03 -1.19911140e-02 -1.33721907e+00] [-1.32341568e-03 9.99998558e-01 -1.06403430e-03 -2.81106345e-02] [ 1.19897023e-02 1.07982612e-03 9.99927538e-01 -3.08790746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.913133365 meters Centerline goodness : 0.130324 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99928108e-01 1.37005212e-03 -1.19122273e-02 -1.33768766e+00] [-1.37959781e-03 9.99998734e-01 -7.93155378e-04 -2.97449900e-02] [ 1.19111255e-02 8.09532440e-04 9.99928732e-01 -3.08329133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.943133365 meters Centerline goodness : 0.141470 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.03, Z:-0.31 [[ 9.99929800e-01 1.46687718e-03 -1.17577240e-02 -1.33831367e+00] [-1.47278009e-03 9.99998794e-01 -4.93402481e-04 -3.13304241e-02] [ 1.17569860e-02 5.10684386e-04 9.99930754e-01 -3.07907305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 183.003133365 meters Centerline goodness : 0.133333 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99930116e-01 1.39830959e-03 -1.17391239e-02 -1.33799734e+00] [-1.40000249e-03 9.99999011e-01 -1.35993116e-04 -3.52652173e-02] [ 1.17389221e-02 1.52418415e-04 9.99931085e-01 -3.08327468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.033133365 meters Centerline goodness : 0.127191 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.04, Z:-0.31 [[ 9.99927982e-01 1.33631519e-03 -1.19266739e-02 -1.33744610e+00] [-1.33840473e-03 9.99999090e-01 -1.67219175e-04 -3.57421540e-02] [ 1.19264396e-02 1.83169849e-04 9.99928861e-01 -3.08518502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.063133365 meters Centerline goodness : 0.193436 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99892243e-01 6.62158321e-04 -1.46650646e-02 -1.38134489e+00] [-6.60801349e-04 9.99999777e-01 9.73763303e-05 -3.81726834e-02] [ 1.46651258e-02 -8.76751429e-05 9.99892457e-01 -3.08354387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.093133365 meters Centerline goodness : 0.154692 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99891474e-01 7.14756016e-04 -1.47149579e-02 -1.38107055e+00] [-7.13670167e-04 9.99999742e-01 7.90431622e-05 -3.75788962e-02] [ 1.47150106e-02 -6.85329575e-05 9.99891726e-01 -3.08660135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 183.153133365 meters Centerline goodness : 0.126439 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99895862e-01 7.90302707e-04 -1.44097047e-02 -1.38180873e+00] [-7.90949710e-04 9.99999686e-01 -3.92016143e-05 -3.63842684e-02] [ 1.44096692e-02 5.05948837e-05 9.99896174e-01 -3.08674508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.183133365 meters Centerline goodness : 0.202235 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.04, Z:-0.31 [[ 9.99859101e-01 -7.16566229e-04 -1.67709315e-02 -1.42624384e+00] [ 7.07891879e-04 9.99999613e-01 -5.23156052e-04 -4.00835534e-02] [ 1.67712998e-02 5.11210333e-04 9.99859221e-01 -3.08241352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21313336499998 meters Centerline goodness : 0.125119 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99880221e-01 -3.08287492e-04 -1.54741212e-02 -1.38222628e+00] [ 2.90106391e-04 9.99999265e-01 -1.17716692e-03 -3.86689460e-02] [ 1.54744727e-02 1.17253678e-03 9.99879576e-01 -3.07764038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24313336499998 meters Centerline goodness : 0.081540 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.05, Z:-0.31 [[ 0.99984732 0.00710257 -0.01596501 -1.40118656] [-0.00714119 0.99997171 -0.00236341 -0.04529332] [ 0.01594777 0.00247706 0.99986976 -0.3094992 ] [ 0. 0. 0. 1. ]] SLAMing on 183.27313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 183.30313336499998 meters Centerline goodness : 0.104085 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99888988e-01 9.36647019e-05 -1.48997479e-02 -1.38364768e+00] [-1.03712518e-04 9.99999768e-01 -6.73590227e-04 -4.19481691e-02] [ 1.48996813e-02 6.75060740e-04 9.99888766e-01 -3.07623638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33313336499998 meters Centerline goodness : 0.122136 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99894163e-01 2.27647855e-04 -1.45468755e-02 -1.38451394e+00] [-2.36981391e-04 9.99999767e-01 -6.39897427e-04 -4.13590073e-02] [ 1.45467265e-02 6.43277041e-04 9.99893984e-01 -3.07595514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36313336499998 meters Centerline goodness : 0.069689 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.04, Z:-0.31 [[ 9.99896036e-01 9.14979385e-04 -1.43902790e-02 -1.38478859e+00] [-9.21394181e-04 9.99999479e-01 -4.39149262e-04 -3.94091145e-02] [ 1.43898697e-02 4.52362725e-04 9.99896358e-01 -3.07896033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39313336499998 meters Centerline goodness : 0.080943 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.04, Z:-0.31 [[ 9.99852847e-01 8.28850168e-04 -1.71346821e-02 -1.42828811e+00] [-8.27700873e-04 9.99999655e-01 7.41657964e-05 -4.01926359e-02] [ 1.71347376e-02 -5.99724913e-05 9.99853188e-01 -3.08215193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42313336499998 meters Centerline goodness : 0.124166 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.04, Z:-0.31 [[ 9.99843123e-01 8.64227039e-04 -1.76913273e-02 -1.42681550e+00] [-8.69980671e-04 9.99999571e-01 -3.17529723e-04 -3.75961017e-02] [ 1.76910453e-02 3.32871023e-04 9.99843446e-01 -3.08653638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45313336499999 meters Centerline goodness : 0.076893 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99838772e-01 8.70576375e-04 -1.79351928e-02 -1.42602118e+00] [-8.83869058e-04 9.99999341e-01 -7.33237328e-04 -3.48694403e-02] [ 1.79345426e-02 7.48971472e-04 9.99838883e-01 -3.09170394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.483133365 meters Centerline goodness : 0.112916 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99836874e-01 8.98106881e-04 -1.80393825e-02 -1.42566629e+00] [-9.17711277e-04 9.99998997e-01 -1.07850665e-03 -3.23164746e-02] [ 1.80383958e-02 1.09488566e-03 9.99836695e-01 -3.09492245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.513133365 meters Centerline goodness : 0.118684 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99842036e-01 9.14842905e-04 -1.77501085e-02 -1.42636815e+00] [-9.39060256e-04 9.99998640e-01 -1.35606255e-03 -2.99477315e-02] [ 1.77488437e-02 1.37251676e-03 9.99841535e-01 -3.09600689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.543133365 meters Centerline goodness : 0.127443 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.03, Z:-0.31 [[ 9.99856760e-01 8.73454684e-04 -1.69025504e-02 -1.42887769e+00] [-9.04486721e-04 9.99997919e-01 -1.82838062e-03 -2.65075336e-02] [ 1.69009183e-02 1.84340686e-03 9.99855470e-01 -3.08916207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.573133365 meters Centerline goodness : 0.124120 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99860846e-01 7.04651187e-04 -1.66671169e-02 -1.42973566e+00] [-7.41618676e-04 9.99997279e-01 -2.21191263e-03 -2.47487578e-02] [ 1.66655129e-02 2.22396548e-03 9.99858647e-01 -3.08518316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.603133365 meters Centerline goodness : 0.124916 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99862198e-01 5.73711742e-04 -1.65908170e-02 -1.42999944e+00] [-6.16768643e-04 9.99996455e-01 -2.59022464e-03 -2.26507803e-02] [ 1.65892721e-02 2.60010040e-03 9.99859008e-01 -3.08471763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.633133365 meters Centerline goodness : 0.127000 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99860487e-01 4.66826391e-04 -1.66969540e-02 -1.42973791e+00] [-5.15906236e-04 9.99995559e-01 -2.93526248e-03 -2.04762034e-02] [ 1.66955096e-02 2.94346704e-03 9.99856288e-01 -3.08561752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.663133365 meters Centerline goodness : 0.125375 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99859484e-01 3.60823147e-04 -1.67595178e-02 -1.42932013e+00] [-4.16564929e-04 9.99994393e-01 -3.32260580e-03 -1.80248074e-02] [ 1.67582249e-02 3.32912035e-03 9.99854029e-01 -3.09056149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.693133365 meters Centerline goodness : 0.127477 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.02, Z:-0.31 [[ 9.99859669e-01 1.97881637e-04 -1.67512039e-02 -1.42919629e+00] [-2.61425695e-04 9.99992779e-01 -3.79129770e-03 -1.54707617e-02] [ 1.67503327e-02 3.79514486e-03 9.99852501e-01 -3.09330927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.723133365 meters Centerline goodness : 0.118111 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99864464e-01 -1.86512597e-04 -1.64626589e-02 -1.43009700e+00] [ 1.07394311e-04 9.99988442e-01 -4.80667716e-03 -1.00729580e-02] [ 1.64633651e-02 4.80425769e-03 9.99852928e-01 -3.09131166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.753133365 meters Centerline goodness : 0.128997 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99867940e-01 -2.86548738e-04 -1.62487361e-02 -1.43094253e+00] [ 2.02941058e-04 9.99986734e-01 -5.14690360e-03 -7.87336389e-03] [ 1.62499954e-02 5.14292637e-03 9.99854733e-01 -3.08708144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.783133365 meters Centerline goodness : 0.129332 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99869020e-01 -3.99066360e-04 -1.61797322e-02 -1.43126757e+00] [ 3.11245047e-04 9.99985209e-01 -5.43001435e-03 -6.18572149e-03] [ 1.61816598e-02 5.42426727e-03 9.99854355e-01 -3.08497328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.813133365 meters Centerline goodness : 0.131556 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.01, Z:-0.31 [[ 9.99867784e-01 -5.22487974e-04 -1.62524246e-02 -1.43092576e+00] [ 4.30320859e-04 9.99983810e-01 -5.67395655e-03 -5.02324239e-03] [ 1.62551261e-02 5.66621260e-03 9.99851821e-01 -3.08743857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.843133365 meters Centerline goodness : 0.126490 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99865145e-01 -6.78002566e-04 -1.64083166e-02 -1.43031867e+00] [ 5.81094475e-04 9.99982366e-01 -5.91008217e-03 -4.23606178e-03] [ 1.64120343e-02 5.89975038e-03 9.99847907e-01 -3.09107171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.873133365 meters Centerline goodness : 0.127241 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99859855e-01 -9.00044651e-04 -1.67170577e-02 -1.42946175e+00] [ 7.94974841e-04 9.99979897e-01 -6.29076781e-03 -2.69830047e-03] [ 1.67223836e-02 6.27659655e-03 9.99840470e-01 -3.09345704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.903133365 meters Centerline goodness : 0.141439 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.00, Z:-0.31 [[ 0.99983205 -0.00818017 -0.01639972 -1.41063086] [ 0.00809798 0.99995435 -0.00507205 0.00401535] [ 0.01644046 0.00493839 0.99985265 -0.30779301] [ 0. 0. 0. 1. ]] SLAMing on 183.933133365 meters Centerline goodness : 0.118138 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99868828e-01 -5.67486636e-05 -1.61964092e-02 -1.43144830e+00] [-3.66535171e-05 9.99983373e-01 -5.76648985e-03 -3.40208400e-04] [ 1.61964671e-02 5.76632710e-03 9.99852201e-01 -3.08772763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96313336499998 meters Centerline goodness : 0.129374 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99871077e-01 -1.27906505e-04 -1.60565358e-02 -1.43179856e+00] [ 3.18010846e-05 9.99982086e-01 -5.98555193e-03 8.85994394e-04] [ 1.60570138e-02 5.98426964e-03 9.99853170e-01 -3.08762538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99313336499998 meters Centerline goodness : 0.127796 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99871575e-01 -2.12264687e-04 -1.60246044e-02 -1.43186528e+00] [ 1.12075781e-04 9.99980445e-01 -6.25283130e-03 2.32920121e-03] [ 1.60256183e-02 6.25023232e-03 9.99852046e-01 -3.08803077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02313336499998 meters Centerline goodness : 0.127796 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99871575e-01 -2.12264687e-04 -1.60246044e-02 -1.43186528e+00] [ 1.12075781e-04 9.99980445e-01 -6.25283130e-03 2.32920121e-03] [ 1.60256183e-02 6.25023232e-03 9.99852046e-01 -3.08803077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05313336499998 meters Centerline goodness : 0.128453 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99870171e-01 -2.97428821e-04 -1.61106290e-02 -1.43137478e+00] [ 1.92149566e-04 9.99978622e-01 -6.53592377e-03 3.95913617e-03] [ 1.61122285e-02 6.53197957e-03 9.99848853e-01 -3.09323452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08313336499998 meters Centerline goodness : 0.129304 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99861047e-01 -3.69341651e-04 -1.66658211e-02 -1.42966273e+00] [ 2.53697890e-04 9.99975882e-01 -6.94055842e-03 6.47490040e-03] [ 1.66679826e-02 6.93536593e-03 9.99837026e-01 -3.10020454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11313336499998 meters Centerline goodness : 0.131487 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99859935e-01 -3.73684026e-04 -1.67323084e-02 -1.42944446e+00] [ 2.56623592e-04 9.99975483e-01 -6.99767261e-03 6.97311821e-03] [ 1.67345130e-02 6.99239858e-03 9.99835518e-01 -3.10154344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14313336499998 meters Centerline goodness : 0.131033 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99858814e-01 -3.75317855e-04 -1.67991398e-02 -1.42924572e+00] [ 2.57483458e-04 9.99975355e-01 -7.01592474e-03 7.33717525e-03] [ 1.68013590e-02 7.01060869e-03 9.99834269e-01 -3.10247707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17313336499998 meters Centerline goodness : 0.131343 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.01, Z:-0.31 [[ 0.9998347 -0.00795968 -0.01634656 -1.40998597] [ 0.00786567 0.9999522 -0.00580701 0.01262959] [ 0.016392 0.00567747 0.99984952 -0.30886781] [ 0. 0. 0. 1. ]] SLAMing on 184.20313336499999 meters Centerline goodness : 0.137306 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99878486e-01 -1.90108774e-04 -1.55877540e-02 -1.42967018e+00] [ 9.09685541e-05 9.99979767e-01 -6.36059737e-03 6.22984527e-03] [ 1.55886478e-02 6.35840647e-03 9.99858272e-01 -3.10340358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.233133365 meters Centerline goodness : 0.132823 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.01, Z:-0.31 [[ 9.99878020e-01 -2.02422771e-04 -1.56174383e-02 -1.42972222e+00] [ 1.04773453e-04 9.99980443e-01 -6.25314714e-03 5.33439012e-03] [ 1.56183987e-02 6.25074809e-03 9.99858487e-01 -3.10140402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.263133365 meters Centerline goodness : 0.143910 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99877851e-01 -1.96877368e-04 -1.56283037e-02 -1.42986887e+00] [ 1.02980709e-04 9.99981942e-01 -6.00869324e-03 3.70956521e-03] [ 1.56292044e-02 6.00634987e-03 9.99859816e-01 -3.09807409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.293133365 meters Centerline goodness : 0.129815 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99879121e-01 -6.99401702e-05 -1.55479413e-02 -1.43007329e+00] [-1.98251206e-05 9.99983335e-01 -5.77322278e-03 2.86715810e-03] [ 1.55480860e-02 5.77283316e-03 9.99862456e-01 -3.09824719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.323133365 meters Centerline goodness : 0.132352 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.00, Z:-0.31 [[ 9.99880477e-01 4.50712953e-05 -1.54605600e-02 -1.43029675e+00] [-1.30170313e-04 9.99984848e-01 -5.50330276e-03 1.55595968e-03] [ 1.54600777e-02 5.50465750e-03 9.99865333e-01 -3.09739635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.353133365 meters Centerline goodness : 0.130756 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.00, Z:-0.31 [[ 9.99883148e-01 1.58845981e-04 -1.52860965e-02 -1.43085558e+00] [-2.37994356e-04 9.99986575e-01 -5.17612181e-03 -2.47474096e-04] [ 1.52850691e-02 5.17915498e-03 9.99869763e-01 -3.09482765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.383133365 meters Centerline goodness : 0.129765 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.01, Z:-0.31 [[ 9.99856114e-01 -1.09968681e-03 -1.69275468e-02 -1.47733839e+00] [ 1.00941160e-03 9.99985229e-01 -5.34065581e-03 -6.28807608e-03] [ 1.69331698e-02 5.32280051e-03 9.99842455e-01 -3.08682806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.413133365 meters Centerline goodness : 0.128991 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.01, Z:-0.31 [[ 9.99858135e-01 -8.52429990e-04 -1.68220807e-02 -1.47770716e+00] [ 7.78991967e-04 9.99990141e-01 -4.37164291e-03 -1.23630633e-02] [ 1.68256414e-02 4.35791847e-03 9.99848942e-01 -3.08419961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.443133365 meters Centerline goodness : 0.138928 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.01, Z:-0.31 [[ 0.99982572 -0.00852088 -0.01661083 -1.45708764] [ 0.00846951 0.99995914 -0.00316022 -0.01078482] [ 0.01663707 0.00301898 0.99985704 -0.30778806] [ 0. 0. 0. 1. ]] SLAMing on 184.473133365 meters Centerline goodness : 0.130541 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.02, Z:-0.31 [[ 9.99868524e-01 -1.05685047e-03 -1.61807921e-02 -1.47591480e+00] [ 9.95900008e-04 9.99992381e-01 -3.77443466e-03 -2.07182969e-02] [ 1.61846578e-02 3.75782396e-03 9.99861958e-01 -3.09837741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.503133365 meters Centerline goodness : 0.129433 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.02, Z:-0.31 [[ 9.99868893e-01 -8.86932871e-04 -1.61681741e-02 -1.47597946e+00] [ 8.35822119e-04 9.99994634e-01 -3.16767834e-03 -2.44858349e-02] [ 1.61708968e-02 3.15374932e-03 9.99864269e-01 -3.09721803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.533133365 meters Centerline goodness : 0.114496 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.31 [[ 9.99869037e-01 -5.97750980e-04 -1.61725634e-02 -1.47581653e+00] [ 5.62936481e-04 9.99997515e-01 -2.15715571e-03 -3.23268353e-02] [ 1.61738127e-02 2.14776908e-03 9.99866889e-01 -3.09825513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.563133365 meters Centerline goodness : 0.124876 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.31 [[ 9.99866969e-01 -4.52288249e-04 -1.63046181e-02 -1.47530423e+00] [ 4.23472985e-04 9.99998343e-01 -1.77071605e-03 -3.46581848e-02] [ 1.63053920e-02 1.76357592e-03 9.99865503e-01 -3.10099567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.593133365 meters Centerline goodness : 0.122578 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99866325e-01 -3.57918645e-04 -1.63463661e-02 -1.47497718e+00] [ 3.32819815e-04 9.99998762e-01 -1.53813244e-03 -3.61632104e-02] [ 1.63468964e-02 1.53248644e-03 9.99865206e-01 -3.10450543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.623133365 meters Centerline goodness : 0.126690 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99865964e-01 -2.62676159e-04 -1.63702333e-02 -1.47469038e+00] [ 2.40186621e-04 9.99999025e-01 -1.37575772e-03 -3.71706639e-02] [ 1.63705787e-02 1.37164141e-03 9.99865052e-01 -3.10846115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.653133365 meters Centerline goodness : 0.127041 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99867400e-01 -1.40664137e-04 -1.62838424e-02 -1.47482518e+00] [ 1.20579229e-04 9.99999231e-01 -1.23440084e-03 -3.76462348e-02] [ 1.62840035e-02 1.23227366e-03 9.99866647e-01 -3.10997856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.683133365 meters Centerline goodness : 0.122257 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.31 [[ 9.99868971e-01 5.29851602e-06 -1.61876798e-02 -1.47499157e+00] [-2.34362404e-05 9.99999372e-01 -1.12027524e-03 -3.76296961e-02] [ 1.61876637e-02 1.12050783e-03 9.99868343e-01 -3.11135088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71313336499998 meters Centerline goodness : 0.329640 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99831092e-01 1.07681458e-04 -1.83786814e-02 -1.52066980e+00] [-1.12438853e-04 9.99999960e-01 -2.57820886e-04 -4.21478600e-02] [ 1.83786529e-02 2.59843816e-04 9.99831065e-01 -3.10592035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74313336499998 meters Centerline goodness : 0.123608 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99830061e-01 8.71567069e-05 -1.84348003e-02 -1.52036900e+00] [-9.31232978e-05 9.99999944e-01 -3.22800920e-04 -4.19461794e-02] [ 1.84347711e-02 3.24462773e-04 9.99830013e-01 -3.10882624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77313336499998 meters Centerline goodness : 0.307854 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99828970e-01 1.00966707e-04 -1.84937789e-02 -1.52020006e+00] [-1.05658685e-04 9.99999962e-01 -2.52728811e-04 -4.24840738e-02] [ 1.84937527e-02 2.54639615e-04 9.99828944e-01 -3.10958350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80313336499998 meters Centerline goodness : 0.065084 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99828778e-01 1.05645654e-04 -1.85041494e-02 -1.52006814e+00] [-1.10232054e-04 9.99999963e-01 -2.46838097e-04 -4.25432356e-02] [ 1.85041227e-02 2.48835583e-04 9.99828753e-01 -3.11139142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83313336499998 meters Centerline goodness : 0.124264 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99828843e-01 7.31329818e-05 -1.85008185e-02 -1.52003437e+00] [-7.83066259e-05 9.99999958e-01 -2.78919792e-04 -4.26652203e-02] [ 1.85007973e-02 2.80320789e-04 9.99828806e-01 -3.11214565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86313336499998 meters Centerline goodness : 0.119149 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99826463e-01 2.97722089e-06 -1.86291076e-02 -1.51968966e+00] [-8.46651018e-06 9.99999957e-01 -2.94583095e-04 -4.31466497e-02] [ 1.86291059e-02 2.94689697e-04 9.99826420e-01 -3.11260077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89313336499998 meters Centerline goodness : 0.123239 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99818816e-01 -9.88678062e-05 -1.90348552e-02 -1.51866583e+00] [ 9.31776772e-05 9.99999951e-01 -2.99818746e-04 -4.37246679e-02] [ 1.90348839e-02 2.97990800e-04 9.99818776e-01 -3.11398967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92313336499998 meters Centerline goodness : 0.121774 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99814102e-01 -9.27951952e-05 -1.92808964e-02 -1.51764232e+00] [ 8.78677012e-05 9.99999963e-01 -2.56410539e-04 -4.38762223e-02] [ 1.92809195e-02 2.54668705e-04 9.99814073e-01 -3.12070126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95313336499999 meters Centerline goodness : 0.125212 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99810697e-01 -7.42262813e-05 -1.94567603e-02 -1.51689475e+00] [ 6.98887712e-05 9.99999973e-01 -2.23610620e-04 -4.38723794e-02] [ 1.94567764e-02 2.22208480e-04 9.99810674e-01 -3.12587485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.983133365 meters Centerline goodness : 0.123986 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99808649e-01 -9.29836743e-05 -1.95616250e-02 -1.51658319e+00] [ 8.88395013e-05 9.99999973e-01 -2.12721085e-04 -4.40854507e-02] [ 1.95616442e-02 2.10942535e-04 9.99808630e-01 -3.12675197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.013133365 meters Centerline goodness : 0.124758 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99807067e-01 -1.02000270e-04 -1.96422702e-02 -1.51642865e+00] [ 9.87684077e-05 9.99999981e-01 -1.65506121e-04 -4.45156126e-02] [ 1.96422867e-02 1.63534154e-04 9.99807058e-01 -3.12612082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.043133365 meters Centerline goodness : 0.126936 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.04, Z:-0.31 [[ 9.99804290e-01 -1.66297453e-04 -1.97826779e-02 -1.51626835e+00] [ 1.62918282e-04 9.99999972e-01 -1.72426152e-04 -4.47789241e-02] [ 1.97827060e-02 1.69169447e-04 9.99804289e-01 -3.12348392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.073133365 meters Centerline goodness : 0.127385 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99804258e-01 -1.14083778e-04 -1.97846648e-02 -1.51653309e+00] [ 1.13964831e-04 9.99999993e-01 -7.13957883e-06 -4.55237252e-02] [ 1.97846655e-02 4.88342532e-06 9.99804264e-01 -3.11929227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.103133365 meters Centerline goodness : 0.144644 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99806005e-01 -9.89705553e-05 -1.96962506e-02 -1.51695244e+00] [ 1.02083520e-04 9.99999982e-01 1.57043233e-04 -4.64626696e-02] [ 1.96962347e-02 -1.59023430e-04 9.99805998e-01 -3.11602099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.133133365 meters Centerline goodness : 0.126277 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99806696e-01 -7.89157438e-05 -1.96612319e-02 -1.51718646e+00] [ 8.63990759e-05 9.99999924e-01 3.79764444e-04 -4.79093861e-02] [ 1.96612005e-02 -3.81389746e-04 9.99806627e-01 -3.11316567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.163133365 meters Centerline goodness : 0.128584 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.05, Z:-0.31 [[ 9.99806326e-01 -7.99855701e-05 -1.96800667e-02 -1.51724958e+00] [ 9.33322105e-05 9.99999766e-01 6.77263101e-04 -4.99453875e-02] [ 1.96800079e-02 -6.78968717e-04 9.99806099e-01 -3.11091423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.193133365 meters Centerline goodness : 0.125449 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.05, Z:-0.31 [[ 9.99847452e-01 -4.15682116e-04 -1.74614063e-02 -1.47425780e+00] [ 4.15331464e-04 9.99999913e-01 -2.37079588e-05 -4.98771210e-02] [ 1.74614147e-02 1.64520707e-05 9.99847538e-01 -3.10587678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.223133365 meters Centerline goodness : 0.129699 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.06, Z:-0.31 [[ 9.99890614e-01 -4.65201630e-03 -1.40399236e-02 -1.51583428e+00] [ 4.64985553e-03 9.99989172e-01 -1.86541931e-04 -5.75520996e-02] [ 1.40406394e-02 1.21237909e-04 9.99901418e-01 -3.11883114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.253133365 meters Centerline goodness : 0.127399 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.06, Z:-0.31 [[ 9.99920525e-01 1.23414538e-03 -1.25467360e-02 -1.49498209e+00] [-1.27563571e-03 9.99993743e-01 -3.29939771e-03 -6.13476831e-02] [ 1.25425856e-02 3.31514055e-03 9.99915843e-01 -3.11561108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.283133365 meters Centerline goodness : 0.128861 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.06, Z:-0.31 [[ 0.99987967 -0.00803878 -0.0132674 -1.51608699] [ 0.00800824 0.99996516 -0.00235336 -0.06212856] [ 0.01328585 0.00224683 0.99990921 -0.31207848] [ 0. 0. 0. 1. ]] SLAMing on 185.313133365 meters Centerline goodness : 0.117302 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.06, Z:-0.31 [[ 0.99987653 -0.00795853 -0.01354964 -1.51545523] [ 0.00793323 0.99996669 -0.00191999 -0.06492189] [ 0.01356447 0.00181226 0.99990636 -0.31198411] [ 0. 0. 0. 1. ]] SLAMing on 185.343133365 meters Centerline goodness : 0.105669 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.31 [[ 9.99924317e-01 -9.89253407e-04 -1.22630112e-02 -1.53324058e+00] [ 9.58191350e-04 9.99996319e-01 -2.53860439e-03 -7.34126114e-02] [ 1.22654774e-02 2.52666195e-03 9.99921584e-01 -3.14415804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.373133365 meters Centerline goodness : 0.093418 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99924040e-01 -8.14065824e-04 -1.22984503e-02 -1.53319428e+00] [ 7.88399570e-04 9.99997502e-01 -2.09165438e-03 -7.55893462e-02] [ 1.23001223e-02 2.08179940e-03 9.99922184e-01 -3.14328979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.403133365 meters Centerline goodness : 0.124954 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99924578e-01 -5.21258031e-04 -1.22705392e-02 -1.53356710e+00] [ 5.05671809e-04 9.99999062e-01 -1.27328326e-03 -8.01815934e-02] [ 1.22711914e-02 1.26698236e-03 9.99923903e-01 -3.13798693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.433133365 meters Centerline goodness : 0.125779 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99923754e-01 -4.82220635e-04 -1.23391280e-02 -1.53352980e+00] [ 4.70081023e-04 9.99999403e-01 -9.86711976e-04 -8.25737065e-02] [ 1.23395964e-02 9.80836353e-04 9.99923383e-01 -3.13578663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46313336499998 meters Centerline goodness : 0.125669 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.31 [[ 9.99922825e-01 -4.34407521e-04 -1.24159422e-02 -1.53343507e+00] [ 4.24906038e-04 9.99999615e-01 -7.67892396e-04 -8.42539311e-02] [ 1.24162710e-02 7.62557525e-04 9.99922624e-01 -3.13430355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 185.52313336499998 meters Centerline goodness : 0.125716 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99922741e-01 -1.64405885e-04 -1.24292218e-02 -1.53347675e+00] [ 1.60808167e-04 9.99999945e-01 -2.90455299e-04 -8.61350822e-02] [ 1.24292688e-02 2.88434138e-04 9.99922712e-01 -3.13352442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55313336499998 meters Centerline goodness : 0.123786 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99921154e-01 2.72069041e-05 -1.25572966e-02 -1.53273050e+00] [-2.77090370e-05 9.99999999e-01 -3.98133604e-05 -8.69586593e-02] [ 1.25572955e-02 4.01581719e-05 9.99921153e-01 -3.14050448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 185.61313336499998 meters Centerline goodness : 0.046565 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99919893e-01 1.61614176e-05 -1.26573188e-02 -1.53221171e+00] [-1.59368413e-05 1.00000000e+00 1.78436602e-05 -8.79728173e-02] [ 1.26573191e-02 -1.76405132e-05 9.99919893e-01 -3.14453571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64313336499998 meters Centerline goodness : 0.137993 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.09, Z:-0.31 [[ 9.99919929e-01 3.98315629e-05 -1.26543980e-02 -1.53227688e+00] [-3.97090904e-05 9.99999999e-01 9.92951146e-06 -8.77681170e-02] [ 1.26543984e-02 -9.42622176e-06 9.99919930e-01 -3.14382513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 185.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 185.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 185.763133365 meters Centerline goodness : 0.054170 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.32 [[ 0.99989611 0.00357348 -0.01396451 -1.52709978] [-0.00354036 0.99999086 0.00239544 -0.08034408] [ 0.01397294 -0.00234576 0.99989962 -0.317455 ] [ 0. 0. 0. 1. ]] SLAMing on 185.793133365 meters Centerline goodness : 0.123339 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.32 [[ 0.99989839 0.0035343 -0.01381025 -1.52744941] [-0.00350602 0.99999171 0.00207126 -0.0781494 ] [ 0.01381746 -0.00202264 0.99990249 -0.3175591 ] [ 0. 0. 0. 1. ]] SLAMing on 185.823133365 meters Centerline goodness : 0.124840 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.08, Z:-0.32 [[ 0.99990155 0.0034649 -0.01359693 -1.52805238] [-0.00344169 0.99999258 0.00172979 -0.07593832] [ 0.01360282 -0.00168283 0.99990606 -0.31749313] [ 0. 0. 0. 1. ]] SLAMing on 185.853133365 meters Centerline goodness : 0.089005 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99904821e-01 3.33520252e-03 -1.33875229e-02 -1.52872070e+00] [-3.31747532e-03 9.99993591e-01 1.34614700e-03 -7.39432793e-02] [ 1.33919268e-02 -1.30160609e-03 9.99909477e-01 -3.17276713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.883133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 185.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 185.943133365 meters Centerline goodness : 0.179376 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99908202e-01 3.16973748e-03 -1.31734602e-02 -1.52927169e+00] [-3.15943061e-03 9.99994686e-01 8.03134111e-04 -7.08541547e-02] [ 1.31759359e-02 -7.61439751e-04 9.99912904e-01 -3.17292600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 186.003133365 meters Centerline goodness : 0.439837 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99915657e-01 3.27665280e-03 -1.25675498e-02 -1.53110448e+00] [-3.27013298e-03 9.99994508e-01 5.39296699e-04 -6.73901490e-02] [ 1.25692478e-02 -4.98153654e-04 9.99920880e-01 -3.16768587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.033133365 meters Centerline goodness : 0.115993 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.07, Z:-0.32 [[ 9.99917227e-01 3.18079530e-03 -1.24668122e-02 -1.53148618e+00] [-3.17658458e-03 9.99994891e-01 3.57541689e-04 -6.64824350e-02] [ 1.24678858e-02 -3.17910211e-04 9.99922222e-01 -3.16584379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.063133365 meters Centerline goodness : 0.131259 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99892815e-01 1.73584271e-03 -1.45377029e-02 -1.57701913e+00] [-1.73609809e-03 9.99998493e-01 -4.94640834e-06 -6.83224726e-02] [ 1.45376724e-02 3.01847564e-05 9.99894322e-01 -3.15986945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.093133365 meters Centerline goodness : 0.105204 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99891373e-01 1.60441661e-03 -1.46515822e-02 -1.57664518e+00] [-1.60884772e-03 9.99998664e-01 -2.90649961e-04 -6.69968204e-02] [ 1.46510963e-02 3.14190553e-04 9.99892618e-01 -3.16194784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.123133365 meters Centerline goodness : 0.124924 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99891173e-01 1.49536190e-03 -1.46767496e-02 -1.57642750e+00] [-1.50479341e-03 9.99998668e-01 -6.31593236e-04 -6.50874842e-02] [ 1.46757856e-02 6.53609977e-04 9.99892091e-01 -3.16503216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.153133365 meters Centerline goodness : 0.108026 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99895019e-01 1.43226554e-03 -1.44187323e-02 -1.57694292e+00] [-1.44857184e-03 9.99998323e-01 -1.12053071e-03 -6.17738591e-02] [ 1.44171032e-02 1.14129964e-03 9.99895417e-01 -3.16680410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.183133365 meters Centerline goodness : 0.127766 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99898952e-01 1.30422556e-03 -1.41557668e-02 -1.57776890e+00] [-1.32451391e-03 9.99998109e-01 -1.42394097e-03 -6.03890554e-02] [ 1.41538829e-02 1.44254659e-03 9.99898788e-01 -3.16427243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21313336499998 meters Centerline goodness : 0.284949 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99903551e-01 1.17295173e-03 -1.38388193e-02 -1.57903020e+00] [-1.19609233e-03 9.99997900e-01 -1.66399277e-03 -5.95062520e-02] [ 1.38368384e-02 1.68038478e-03 9.99902854e-01 -3.15668748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24313336499998 meters Centerline goodness : 0.125035 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99906850e-01 1.09317020e-03 -1.36049861e-02 -1.58004259e+00] [-1.11767088e-03 9.99997767e-01 -1.79338730e-03 -5.90033483e-02] [ 1.36029953e-02 1.80842615e-03 9.99905840e-01 -3.14945225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27313336499998 meters Centerline goodness : 0.309549 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99910043e-01 1.08920387e-03 -1.33686032e-02 -1.58095143e+00] [-1.11318193e-03 9.99997785e-01 -1.78630046e-03 -5.88813005e-02] [ 1.33666280e-02 1.80102146e-03 9.99909041e-01 -3.14411344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30313336499998 meters Centerline goodness : 0.124164 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99912006e-01 1.09059650e-03 -1.32208799e-02 -1.58144033e+00] [-1.11348749e-03 9.99997894e-01 -1.72419048e-03 -5.91368775e-02] [ 1.32189716e-02 1.73876004e-03 9.99911114e-01 -3.14197176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33313336499998 meters Centerline goodness : 0.125116 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99909877e-01 9.29968269e-04 -1.33929998e-02 -1.58087971e+00] [-9.51604463e-04 9.99998252e-01 -1.60920320e-03 -6.08347284e-02] [ 1.33914799e-02 1.62180301e-03 9.99909015e-01 -3.14364484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36313336499998 meters Centerline goodness : 0.124865 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.31 [[ 9.99906792e-01 9.24329356e-04 -1.36217798e-02 -1.58020377e+00] [-9.43575363e-04 9.99998566e-01 -1.40652576e-03 -6.25775844e-02] [ 1.36204602e-02 1.41924783e-03 9.99906230e-01 -3.14561203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39313336499998 meters Centerline goodness : 0.162324 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.06, Z:-0.32 [[ 9.99902785e-01 9.44730500e-04 -1.39114685e-02 -1.57919923e+00] [-9.61353035e-04 9.99998832e-01 -1.18824119e-03 -6.42038779e-02] [ 1.39103297e-02 1.20149951e-03 9.99902525e-01 -3.15048449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42313336499998 meters Centerline goodness : 0.157062 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99898585e-01 9.90192144e-04 -1.42069957e-02 -1.57811957e+00] [-1.00384325e-03 9.99999041e-01 -9.53773103e-04 -6.58173561e-02] [ 1.42060377e-02 9.67937973e-04 9.99898621e-01 -3.15629985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45313336499999 meters Centerline goodness : 0.124927 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99895189e-01 1.05397458e-03 -1.44395571e-02 -1.57720936e+00] [-1.06425169e-03 9.99999186e-01 -7.04067757e-04 -6.74435411e-02] [ 1.44388033e-02 7.19361285e-04 9.99895496e-01 -3.16211352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.483133365 meters Centerline goodness : 0.041145 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99894492e-01 1.20648206e-03 -1.44758231e-02 -1.57696932e+00] [-1.20929021e-03 9.99999252e-01 -1.85237589e-04 -7.07649360e-02] [ 1.44755888e-02 2.02723516e-04 9.99895203e-01 -3.16398092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 186.543133365 meters Centerline goodness : 0.212727 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.07, Z:-0.32 [[ 9.99889620e-01 1.37511252e-03 -1.47937956e-02 -1.57592286e+00] [-1.37197286e-03 9.99999034e-01 2.22374407e-04 -7.29797020e-02] [ 1.47940871e-02 -2.02053176e-04 9.99890541e-01 -3.16875348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.573133365 meters Centerline goodness : 0.124607 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.07, Z:-0.32 [[ 9.99885593e-01 1.45085185e-03 -1.50564446e-02 -1.57484414e+00] [-1.44637749e-03 9.99998907e-01 3.08057608e-04 -7.32449382e-02] [ 1.50568751e-02 -2.86245061e-04 9.99886598e-01 -3.17573672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.603133365 meters Centerline goodness : 0.248180 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.08, Z:-0.32 [[ 9.99844825e-01 1.09862342e-03 -1.75818051e-02 -1.61927720e+00] [-1.08182674e-03 9.99998949e-01 9.64826962e-04 -7.65122207e-02] [ 1.75828466e-02 -9.45656778e-04 9.99844963e-01 -3.17574552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 186.663133365 meters Centerline goodness : 0.253995 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99849490e-01 1.47686670e-03 -1.72862861e-02 -1.61981584e+00] [-1.46119163e-03 9.99998510e-01 9.19387285e-04 -7.45595468e-02] [ 1.72876182e-02 -8.93990332e-04 9.99850158e-01 -3.17929058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 186.723133365 meters Centerline goodness : 0.200825 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99848994e-01 1.36259310e-03 -1.73243434e-02 -1.61932425e+00] [-1.35241943e-03 9.99998906e-01 5.98949582e-04 -7.30704144e-02] [ 1.73251406e-02 -5.75429358e-04 9.99849743e-01 -3.18626648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.753133365 meters Centerline goodness : 0.136204 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99848899e-01 1.24808966e-03 -1.73384161e-02 -1.61941466e+00] [-1.24007528e-03 9.99999119e-01 4.72976257e-04 -7.30344426e-02] [ 1.73389911e-02 -4.51403849e-04 9.99849566e-01 -3.18459399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 186.813133365 meters Centerline goodness : 0.062574 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99849700e-01 1.01199619e-03 -1.73076006e-02 -1.61989187e+00] [-1.00671984e-03 9.99999444e-01 3.13567462e-04 -7.31137839e-02] [ 1.73079083e-02 -2.96096427e-04 9.99850163e-01 -3.17842227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.843133365 meters Centerline goodness : 0.127004 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99848483e-01 9.38816502e-04 -1.73818558e-02 -1.61953493e+00] [-9.37478885e-04 9.99999557e-01 8.51028143e-05 -7.15752605e-02] [ 1.73819280e-02 -6.87947970e-05 9.99848921e-01 -3.18145270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.873133365 meters Centerline goodness : 0.119513 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99847840e-01 8.68365164e-04 -1.74224596e-02 -1.61911267e+00] [-8.71487620e-04 9.99999606e-01 -1.71628654e-04 -6.99764585e-02] [ 1.74223037e-02 1.86785996e-04 9.99848203e-01 -3.18667041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.903133365 meters Centerline goodness : 0.115874 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99849400e-01 8.01673240e-04 -1.73359285e-02 -1.61932289e+00] [-8.09521387e-04 9.99999573e-01 -4.45697269e-04 -6.82403741e-02] [ 1.73355638e-02 4.59663952e-04 9.99849622e-01 -3.18692136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.933133365 meters Centerline goodness : 0.155598 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99853206e-01 7.36348923e-04 -1.71179460e-02 -1.62007480e+00] [-7.48666153e-04 9.99999465e-01 -7.13153549e-04 -6.66405431e-02] [ 1.71174117e-02 7.25864489e-04 9.99853223e-01 -3.18355505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96313336499998 meters Centerline goodness : 0.128337 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99855370e-01 6.90526058e-04 -1.69930328e-02 -1.62067477e+00] [-7.07747576e-04 9.99999242e-01 -1.00745290e-03 -6.47999831e-02] [ 1.69923242e-02 1.01933397e-03 9.99855100e-01 -3.17966388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99313336499998 meters Centerline goodness : 0.123920 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99856686e-01 5.31008021e-04 -1.69211271e-02 -1.62082680e+00] [-5.58121908e-04 9.99998568e-01 -1.59768679e-03 -6.15101315e-02] [ 1.69202545e-02 1.60690187e-03 9.99855551e-01 -3.18127388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02313336499998 meters Centerline goodness : 0.126090 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99857178e-01 4.85357987e-04 -1.68934275e-02 -1.62067239e+00] [-5.15974081e-04 9.99998232e-01 -1.80799659e-03 -6.01727475e-02] [ 1.68925202e-02 1.81645494e-03 9.99855661e-01 -3.18518484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05313336499998 meters Centerline goodness : 0.120756 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99859849e-01 4.71235601e-04 -1.67349777e-02 -1.62113443e+00] [-5.03948871e-04 9.99997971e-01 -1.95062091e-03 -5.90114988e-02] [ 1.67340245e-02 1.95878110e-03 9.99858058e-01 -3.18424885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08313336499998 meters Centerline goodness : 0.126765 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99865865e-01 4.97132515e-04 -1.63708566e-02 -1.62219520e+00] [-5.29895029e-04 9.99997866e-01 -1.99699366e-03 -5.82930772e-02] [ 1.63698288e-02 2.00540063e-03 9.99863994e-01 -3.18117062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11313336499998 meters Centerline goodness : 0.125635 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99870235e-01 4.98706008e-04 -1.61017065e-02 -1.62342510e+00] [-5.31473218e-04 9.99997797e-01 -2.03079977e-03 -5.79972746e-02] [ 1.61006583e-02 2.03909387e-03 9.99868297e-01 -3.17213545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14313336499998 meters Centerline goodness : 0.338706 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99872600e-01 4.79452315e-04 -1.59547447e-02 -1.62424574e+00] [-5.12413241e-04 9.99997743e-01 -2.06187734e-03 -5.78588912e-02] [ 1.59537201e-02 2.06979008e-03 9.99870589e-01 -3.16478711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17313336499998 meters Centerline goodness : 0.116710 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99870468e-01 4.87759724e-04 -1.60875449e-02 -1.62384174e+00] [-5.24035700e-04 9.99997330e-01 -2.25077222e-03 -5.63456205e-02] [ 1.60864041e-02 2.25891112e-03 9.99868054e-01 -3.16662560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20313336499999 meters Centerline goodness : 0.126322 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99867351e-01 4.92302686e-04 -1.62800099e-02 -1.62301871e+00] [-5.32143715e-04 9.99996874e-01 -2.44299478e-03 -5.48874423e-02] [ 1.62787563e-02 2.45133403e-03 9.99864487e-01 -3.17299311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.233133365 meters Centerline goodness : 0.129815 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99865331e-01 4.49650266e-04 -1.64048223e-02 -1.62236745e+00] [-4.94087867e-04 9.99996220e-01 -2.70486086e-03 -5.32727049e-02] [ 1.64035441e-02 2.71260203e-03 9.99861773e-01 -3.17921819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.263133365 meters Centerline goodness : 0.125807 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99864223e-01 3.60612058e-04 -1.64743867e-02 -1.62213718e+00] [-4.10408659e-04 9.99995357e-01 -3.01938712e-03 -5.15604299e-02] [ 1.64732214e-02 3.02573839e-03 9.99859729e-01 -3.18078082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.293133365 meters Centerline goodness : 0.149609 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99865437e-01 3.22932611e-04 -1.64013256e-02 -1.62237215e+00] [-3.78715852e-04 9.99994155e-01 -3.39815020e-03 -4.89932582e-02] [ 1.64001324e-02 3.40390438e-03 9.99859715e-01 -3.18130546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.323133365 meters Centerline goodness : 0.154939 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99867880e-01 2.96983107e-04 -1.62522350e-02 -1.62281472e+00] [-3.54508400e-04 9.99993683e-01 -3.53676470e-03 -4.80498169e-02] [ 1.62510820e-02 3.54205898e-03 9.99861669e-01 -3.18040318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.353133365 meters Centerline goodness : 0.126271 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99870773e-01 2.68306690e-04 -1.60737635e-02 -1.62328694e+00] [-3.27265688e-04 9.99993228e-01 -3.66550888e-03 -4.72221891e-02] [ 1.60726712e-02 3.67029559e-03 9.99864090e-01 -3.17993087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.383133365 meters Centerline goodness : 0.126734 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99871742e-01 2.11317242e-04 -1.60141880e-02 -1.62342728e+00] [-2.72909114e-04 9.99992575e-01 -3.84399377e-03 -4.61393506e-02] [ 1.60132568e-02 3.84787117e-03 9.99864376e-01 -3.18044279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.413133365 meters Centerline goodness : 0.127566 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.05, Z:-0.32 [[ 0.99982977 0.0080035 -0.01662458 -1.64338839] [-0.00808582 0.99995535 -0.00489069 -0.05026836] [ 0.01658469 0.00502428 0.99984984 -0.319269 ] [ 0. 0. 0. 1. ]] SLAMing on 187.443133365 meters Centerline goodness : 0.147198 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.05, Z:-0.32 [[ 0.99982814 0.00792855 -0.01675784 -1.64292961] [-0.00801642 0.99995444 -0.0051828 -0.04843106] [ 0.01671599 0.00531624 0.99984614 -0.31957828] [ 0. 0. 0. 1. ]] SLAMing on 187.473133365 meters Centerline goodness : 0.127276 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99829041e-01 1.35602708e-03 -1.84404456e-02 -1.62395604e+00] [-1.43755878e-03 9.99989248e-01 -4.40881525e-03 -3.87709325e-02] [ 1.84342689e-02 4.43457075e-03 9.99820240e-01 -3.17592964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.503133365 meters Centerline goodness : 0.166821 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99828934e-01 1.25678038e-03 -1.84532713e-02 -1.62394474e+00] [-1.34339726e-03 9.99988136e-01 -4.68220424e-03 -3.71511373e-02] [ 1.84471678e-02 4.70619334e-03 9.99818760e-01 -3.17595277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.533133365 meters Centerline goodness : 0.128583 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99830773e-01 1.15443736e-03 -1.83601090e-02 -1.62412546e+00] [-1.24494218e-03 9.99987128e-01 -4.91876173e-03 -3.59558321e-02] [ 1.83541942e-02 4.94078661e-03 9.99819340e-01 -3.17702780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.563133365 meters Centerline goodness : 0.134703 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99830353e-01 1.07571315e-03 -1.83877055e-02 -1.62401224e+00] [-1.16958691e-03 9.99986335e-01 -5.09525467e-03 -3.50314573e-02] [ 1.83819732e-02 5.11589629e-03 9.99817949e-01 -3.17805271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.593133365 meters Centerline goodness : 0.127578 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.03, Z:-0.32 [[ 9.99830011e-01 1.02221087e-03 -1.84093297e-02 -1.62399248e+00] [-1.11840300e-03 9.99985773e-01 -5.21564687e-03 -3.44150768e-02] [ 1.84037363e-02 5.23534932e-03 9.99816930e-01 -3.17778155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.623133365 meters Centerline goodness : 0.127251 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.03, Z:-0.32 [[ 9.99828605e-01 9.00186617e-04 -1.84918731e-02 -1.62419675e+00] [-9.97730703e-04 9.99985635e-01 -5.26642227e-03 -3.42999399e-02] [ 1.84868667e-02 5.28396954e-03 9.99815141e-01 -3.17160440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.653133365 meters Centerline goodness : 0.129022 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.03, Z:-0.32 [[ 9.99829226e-01 9.22458206e-04 -1.84571824e-02 -1.62438375e+00] [-1.01757169e-03 9.99986249e-01 -5.14446848e-03 -3.48193421e-02] [ 1.84521831e-02 5.16237144e-03 9.99816417e-01 -3.16990292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.683133365 meters Centerline goodness : 0.127558 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99829433e-01 8.82001236e-04 -1.84479803e-02 -1.62441051e+00] [-9.75516117e-04 9.99986719e-01 -5.06072766e-03 -3.55149405e-02] [ 1.84432717e-02 5.07786077e-03 9.99817014e-01 -3.16930036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71313336499998 meters Centerline goodness : 0.138465 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99828875e-01 8.06617589e-04 -1.84815995e-02 -1.62441097e+00] [-8.99173817e-04 9.99987094e-01 -5.00025807e-03 -3.65269684e-02] [ 1.84773277e-02 5.01602057e-03 9.99816697e-01 -3.16779560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74313336499998 meters Centerline goodness : 0.128613 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99827892e-01 7.35705177e-04 -1.85376468e-02 -1.62451505e+00] [-8.26618712e-04 9.99987668e-01 -4.89708010e-03 -3.77982661e-02] [ 1.85338154e-02 4.91156084e-03 9.99816170e-01 -3.16423910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77313336499998 meters Centerline goodness : 0.126774 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99826100e-01 7.70955840e-04 -1.86326249e-02 -1.62452187e+00] [-8.57716754e-04 9.99988826e-01 -4.64885505e-03 -3.93375984e-02] [ 1.86288326e-02 4.66402813e-03 9.99815590e-01 -3.16033784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80313336499998 meters Centerline goodness : 0.129046 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99823887e-01 8.10222460e-04 -1.87493349e-02 -1.62430786e+00] [-8.88021500e-04 9.99991030e-01 -4.14147575e-03 -4.23792739e-02] [ 1.87458112e-02 4.15739619e-03 9.99815638e-01 -3.15857600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83313336499998 meters Centerline goodness : 0.129046 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99823887e-01 8.10222460e-04 -1.87493349e-02 -1.62430786e+00] [-8.88021500e-04 9.99991030e-01 -4.14147575e-03 -4.23792739e-02] [ 1.87458112e-02 4.15739619e-03 9.99815638e-01 -3.15857600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86313336499998 meters Centerline goodness : 0.128048 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.04, Z:-0.32 [[ 9.99822457e-01 8.67170076e-04 -1.88229430e-02 -1.62387023e+00] [-9.39205566e-04 9.99992268e-01 -3.81850196e-03 -4.45567168e-02] [ 1.88194862e-02 3.83550262e-03 9.99815541e-01 -3.16198495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89313336499998 meters Centerline goodness : 0.142521 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99820682e-01 8.56946721e-04 -1.89174136e-02 -1.62356140e+00] [-9.23840122e-04 9.99993351e-01 -3.52761952e-03 -4.71114231e-02] [ 1.89142648e-02 3.54446362e-03 9.99814827e-01 -3.16309930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92313336499998 meters Centerline goodness : 0.129075 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99817807e-01 8.70705412e-04 -1.90681585e-02 -1.62335688e+00] [-9.31508690e-04 9.99994510e-01 -3.18008392e-03 -4.99203779e-02] [ 1.90652849e-02 3.19726668e-03 9.99813129e-01 -3.16029314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95313336499999 meters Centerline goodness : 0.131184 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99815699e-01 1.00895863e-03 -1.91715963e-02 -1.62330411e+00] [-1.06230171e-03 9.99995593e-01 -2.77242144e-03 -5.23049058e-02] [ 1.91687145e-02 2.79227650e-03 9.99812364e-01 -3.15761976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.983133365 meters Centerline goodness : 0.130199 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.05, Z:-0.32 [[ 9.99768291e-01 -7.33327612e-03 -2.02382740e-02 -1.64369598e+00] [ 7.31163571e-03 9.99972616e-01 -1.14307009e-03 -5.16151142e-02] [ 2.02461023e-02 9.94830343e-04 9.99794532e-01 -3.16527443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.013133365 meters Centerline goodness : 0.130529 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.31 [[ 9.99808656e-01 1.04030265e-03 -1.95337936e-02 -1.62493768e+00] [-1.08345048e-03 9.99996997e-01 -2.19842800e-03 -5.77239818e-02] [ 1.95314479e-02 2.21917124e-03 9.99806780e-01 -3.14402403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.043133365 meters Centerline goodness : 0.129736 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.31 [[ 9.99810534e-01 1.02880103e-03 -1.94380542e-02 -1.62510827e+00] [-1.07136781e-03 9.99997051e-01 -2.17958153e-03 -5.82988765e-02] [ 1.94357545e-02 2.19999388e-03 9.99808687e-01 -3.14507688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.073133365 meters Centerline goodness : 0.126962 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.31 [[ 9.99809674e-01 1.06388351e-03 -1.94803506e-02 -1.62488229e+00] [-1.10679981e-03 9.99996984e-01 -2.19240701e-03 -5.82820207e-02] [ 1.94779594e-02 2.21355058e-03 9.99807836e-01 -3.14687443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.103133365 meters Centerline goodness : 0.129154 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.31 [[ 9.99808703e-01 1.19562174e-03 -1.95224847e-02 -1.62474816e+00] [-1.23762575e-03 9.99996945e-01 -2.13963053e-03 -5.79231834e-02] [ 1.95198669e-02 2.16338276e-03 9.99807129e-01 -3.14808532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.133133365 meters Centerline goodness : 0.129246 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99808796e-01 1.28670309e-03 -1.95119413e-02 -1.62452951e+00] [-1.33028590e-03 9.99996649e-01 -2.22083304e-03 -5.69263741e-02] [ 1.95090184e-02 2.24636487e-03 9.99807157e-01 -3.15230359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.163133365 meters Centerline goodness : 0.104335 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99806397e-01 1.36564300e-03 -1.96291479e-02 -1.62415950e+00] [-1.41522386e-03 9.99995843e-01 -2.51221026e-03 -5.50748206e-02] [ 1.96256355e-02 2.53950353e-03 9.99804174e-01 -3.15538994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.193133365 meters Centerline goodness : 0.127464 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99806706e-01 1.34763978e-03 -1.96146309e-02 -1.62428307e+00] [-1.40058632e-03 9.99995412e-01 -2.68585176e-03 -5.40131638e-02] [ 1.96109214e-02 2.71280458e-03 9.99804007e-01 -3.15510661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.223133365 meters Centerline goodness : 0.125198 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.05, Z:-0.32 [[ 9.99810571e-01 1.41261477e-03 -1.94120352e-02 -1.62483852e+00] [-1.46645024e-03 9.99995118e-01 -2.75934897e-03 -5.29984570e-02] [ 1.94080425e-02 2.78729305e-03 9.99807761e-01 -3.15463263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.253133365 meters Centerline goodness : 0.126660 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99816275e-01 1.51012330e-03 -1.91085480e-02 -1.62571355e+00] [-1.56455026e-03 9.99994761e-01 -2.83367524e-03 -5.16648182e-02] [ 1.91041687e-02 2.86305090e-03 9.99813399e-01 -3.15305008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.283133365 meters Centerline goodness : 0.125863 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99820890e-01 1.53201969e-03 -1.88637488e-02 -1.62632240e+00] [-1.58806371e-03 9.99994369e-01 -2.95636944e-03 -5.04062757e-02] [ 1.88591133e-02 2.98579676e-03 9.99817693e-01 -3.15303773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.313133365 meters Centerline goodness : 0.127585 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99823798e-01 1.47517658e-03 -1.87135409e-02 -1.62673821e+00] [-1.53393147e-03 9.99993938e-01 -3.12573395e-03 -4.94586776e-02] [ 1.87088164e-02 3.15388848e-03 9.99820000e-01 -3.15273965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.343133365 meters Centerline goodness : 0.122142 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.31 [[ 9.99826302e-01 1.40471340e-03 -1.85847147e-02 -1.62726237e+00] [-1.46424763e-03 9.99993839e-01 -3.19017801e-03 -4.95326514e-02] [ 1.85801189e-02 3.21683651e-03 9.99822200e-01 -3.14968003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.373133365 meters Centerline goodness : 0.107621 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.31 [[ 9.99826072e-01 1.47154907e-03 -1.85919565e-02 -1.62735587e+00] [-1.52832463e-03 9.99994212e-01 -3.03993066e-03 -5.01036877e-02] [ 1.85873754e-02 3.06781648e-03 9.99822533e-01 -3.14807360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.403133365 meters Centerline goodness : 0.124652 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.31 [[ 9.99826088e-01 1.51778347e-03 -1.85873826e-02 -1.62730683e+00] [-1.57200828e-03 9.99994551e-01 -2.90302797e-03 -5.07611536e-02] [ 1.85828752e-02 2.93174262e-03 9.99823025e-01 -3.14857162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.433133365 meters Centerline goodness : 0.126098 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99823245e-01 1.49993034e-03 -1.87410872e-02 -1.62681816e+00] [-1.55300016e-03 9.99994825e-01 -2.81750372e-03 -5.15954681e-02] [ 1.87367641e-02 2.84611062e-03 9.99820401e-01 -3.15025002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46313336499998 meters Centerline goodness : 0.127779 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99820915e-01 1.45403105e-03 -1.88686162e-02 -1.62626801e+00] [-1.50675826e-03 9.99994999e-01 -2.78052445e-03 -5.24207205e-02] [ 1.88644788e-02 2.80845694e-03 9.99818105e-01 -3.15369499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49313336499998 meters Centerline goodness : 0.126142 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 9.99818635e-01 1.51733665e-03 -1.89840421e-02 -1.62560616e+00] [-1.56635952e-03 9.99995477e-01 -2.56771709e-03 -5.36416827e-02] [ 1.89800601e-02 2.59698724e-03 9.99816490e-01 -3.15955886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52313336499998 meters Centerline goodness : 0.141615 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99981764 0.00163333 -0.01902685 -1.625332 ] [-0.0016776 0.99999592 -0.00231089 -0.05475846] [ 0.01902299 0.00234239 0.9998163 -0.31621649] [ 0. 0. 0. 1. ]] SLAMing on 188.55313336499998 meters Centerline goodness : 0.127965 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.99981726 0.00172033 -0.01903916 -1.62522187] [-0.00175863 0.99999646 -0.00199524 -0.05662574] [ 0.01903566 0.00202836 0.99981675 -0.31628938] [ 0. 0. 0. 1. ]] SLAMing on 188.58313336499998 meters Centerline goodness : 0.126047 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.9998165 0.00174487 -0.01907657 -1.62514221] [-0.00177703 0.99999703 -0.00166904 -0.05913368] [ 0.0190736 0.00170263 0.99981663 -0.31624229] [ 0. 0. 0. 1. ]] SLAMing on 188.61313336499998 meters Centerline goodness : 0.124956 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 9.99814458e-01 1.72695650e-03 -1.91850748e-02 -1.62503444e+00] [-1.75285281e-03 9.99997575e-01 -1.33308128e-03 -6.19501346e-02] [ 1.91827261e-02 1.36646255e-03 9.99815061e-01 -3.15949563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64313336499998 meters Centerline goodness : 0.127231 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99810354e-01 1.72720470e-03 -1.93977592e-02 -1.62440999e+00] [-1.74649655e-03 9.99997997e-01 -9.77643513e-04 -6.47185986e-02] [ 1.93960318e-02 1.01133623e-03 9.99811368e-01 -3.16083432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67313336499998 meters Centerline goodness : 0.126184 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99798221e-01 1.70955900e-03 -2.00148499e-02 -1.62240796e+00] [-1.72006362e-03 9.99998392e-01 -5.07637933e-04 -6.84692648e-02] [ 2.00139498e-02 5.41962317e-04 9.99799554e-01 -3.16865913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70313336499999 meters Centerline goodness : 0.125373 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99793027e-01 1.75814440e-03 -2.02684956e-02 -1.62161471e+00] [-1.76538654e-03 9.99998384e-01 -3.39422660e-04 -6.96398485e-02] [ 2.02678661e-02 3.75134138e-04 9.99794515e-01 -3.17125943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.733133365 meters Centerline goodness : 0.125160 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99790773e-01 1.82038617e-03 -2.03739179e-02 -1.62114132e+00] [-1.82474312e-03 9.99998316e-01 -1.95261041e-04 -7.05252471e-02] [ 2.03735281e-02 2.32397354e-04 9.99792411e-01 -3.17456960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.763133365 meters Centerline goodness : 0.142708 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99789106e-01 1.94712230e-03 -2.04438982e-02 -1.62089934e+00] [-1.94919850e-03 9.99998097e-01 -8.16298040e-05 -7.09809835e-02] [ 2.04437003e-02 1.21461805e-04 9.99790998e-01 -3.17605606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.793133365 meters Centerline goodness : 0.146321 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99791209e-01 1.98838887e-03 -2.03367834e-02 -1.62122280e+00] [-1.99157033e-03 9.99998008e-01 -1.36186838e-04 -7.04456965e-02] [ 2.03364721e-02 1.76660538e-04 9.99793177e-01 -3.17542116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.823133365 meters Centerline goodness : 0.146321 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99791209e-01 1.98838887e-03 -2.03367834e-02 -1.62122280e+00] [-1.99157033e-03 9.99998008e-01 -1.36186838e-04 -7.04456965e-02] [ 2.03364721e-02 1.76660538e-04 9.99793177e-01 -3.17542116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.853133365 meters Centerline goodness : 0.065898 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99797278e-01 2.20915993e-03 -2.00130726e-02 -1.62203625e+00] [-2.21406918e-03 9.99997524e-01 -2.23147803e-04 -6.88633408e-02] [ 2.00125301e-02 2.67412893e-04 9.99799694e-01 -3.17562651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.883133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 188.913133365 meters Centerline goodness : 0.121229 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.07, Z:-0.32 [[ 9.99807288e-01 2.35864980e-03 -1.94890522e-02 -1.62323638e+00] [-2.36951237e-03 9.99997050e-01 -5.34294726e-04 -6.59666248e-02] [ 1.94877345e-02 5.80371311e-04 9.99809928e-01 -3.17735327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.943133365 meters Centerline goodness : 0.121338 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99817591e-01 2.31277780e-03 -1.89587716e-02 -1.62445436e+00] [-2.33343684e-03 9.99996708e-01 -1.06763320e-03 -6.23781398e-02] [ 1.89562400e-02 1.11167755e-03 9.99819696e-01 -3.17900474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.973133365 meters Centerline goodness : 0.121978 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.06, Z:-0.32 [[ 9.99820543e-01 2.21331177e-03 -1.88144168e-02 -1.62489543e+00] [-2.23987011e-03 9.99996525e-01 -1.39063921e-03 -6.05371703e-02] [ 1.88112735e-02 1.43253150e-03 9.99822026e-01 -3.17843502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.003133365 meters Centerline goodness : 0.124255 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.99982164 0.00210908 -0.01876832 -1.62507412] [-0.0021424 0.99999616 -0.00175564 -0.05831168] [ 0.01876454 0.00179554 0.99982232 -0.31781934] [ 0. 0. 0. 1. ]] SLAMing on 189.033133365 meters Centerline goodness : 0.125531 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.06, Z:-0.32 [[ 0.99982241 0.00203126 -0.0187357 -1.62531872] [-0.00207064 0.99999569 -0.00208244 -0.0561293 ] [ 0.01873139 0.00212087 0.9998223 -0.31762346] [ 0. 0. 0. 1. ]] SLAMing on 189.063133365 meters Centerline goodness : 0.127004 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99982299 0.0019408 -0.0187141 -1.62548084] [-0.00198657 0.99999508 -0.00242734 -0.05383046] [ 0.0187093 0.00246409 0.99982193 -0.31752101] [ 0. 0. 0. 1. ]] SLAMing on 189.093133365 meters Centerline goodness : 0.126091 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.04, Z:-0.31 [[ 0.99977125 -0.00391431 -0.02102675 -1.6100507 ] [ 0.00386931 0.99999014 -0.00218062 -0.0433543 ] [ 0.02103508 0.00209877 0.99977654 -0.31454158] [ 0. 0. 0. 1. ]] SLAMing on 189.123133365 meters Centerline goodness : 0.127316 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99978986 0.00355185 -0.02018983 -1.63023582] [-0.00361849 0.99998812 -0.00326486 -0.04713357] [ 0.020178 0.00333723 0.99979083 -0.31594041] [ 0. 0. 0. 1. ]] SLAMing on 189.153133365 meters Centerline goodness : 0.128497 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.05, Z:-0.32 [[ 0.99979312 0.00341612 -0.02005105 -1.6308761 ] [-0.0034891 0.99998741 -0.00360561 -0.04515589] [ 0.02003848 0.00367483 0.99979246 -0.31548837] [ 0. 0. 0. 1. ]] SLAMing on 189.183133365 meters Centerline goodness : 0.143897 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979621 0.00328115 -0.01991919 -1.63123776] [-0.00336066 0.99998651 -0.00395949 -0.04307951] [ 0.01990593 0.00402563 0.99979375 -0.31543853] [ 0. 0. 0. 1. ]] SLAMing on 189.21313336499998 meters Centerline goodness : 0.128536 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979673 0.00313337 -0.01991682 -1.6311806 ] [-0.00322047 0.99998539 -0.00434231 -0.04098978] [ 0.01990293 0.00440556 0.99979221 -0.3155597 ] [ 0. 0. 0. 1. ]] SLAMing on 189.24313336499998 meters Centerline goodness : 0.134724 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979686 0.00299651 -0.01993147 -1.63102508] [-0.00309131 0.99998405 -0.00472752 -0.03889972] [ 0.01991699 0.00478817 0.99979017 -0.31577434] [ 0. 0. 0. 1. ]] SLAMing on 189.27313336499998 meters Centerline goodness : 0.129084 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.04, Z:-0.32 [[ 0.99979554 0.00271966 -0.02003681 -1.63053967] [-0.00282898 0.99998126 -0.00542978 -0.03519233] [ 0.02002166 0.00548535 0.9997845 -0.31620929] [ 0. 0. 0. 1. ]] SLAMing on 189.30313336499998 meters Centerline goodness : 0.134558 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.03, Z:-0.31 [[ 0.9997881 -0.0046094 -0.02006286 -1.6114739 ] [ 0.00451974 0.99997961 -0.00451159 -0.02765148] [ 0.02008324 0.00441996 0.99978854 -0.31470637] [ 0. 0. 0. 1. ]] SLAMing on 189.33313336499998 meters Centerline goodness : 0.128051 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980613 0.00314542 -0.01943755 -1.63148457] [-0.00325088 0.99998016 -0.00539619 -0.032066 ] [ 0.01942019 0.00545834 0.99979651 -0.31630269] [ 0. 0. 0. 1. ]] SLAMing on 189.36313336499998 meters Centerline goodness : 0.144624 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.9998065 0.0030942 -0.01942636 -1.63151458] [-0.00320277 0.99997941 -0.00555995 -0.03109714] [ 0.01940876 0.00562109 0.99979583 -0.31632787] [ 0. 0. 0. 1. ]] SLAMing on 189.39313336499998 meters Centerline goodness : 0.126392 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980558 0.00300408 -0.01948806 -1.63121414] [-0.00311639 0.9999787 -0.00573514 -0.03044706] [ 0.01947041 0.00579476 0.99979364 -0.31656954] [ 0. 0. 0. 1. ]] SLAMing on 189.42313336499998 meters Centerline goodness : 0.126494 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980329 0.00285672 -0.01962704 -1.63062933] [-0.00297507 0.99997756 -0.00600301 -0.02947127] [ 0.01960945 0.00606022 0.99978935 -0.31699885] [ 0. 0. 0. 1. ]] SLAMing on 189.45313336499999 meters Centerline goodness : 0.126118 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99979978 0.0027459 -0.01982071 -1.62965182] [-0.00287282 0.99997554 -0.00637751 -0.02746825] [ 0.01980271 0.00643317 0.99978321 -0.31786994] [ 0. 0. 0. 1. ]] SLAMing on 189.483133365 meters Centerline goodness : 0.127263 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99980071 0.00274921 -0.01977337 -1.62959941] [-0.00287957 0.99997429 -0.00656733 -0.02590866] [ 0.01975481 0.00662296 0.99978292 -0.31819508] [ 0. 0. 0. 1. ]] SLAMing on 189.513133365 meters Centerline goodness : 0.127585 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980464 0.00273361 -0.01957589 -1.63002867] [-0.00286686 0.99997289 -0.00678235 -0.02436637] [ 0.01955682 0.00683714 0.99978537 -0.3182848 ] [ 0. 0. 0. 1. ]] SLAMing on 189.543133365 meters Centerline goodness : 0.127343 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980833 0.00268012 -0.01939386 -1.63052063] [-0.00281684 0.99997135 -0.00702611 -0.022903 ] [ 0.01937447 0.00707939 0.99978723 -0.31824296] [ 0. 0. 0. 1. ]] SLAMing on 189.573133365 meters Centerline goodness : 0.167359 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99981066 0.00261319 -0.01928272 -1.6308042 ] [-0.00275351 0.9999699 -0.00725398 -0.02165379] [ 0.01926319 0.0073057 0.99978776 -0.31825983] [ 0. 0. 0. 1. ]] SLAMing on 189.603133365 meters Centerline goodness : 0.125695 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99981128 0.00254564 -0.0192594 -1.63084148] [-0.00268839 0.99996908 -0.00738956 -0.02111998] [ 0.01923999 0.00743994 0.99978721 -0.31831536] [ 0. 0. 0. 1. ]] SLAMing on 189.633133365 meters Centerline goodness : 0.123137 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980994 0.00249188 -0.0193356 -1.63079456] [-0.00263538 0.99996915 -0.00739997 -0.02113462] [ 0.01931657 0.00744952 0.99978566 -0.31814766] [ 0. 0. 0. 1. ]] SLAMing on 189.663133365 meters Centerline goodness : 0.192855 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99980989 0.00247959 -0.01934002 -1.63098431] [-0.00261978 0.99997045 -0.0072268 -0.02232778] [ 0.01932153 0.0072761 0.99978685 -0.31782712] [ 0. 0. 0. 1. ]] SLAMing on 189.693133365 meters Centerline goodness : 0.127320 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.9998118 0.0024792 -0.019241 -1.63146906] [-0.00261471 0.99997193 -0.00702103 -0.02365576] [ 0.01922306 0.00707002 0.99979022 -0.31741924] [ 0. 0. 0. 1. ]] SLAMing on 189.723133365 meters Centerline goodness : 0.127320 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.9998118 0.0024792 -0.019241 -1.63146906] [-0.00261471 0.99997193 -0.00702103 -0.02365576] [ 0.01922306 0.00707002 0.99979022 -0.31741924] [ 0. 0. 0. 1. ]] SLAMing on 189.753133365 meters Centerline goodness : 0.129304 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99982529 0.00223675 -0.01855783 -1.63336374] [-0.00236565 0.99997321 -0.00692703 -0.02538877] [ 0.01854184 0.00696972 0.99980379 -0.31679241] [ 0. 0. 0. 1. ]] SLAMing on 189.783133365 meters Centerline goodness : 0.121513 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99982515 0.0022315 -0.01856584 -1.63336031] [-0.00236024 0.9999733 -0.00691526 -0.0255185 ] [ 0.01854991 0.00695787 0.99980373 -0.31678382] [ 0. 0. 0. 1. ]] SLAMing on 189.813133365 meters Centerline goodness : 0.127789 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.03, Z:-0.32 [[ 0.99982425 0.00223574 -0.01861365 -1.63305442] [-0.00236551 0.99997303 -0.00695274 -0.02513376] [ 0.0185976 0.00699555 0.99980258 -0.31711744] [ 0. 0. 0. 1. ]] SLAMing on 189.843133365 meters Centerline goodness : 0.149680 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99982372 0.00225223 -0.01864024 -1.63284013] [-0.00238427 0.9999722 -0.0070648 -0.02404794] [ 0.01862381 0.007108 0.9998013 -0.31738105] [ 0. 0. 0. 1. ]] SLAMing on 189.873133365 meters Centerline goodness : 0.123426 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99982456 0.00223653 -0.01859702 -1.63294806] [-0.002371 0.99997118 -0.00721183 -0.02298188] [ 0.01858036 0.00725466 0.99980105 -0.31742573] [ 0. 0. 0. 1. ]] SLAMing on 189.903133365 meters Centerline goodness : 0.127491 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99982776 0.0022381 -0.01842401 -1.63347894] [-0.0023736 0.99997028 -0.0073358 -0.02197447] [ 0.01840704 0.00737827 0.99980335 -0.31727289] [ 0. 0. 0. 1. ]] SLAMing on 189.933133365 meters Centerline goodness : 0.130897 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99983404 0.00221554 -0.01808259 -1.63468447] [-0.00235114 0.99996925 -0.0074808 -0.02086846] [ 0.01806546 0.00752207 0.99980851 -0.31668175] [ 0. 0. 0. 1. ]] SLAMing on 189.96313336499998 meters Centerline goodness : 0.129541 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99983304 0.00205449 -0.01815681 -1.63450123] [-0.00219361 0.99996837 -0.00764548 -0.02077272] [ 0.01814053 0.00768403 0.99980592 -0.31670866] [ 0. 0. 0. 1. ]] SLAMing on 189.99313336499998 meters Centerline goodness : 0.132779 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.02, Z:-0.32 [[ 0.99983006 0.00195098 -0.01833149 -1.63401541] [-0.00209222 0.99996825 -0.00768846 -0.021335 ] [ 0.01831591 0.0077255 0.9998024 -0.31684917] [ 0. 0. 0. 1. ]] SLAMing on 190.02313336499998 meters Centerline goodness : 0.129453 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.02, Z:-0.32 [[ 0.99980588 -0.00588167 -0.01880449 -1.61344673] [ 0.00575231 0.99995947 -0.00692608 -0.01660522] [ 0.01884446 0.00681657 0.99979919 -0.31567922] [ 0. 0. 0. 1. ]] SLAMing on 190.05313336499998 meters Centerline goodness : 0.136473 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 0.99974685 -0.00633443 -0.0215897 -1.65745112] [ 0.00619851 0.99996059 -0.00635658 -0.02105675] [ 0.02162911 0.00622115 0.99974671 -0.31587748] [ 0. 0. 0. 1. ]] SLAMing on 190.08313336499998 meters Centerline goodness : 0.133535 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 0.99974352 -0.00619722 -0.02178258 -1.65680975] [ 0.00607101 0.99996443 -0.0058556 -0.02329342] [ 0.02181809 0.00572185 0.99974558 -0.31612248] [ 0. 0. 0. 1. ]] SLAMing on 190.11313336499998 meters Centerline goodness : 0.181272 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 0.99974499 -0.00616172 -0.02172519 -1.65689063] [ 0.00604083 0.99996593 -0.00562581 -0.02486879] [ 0.02175912 0.00549314 0.99974815 -0.31616408] [ 0. 0. 0. 1. ]] SLAMing on 190.14313336499998 meters Centerline goodness : 0.139853 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99974409 -0.0061504 -0.02176993 -1.65673283] [ 0.00603299 0.99996692 -0.00545464 -0.026216 ] [ 0.02180275 0.00532191 0.99974813 -0.3162228 ] [ 0. 0. 0. 1. ]] SLAMing on 190.17313336499998 meters Centerline goodness : 0.139122 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99974146 -0.0061046 -0.02190317 -1.65635295] [ 0.00599059 0.99996819 -0.00526703 -0.02739676] [ 0.02193462 0.00513445 0.99974622 -0.31634635] [ 0. 0. 0. 1. ]] SLAMing on 190.20313336499999 meters Centerline goodness : 0.139129 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99973808 -0.00597157 -0.02209347 -1.65582286] [ 0.0058625 0.99997032 -0.00499808 -0.0284298 ] [ 0.02212266 0.00486725 0.99974342 -0.316467 ] [ 0. 0. 0. 1. ]] SLAMing on 190.233133365 meters Centerline goodness : 0.140167 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 0.99973591 -0.00584531 -0.02222492 -1.65528277] [ 0.00574107 0.99997223 -0.00475123 -0.02937013] [ 0.02225208 0.00462238 0.99974171 -0.3168511 ] [ 0. 0. 0. 1. ]] SLAMing on 190.263133365 meters Centerline goodness : 0.122094 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.03, Z:-0.32 [[ 0.9997251 -0.00583658 -0.02270792 -1.65341561] [ 0.00573921 0.99997407 -0.00435074 -0.03260324] [ 0.02273272 0.00421921 0.99973268 -0.31787215] [ 0. 0. 0. 1. ]] SLAMing on 190.293133365 meters Centerline goodness : 0.137849 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.04, Z:-0.32 [[ 0.99972673 -0.00572815 -0.02266406 -1.65350678] [ 0.0056406 0.99997639 -0.00392501 -0.03530754] [ 0.02268601 0.0037961 0.99973543 -0.31786037] [ 0. 0. 0. 1. ]] SLAMing on 190.323133365 meters Centerline goodness : 0.075417 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.04, Z:-0.32 [[ 0.99973235 -0.00554916 -0.02245974 -1.65432988] [ 0.00547353 0.99997915 -0.0034277 -0.03794319] [ 0.02247829 0.00330385 0.99974187 -0.31729922] [ 0. 0. 0. 1. ]] SLAMing on 190.353133365 meters Centerline goodness : 0.135087 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99973962 -0.00537193 -0.0221774 -1.65541122] [ 0.00530749 0.99998152 -0.00296362 -0.04023045] [ 0.02219292 0.00284514 0.99974966 -0.31660505] [ 0. 0. 0. 1. ]] SLAMing on 190.383133365 meters Centerline goodness : 0.135269 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.9997438 -0.00524031 -0.02202002 -1.65608357] [ 0.0051831 0.99998304 -0.00265434 -0.04176363] [ 0.02203356 0.00253953 0.99975401 -0.3160961 ] [ 0. 0. 0. 1. ]] SLAMing on 190.413133365 meters Centerline goodness : 0.109748 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99974406 -0.00517548 -0.0220235 -1.65612989] [ 0.00512173 0.99998377 -0.0024964 -0.04281614] [ 0.02203606 0.00238296 0.99975434 -0.31600395] [ 0. 0. 0. 1. ]] SLAMing on 190.443133365 meters Centerline goodness : 0.134191 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99974266 -0.00510354 -0.02210358 -1.65569506] [ 0.00505112 0.9999843 -0.00242695 -0.04320254] [ 0.02211562 0.00231468 0.99975274 -0.31638678] [ 0. 0. 0. 1. ]] SLAMing on 190.473133365 meters Centerline goodness : 0.133935 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99974965 0.0029334 -0.02218178 -1.67559036] [-0.00300663 0.99999014 -0.00326862 -0.04848359] [ 0.02217198 0.00333449 0.99974861 -0.31841367] [ 0. 0. 0. 1. ]] SLAMing on 190.503133365 meters Centerline goodness : 0.130067 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99975312 0.00312071 -0.02199913 -1.67596277] [-0.00319095 0.99998992 -0.00315884 -0.04819606] [ 0.02198905 0.00322825 0.999753 -0.31857029] [ 0. 0. 0. 1. ]] SLAMing on 190.533133365 meters Centerline goodness : 0.130815 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99976502 0.00359714 -0.02137688 -1.67759478] [-0.00365764 0.99998941 -0.0027916 -0.04841605] [ 0.02136661 0.00286914 0.99976759 -0.3184034 ] [ 0. 0. 0. 1. ]] SLAMing on 190.563133365 meters Centerline goodness : 0.151460 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.99976647 0.00361252 -0.02130635 -1.67783752] [-0.00367355 0.99998926 -0.00282593 -0.04834175] [ 0.02129591 0.00290354 0.999769 -0.31831506] [ 0. 0. 0. 1. ]] SLAMing on 190.593133365 meters Centerline goodness : 0.243808 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.05, Z:-0.32 [[ 0.9997689 0.00359923 -0.0211942 -1.67797356] [-0.0036615 0.99998909 -0.00290022 -0.04815931] [ 0.02118353 0.00297715 0.99977117 -0.31857799] [ 0. 0. 0. 1. ]] SLAMing on 190.623133365 meters Centerline goodness : 0.105753 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99759172e-01 -3.42825998e-03 -2.16759020e-02 -1.65855890e+00] [ 3.39166270e-03 9.99992761e-01 -1.72492338e-03 -4.27049673e-02] [ 2.16816586e-02 1.65099062e-03 9.99763562e-01 -3.17070603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.653133365 meters Centerline goodness : 0.123268 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99758838e-01 -3.33394040e-03 -2.17060284e-02 -1.65824593e+00] [ 3.29968177e-03 9.99993254e-01 -1.61392476e-03 -4.28227435e-02] [ 2.17112627e-02 1.54191255e-03 9.99763094e-01 -3.17475407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.683133365 meters Centerline goodness : 0.123294 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99759810e-01 -3.25016254e-03 -2.16739357e-02 -1.65812189e+00] [ 3.21883764e-03 9.99993724e-01 -1.48000978e-03 -4.32416673e-02] [ 2.16786100e-02 1.40988941e-03 9.99763997e-01 -3.17806388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71313336499998 meters Centerline goodness : 0.140419 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99763291e-01 -3.25223733e-03 -2.15124362e-02 -1.65846379e+00] [ 3.22384978e-03 9.99993887e-01 -1.35413694e-03 -4.44496563e-02] [ 2.15167086e-02 1.28446354e-03 9.99767664e-01 -3.17832675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74313336499998 meters Centerline goodness : 0.125540 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99763217e-01 -3.29130395e-03 -2.15099460e-02 -1.65853955e+00] [ 3.26202667e-03 9.99993705e-01 -1.39604975e-03 -4.44626500e-02] [ 2.15144054e-02 1.32555317e-03 9.99767660e-01 -3.17752178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77313336499998 meters Centerline goodness : 0.122488 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 9.99761612e-01 -3.34534937e-03 -2.15760984e-02 -1.65842921e+00] [ 3.31296724e-03 9.99993332e-01 -1.53640377e-03 -4.37945288e-02] [ 2.15810943e-02 1.46455660e-03 9.99766028e-01 -3.17735403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80313336499998 meters Centerline goodness : 0.112615 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99975939 -0.00335058 -0.02167791 -1.65805236] [ 0.0033138 0.99999301 -0.00173256 -0.04236167] [ 0.02168356 0.0016603 0.99976351 -0.31800858] [ 0. 0. 0. 1. ]] SLAMing on 190.83313336499998 meters Centerline goodness : 0.125213 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.04, Z:-0.32 [[ 0.99975731 -0.0033458 -0.02177449 -1.65772115] [ 0.00330213 0.99999246 -0.00204144 -0.03993798] [ 0.02178116 0.00196904 0.99976082 -0.31827708] [ 0. 0. 0. 1. ]] SLAMing on 190.86313336499998 meters Centerline goodness : 0.125218 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 9.99759147e-01 3.68750886e-04 -2.19433840e-02 -1.65734627e+00] [-3.49636601e-04 9.99999556e-01 8.74902993e-04 -3.44651098e-02] [ 2.19436969e-02 -8.67020059e-04 9.99758832e-01 -3.18436016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89313336499998 meters Centerline goodness : 0.128632 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.03, Z:-0.32 [[ 9.99765086e-01 2.59579152e-04 -2.16727113e-02 -1.65795935e+00] [-2.56018770e-04 9.99999953e-01 1.67053971e-04 -3.01145938e-02] [ 2.16727536e-02 -1.61466107e-04 9.99765105e-01 -3.18615584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92313336499998 meters Centerline goodness : 0.124715 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.03, Z:-0.32 [[ 9.99756016e-01 8.77344686e-03 -2.02715356e-02 -1.63719981e+00] [-8.80362723e-03 9.99960267e-01 -1.40004314e-03 -2.64763244e-02] [ 2.02584470e-02 1.57816460e-03 9.99793531e-01 -3.18016185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95313336499999 meters Centerline goodness : 0.128165 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.02, Z:-0.32 [[ 9.99787045e-01 6.12589106e-04 -2.06273738e-02 -1.65769443e+00] [-6.24527393e-04 9.99999641e-01 -5.72322521e-04 -1.87813640e-02] [ 2.06270158e-02 5.85083002e-04 9.99787069e-01 -3.19704798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.983133365 meters Centerline goodness : 0.127178 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99787302e-01 3.97576602e-04 -2.06202057e-02 -1.65766777e+00] [-4.23667889e-04 9.99999115e-01 -1.26097314e-03 -1.47130407e-02] [ 2.06196861e-02 1.26944105e-03 9.99786586e-01 -3.19918752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.013133365 meters Centerline goodness : 0.126157 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99787818e-01 1.83578726e-04 -2.05982105e-02 -1.65772542e+00] [-2.21475830e-04 9.99998287e-01 -1.83755893e-03 -1.15043228e-02] [ 2.05978379e-02 1.84173104e-03 9.99786146e-01 -3.20020011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.043133365 meters Centerline goodness : 0.125145 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99783071e-01 -3.25789666e-04 -2.08255632e-02 -1.65767273e+00] [ 2.68133785e-04 9.99996124e-01 -2.77124723e-03 -6.96598565e-03] [ 2.08263853e-02 2.76506203e-03 9.99779284e-01 -3.19388030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.073133365 meters Centerline goodness : 0.128810 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.01, Z:-0.32 [[ 9.99778521e-01 -4.69756246e-04 -2.10401435e-02 -1.65740188e+00] [ 4.06324986e-04 9.99995360e-01 -3.01894675e-03 -5.74565643e-03] [ 2.10414641e-02 3.00972898e-03 9.99774074e-01 -3.19059532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.103133365 meters Centerline goodness : 0.128843 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99773130e-01 -5.72364376e-04 -2.12922699e-02 -1.65677243e+00] [ 5.04283741e-04 9.99994744e-01 -3.20266626e-03 -4.66066703e-03] [ 2.12939911e-02 3.19120232e-03 9.99768164e-01 -3.19090417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.133133365 meters Centerline goodness : 0.134348 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99771440e-01 -6.49173620e-04 -2.13692879e-02 -1.65650378e+00] [ 5.77941106e-04 9.99994257e-01 -3.33941313e-03 -3.83016609e-03] [ 2.13713331e-02 3.32629968e-03 9.99766074e-01 -3.19180555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.163133365 meters Centerline goodness : 0.127055 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99773879e-01 -7.53836918e-04 -2.12514248e-02 -1.65691438e+00] [ 6.80370489e-04 9.99993769e-01 -3.46403026e-03 -3.39410473e-03] [ 2.12539037e-02 3.44878812e-03 9.99768162e-01 -3.18974336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.193133365 meters Centerline goodness : 0.131570 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99779230e-01 -8.32891115e-04 -2.09951638e-02 -1.65779897e+00] [ 7.57245148e-04 9.99993195e-01 -3.61071131e-03 -2.70801084e-03] [ 2.09980283e-02 3.59401569e-03 9.99773057e-01 -3.18571773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.223133365 meters Centerline goodness : 0.125038 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.00, Z:-0.32 [[ 9.99789716e-01 -8.20852419e-04 -2.04902485e-02 -1.65990999e+00] [ 7.42874355e-04 9.99992455e-01 -3.81293984e-03 -9.13795410e-04] [ 2.04932238e-02 3.79691636e-03 9.99782782e-01 -3.17213226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.253133365 meters Centerline goodness : 0.126894 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.00, Z:-0.32 [[ 9.99791922e-01 -8.27198328e-04 -2.03820433e-02 -1.66027912e+00] [ 7.46879873e-04 9.99991928e-01 -3.94794505e-03 1.18086389e-04] [ 2.03851445e-02 3.93190064e-03 9.99784470e-01 -3.17091949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.283133365 meters Centerline goodness : 0.123944 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.00, Z:-0.32 [[ 9.99790241e-01 -8.60985475e-04 -2.04629682e-02 -1.65994764e+00] [ 7.77482403e-04 9.99991341e-01 -4.08829747e-03 9.41028028e-04] [ 2.04663109e-02 4.07153031e-03 9.99782253e-01 -3.17326372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.313133365 meters Centerline goodness : 0.122374 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99722451e-01 -1.52486305e-03 -2.35094619e-02 -1.70315626e+00] [ 1.42332305e-03 9.99989590e-01 -4.33524050e-03 -1.25904088e-03] [ 2.35158278e-02 4.30057570e-03 9.99714215e-01 -3.17881134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.343133365 meters Centerline goodness : 0.121672 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99715400e-01 -1.53973136e-03 -2.38064687e-02 -1.70217862e+00] [ 1.43499780e-03 9.99989221e-01 -4.41583209e-03 -7.72908223e-04] [ 2.38130112e-02 4.38041312e-03 9.99706833e-01 -3.18342788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.373133365 meters Centerline goodness : 0.162808 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99713381e-01 -1.49996173e-03 -2.38936291e-02 -1.70181775e+00] [ 1.39590749e-03 9.99989473e-01 -4.37097871e-03 -7.52583896e-04] [ 2.38999338e-02 4.33637260e-03 9.99704951e-01 -3.18598070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.403133365 meters Centerline goodness : 0.124523 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99721487e-01 -1.43343375e-03 -2.35561951e-02 -1.70290167e+00] [ 1.33559833e-03 9.99990420e-01 -4.16848594e-03 -1.84322875e-03] [ 2.35619447e-02 4.13586335e-03 9.99713824e-01 -3.18114725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.433133365 meters Centerline goodness : 0.127259 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99724976e-01 -1.45461718e-03 -2.34063450e-02 -1.70350137e+00] [ 1.35915208e-03 9.99990696e-01 -4.09399075e-03 -2.75262117e-03] [ 2.34120824e-02 4.06105202e-03 9.99717651e-01 -3.17713333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46313336499998 meters Centerline goodness : 0.123042 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99724201e-01 -1.47341881e-03 -2.34382511e-02 -1.70361009e+00] [ 1.37848423e-03 9.99990783e-01 -4.06605345e-03 -3.19427273e-03] [ 2.34440261e-02 4.03262278e-03 9.99717018e-01 -3.17448216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49313336499998 meters Centerline goodness : 0.125317 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99720800e-01 -1.39900631e-03 -2.35873946e-02 -1.70329543e+00] [ 1.30513904e-03 9.99991170e-01 -3.99447712e-03 -3.10560794e-03] [ 2.35927746e-02 3.96257703e-03 9.99713799e-01 -3.17428203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52313336499998 meters Centerline goodness : 0.126209 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.00, Z:-0.32 [[ 9.99717137e-01 -1.30676086e-03 -2.37474075e-02 -1.70286582e+00] [ 1.21186932e-03 9.99991226e-01 -4.00982161e-03 -2.28422575e-03] [ 2.37524390e-02 3.97990862e-03 9.99709949e-01 -3.17565403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55313336499998 meters Centerline goodness : 0.123822 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.01, Z:-0.32 [[ 0.99968621 0.00676234 -0.02411965 -1.72255448] [-0.00688569 0.99996362 -0.00503465 -0.00639276] [ 0.02408472 0.00519915 0.9996964 -0.31917463] [ 0. 0. 0. 1. ]] SLAMing on 191.58313336499998 meters Centerline goodness : 0.123865 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99711066e-01 -6.46229437e-04 -2.40284587e-02 -1.70367820e+00] [ 5.39168541e-04 9.99989901e-01 -4.46179902e-03 8.24208422e-04] [ 2.40310994e-02 4.44755446e-03 9.99701318e-01 -3.17816030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61313336499998 meters Centerline goodness : 0.118713 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99712999e-01 -6.89455335e-04 -2.39467083e-02 -1.70385166e+00] [ 5.77674786e-04 9.99988908e-01 -4.67449193e-03 2.06001260e-03] [ 2.39496655e-02 4.65931694e-03 9.99702308e-01 -3.17973354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64313336499998 meters Centerline goodness : 0.118713 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99712999e-01 -6.89455335e-04 -2.39467083e-02 -1.70385166e+00] [ 5.77674786e-04 9.99988908e-01 -4.67449193e-03 2.06001260e-03] [ 2.39496655e-02 4.65931694e-03 9.99702308e-01 -3.17973354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67313336499998 meters Centerline goodness : 0.145229 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99711189e-01 -7.14872734e-04 -2.40213885e-02 -1.70351814e+00] [ 5.98706046e-04 9.99988094e-01 -4.84281287e-03 3.22709706e-03] [ 2.40245645e-02 4.82703247e-03 9.99699715e-01 -3.18230248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70313336499999 meters Centerline goodness : 0.124055 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.00, Z:-0.32 [[ 9.99707220e-01 -7.37813828e-04 -2.41853318e-02 -1.70290479e+00] [ 6.17666099e-04 9.99987434e-01 -4.97488725e-03 4.19100120e-03] [ 2.41886984e-02 4.95849225e-03 9.99695114e-01 -3.18585442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.733133365 meters Centerline goodness : 0.123406 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99704040e-01 -8.37504945e-04 -2.43131772e-02 -1.70239059e+00] [ 7.10883024e-04 9.99986143e-01 -5.21613066e-03 5.32950686e-03] [ 2.43172088e-02 5.19730307e-03 9.99690783e-01 -3.18951264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.763133365 meters Centerline goodness : 0.126575 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99700267e-01 -9.28482539e-04 -2.44645614e-02 -1.70185715e+00] [ 7.94271363e-04 9.99984586e-01 -5.49508868e-03 6.71943313e-03] [ 2.44692864e-02 5.47401012e-03 9.99685595e-01 -3.19286680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.793133365 meters Centerline goodness : 0.123938 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99699096e-01 -1.11159719e-03 -2.45047505e-02 -1.70160295e+00] [ 9.61139059e-04 9.99980621e-01 -6.15088073e-03 1.07252685e-02] [ 2.45111129e-02 6.12547742e-03 9.99680791e-01 -3.19639593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.823133365 meters Centerline goodness : 0.133366 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99700942e-01 -1.13482159e-03 -2.44282240e-02 -1.70180342e+00] [ 9.78758084e-04 9.99979043e-01 -6.39966408e-03 1.26831047e-02] [ 2.44349745e-02 6.37384089e-03 9.99681102e-01 -3.19660912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.853133365 meters Centerline goodness : 0.141926 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.01, Z:-0.32 [[ 9.99703182e-01 -1.24363702e-03 -2.43310942e-02 -1.70215905e+00] [ 1.08069825e-03 9.99976912e-01 -6.70873339e-03 1.44789160e-02] [ 2.43388756e-02 6.68044755e-03 9.99681445e-01 -3.19515905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.883133365 meters Centerline goodness : 0.359578 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99706206e-01 -1.34725263e-03 -2.42009469e-02 -1.70270597e+00] [ 1.17804300e-03 9.99974772e-01 -7.00475653e-03 1.60513294e-02] [ 2.42097736e-02 6.97418882e-03 9.99682573e-01 -3.19228966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.913133365 meters Centerline goodness : 0.189163 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99707213e-01 -1.41509600e-03 -2.41554377e-02 -1.70303844e+00] [ 1.24156842e-03 9.99973329e-01 -7.19727601e-03 1.71820972e-02] [ 2.41649783e-02 7.16517811e-03 9.99682307e-01 -3.18909684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.943133365 meters Centerline goodness : 0.123949 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99707926e-01 -1.47713082e-03 -2.41222220e-02 -1.70325741e+00] [ 1.30024086e-03 9.99972164e-01 -7.34710981e-03 1.80665153e-02] [ 2.41324032e-02 7.31359921e-03 9.99682019e-01 -3.18725871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.973133365 meters Centerline goodness : 0.275199 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99708463e-01 -1.50601721e-03 -2.40981558e-02 -1.70339498e+00] [ 1.32704823e-03 9.99971435e-01 -7.44093645e-03 1.87707201e-02] [ 2.41086736e-02 7.40678773e-03 9.99681905e-01 -3.18620358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.003133365 meters Centerline goodness : 0.122195 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99710122e-01 -1.53179880e-03 -2.40275940e-02 -1.70355763e+00] [ 1.35154608e-03 9.99970838e-01 -7.51635110e-03 1.94032646e-02] [ 2.40384069e-02 7.48169788e-03 9.99683039e-01 -3.18634483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.033133365 meters Centerline goodness : 0.123074 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99719497e-01 -1.65831658e-03 -2.36257752e-02 -1.70492087e+00] [ 1.47739202e-03 9.99969468e-01 -7.67332879e-03 2.00700961e-02] [ 2.36377786e-02 7.63627186e-03 9.99691424e-01 -3.17999732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.063133365 meters Centerline goodness : 0.129582 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99718063e-01 -1.74635559e-03 -2.36800559e-02 -1.70499365e+00] [ 1.56146822e-03 9.99968173e-01 -7.82396896e-03 2.06643089e-02] [ 2.36929657e-02 7.78478744e-03 9.99688972e-01 -3.17694979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.093133365 meters Centerline goodness : 0.436062 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99713244e-01 -1.81921143e-03 -2.38772025e-02 -1.70452125e+00] [ 1.62860952e-03 9.99966676e-01 -7.99960983e-03 2.15718803e-02] [ 2.38909598e-02 7.95842926e-03 9.99682892e-01 -3.17738532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 192.153133365 meters Centerline goodness : 0.434542 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.02, Z:-0.32 [[ 9.99681533e-01 -2.21528957e-04 -2.52345646e-02 -1.69892486e+00] [ 5.38790202e-05 9.99977926e-01 -6.64414890e-03 2.34795236e-02] [ 2.52354795e-02 6.64067335e-03 9.99659478e-01 -3.20436477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.183133365 meters Centerline goodness : 0.436908 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.03, Z:-0.32 [[ 9.99675563e-01 -3.43179831e-04 -2.54686370e-02 -1.69801340e+00] [ 1.65017095e-04 9.99975506e-01 -6.99714978e-03 2.54391734e-02] [ 2.54704145e-02 6.99067688e-03 9.99651133e-01 -3.21002627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21313336499998 meters Centerline goodness : 0.098702 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.03, Z:-0.32 [[ 9.99677124e-01 -4.07939259e-04 -2.54063141e-02 -1.69843995e+00] [ 2.28228387e-04 9.99974939e-01 -7.07597084e-03 2.56594896e-02] [ 2.54085640e-02 7.06788773e-03 9.99652164e-01 -3.20597239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24313336499998 meters Centerline goodness : 0.120667 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.03, Z:-0.32 [[ 9.99678643e-01 -4.31984797e-04 -2.53460794e-02 -1.69893465e+00] [ 2.51898445e-04 9.99974707e-01 -7.10785966e-03 2.57745740e-02] [ 2.53485088e-02 7.09919086e-03 9.99653467e-01 -3.20051231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27313336499998 meters Centerline goodness : 0.440349 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.02, Z:-0.32 [[ 9.99628391e-01 -8.15132858e-04 -2.72472915e-02 -1.74534623e+00] [ 6.23215780e-04 9.99974945e-01 -7.05127875e-03 2.30643531e-02] [ 2.72523566e-02 7.03167749e-03 9.99603854e-01 -3.19499120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30313336499998 meters Centerline goodness : 0.438326 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.02, Z:-0.32 [[ 9.99629168e-01 -8.62388714e-04 -2.72173359e-02 -1.74560256e+00] [ 6.70096087e-04 9.99974759e-01 -7.07340915e-03 2.30563329e-02] [ 2.72227489e-02 7.05254787e-03 9.99604514e-01 -3.19203174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33313336499998 meters Centerline goodness : 0.439196 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99564214e-01 -1.67367871e-03 -2.94717081e-02 -1.79041413e+00] [ 1.45166143e-03 9.99970422e-01 -7.55301946e-03 2.03693409e-02] [ 2.94834777e-02 7.50694501e-03 9.99537078e-01 -3.19664584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36313336499998 meters Centerline goodness : 0.437551 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99551819e-01 -1.76817605e-03 -2.98836985e-02 -1.78892909e+00] [ 1.54393798e-03 9.99970494e-01 -7.52510142e-03 1.94875692e-02] [ 2.98961225e-02 7.47559023e-03 9.99525056e-01 -3.20413340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39313336499998 meters Centerline goodness : 0.436359 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99545520e-01 -1.74701938e-03 -3.00948648e-02 -1.78813371e+00] [ 1.52132846e-03 9.99970563e-01 -7.52058196e-03 1.95588020e-02] [ 3.01071175e-02 7.47137984e-03 9.99518754e-01 -3.20865832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42313336499998 meters Centerline goodness : 0.345491 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99539100e-01 -1.75064132e-03 -3.03071450e-02 -1.78751827e+00] [ 1.52254989e-03 9.99970359e-01 -7.54743759e-03 1.96891357e-02] [ 3.03194595e-02 7.49781483e-03 9.99512138e-01 -3.21024123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45313336499999 meters Centerline goodness : 0.171835 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99536140e-01 -1.75465528e-03 -3.04043857e-02 -1.78750212e+00] [ 1.52511642e-03 9.99970176e-01 -7.57107779e-03 1.97646041e-02] [ 3.04167636e-02 7.52119564e-03 9.99509006e-01 -3.20739336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.483133365 meters Centerline goodness : 0.436725 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99535540e-01 -1.74576808e-03 -3.04245918e-02 -1.78764563e+00] [ 1.51702876e-03 9.99970425e-01 -7.53969994e-03 1.95671507e-02] [ 3.04368546e-02 7.49004308e-03 9.99508628e-01 -3.20489340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.513133365 meters Centerline goodness : 0.437954 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99536642e-01 -1.67493547e-03 -3.03923609e-02 -1.78796977e+00] [ 1.45035821e-03 9.99971495e-01 -7.40980775e-03 1.89908332e-02] [ 3.04039055e-02 7.36229455e-03 9.99510580e-01 -3.20167495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.543133365 meters Centerline goodness : 0.113786 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99551488e-01 -1.57286510e-03 -2.99056813e-02 -1.78948284e+00] [ 1.36271797e-03 9.99974248e-01 -7.04607991e-03 1.69368282e-02] [ 2.99159937e-02 7.00216664e-03 9.99527890e-01 -3.19585525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.573133365 meters Centerline goodness : 0.440466 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99557847e-01 -1.46367018e-03 -2.96979386e-02 -1.79023969e+00] [ 1.26337269e-03 9.99976338e-01 -6.76213458e-03 1.54327632e-02] [ 2.97071335e-02 6.72162512e-03 9.99536045e-01 -3.19179595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.603133365 meters Centerline goodness : 0.183619 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99562822e-01 -1.37435926e-03 -2.95343123e-02 -1.79067549e+00] [ 1.18262618e-03 9.99978121e-01 -6.50836315e-03 1.40527267e-02] [ 2.95426109e-02 6.47058979e-03 9.99542578e-01 -3.19082135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.633133365 meters Centerline goodness : 0.437115 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99564933e-01 -1.25037673e-03 -2.94683078e-02 -1.79096674e+00] [ 1.06711928e-03 9.99980001e-01 -6.23370413e-03 1.27606827e-02] [ 2.94755129e-02 6.19954585e-03 9.99546277e-01 -3.18876976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.663133365 meters Centerline goodness : 0.089782 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99566261e-01 -1.14488625e-03 -2.94275281e-02 -1.79128549e+00] [ 9.67900052e-04 9.99981364e-01 -6.02784829e-03 1.18188553e-02] [ 2.94338808e-02 5.99675087e-03 9.99548741e-01 -3.18586001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.693133365 meters Centerline goodness : 0.091256 Centerline is valid? [False, False] Translation: X:-1.81, Y:0.01, Z:-0.32 [[ 0.99956663 0.00719457 -0.0285446 -1.81269584] [-0.00738769 0.99995049 -0.00666593 0.00616706] [ 0.02849523 0.00687392 0.99957029 -0.3199819 ] [ 0. 0. 0. 1. ]] SLAMing on 192.723133365 meters Centerline goodness : 0.210882 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.01, Z:-0.32 [[ 9.99580117e-01 1.78581751e-04 -2.89751189e-02 -1.79457180e+00] [-3.46267843e-04 9.99983222e-01 -5.78232986e-03 1.29796910e-02] [ 2.89736001e-02 5.78993511e-03 9.99563408e-01 -3.18247355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.753133365 meters Centerline goodness : 0.091698 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99574805e-01 1.88753705e-04 -2.91577362e-02 -1.79387405e+00] [-3.67613567e-04 9.99981150e-01 -6.12897763e-03 1.52569540e-02] [ 2.91560297e-02 6.13709040e-03 9.99556032e-01 -3.18760095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.783133365 meters Centerline goodness : 0.091698 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 9.99574805e-01 1.88753705e-04 -2.91577362e-02 -1.79387405e+00] [-3.67613567e-04 9.99981150e-01 -6.12897763e-03 1.52569540e-02] [ 2.91560297e-02 6.13709040e-03 9.99556032e-01 -3.18760095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.813133365 meters Centerline goodness : 0.436238 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 0.99955799 0.00394158 -0.02946688 -1.7927409 ] [-0.0040403 0.99998642 -0.0032914 0.02085723] [ 0.02945351 0.003409 0.99956034 -0.31951851] [ 0. 0. 0. 1. ]] SLAMing on 192.843133365 meters Centerline goodness : 0.092219 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.02, Z:-0.32 [[ 0.99955754 0.00397776 -0.02947723 -1.79272308] [-0.00409077 0.99998451 -0.00377449 0.02446655] [ 0.02946176 0.00389341 0.99955833 -0.31966365] [ 0. 0. 0. 1. ]] SLAMing on 192.873133365 meters Centerline goodness : 0.437251 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.03, Z:-0.32 [[ 0.99956296 0.00385518 -0.02930931 -1.79319789] [-0.00398503 0.9999825 -0.00437302 0.02803552] [ 0.02929194 0.00448791 0.99956082 -0.31968615] [ 0. 0. 0. 1. ]] SLAMing on 192.903133365 meters Centerline goodness : 0.436951 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.03, Z:-0.32 [[ 0.99956716 0.00361033 -0.02919692 -1.79355938] [-0.00375756 0.99998049 -0.00498949 0.03115336] [ 0.02917833 0.00509704 0.99956123 -0.31963385] [ 0. 0. 0. 1. ]] SLAMing on 192.933133365 meters Centerline goodness : 0.435504 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.03, Z:-0.32 [[ 0.99956881 0.00336957 -0.02916907 -1.79387058] [-0.0035313 0.99997867 -0.00549471 0.03340163] [ 0.02914993 0.00559535 0.99955939 -0.31934166] [ 0. 0. 0. 1. ]] SLAMing on 192.96313336499998 meters Centerline goodness : 0.208461 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.04, Z:-0.32 [[ 0.99956567 0.00302048 -0.02931467 -1.79397769] [-0.00319669 0.99997709 -0.00596598 0.03550641] [ 0.02929598 0.00605709 0.99955243 -0.31870976] [ 0. 0. 0. 1. ]] SLAMing on 192.99313336499998 meters Centerline goodness : 0.096590 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.04, Z:-0.32 [[ 0.99953582 -0.00550772 -0.02996351 -1.81532715] [ 0.00536597 0.99997404 -0.00480908 0.03729978] [ 0.02998922 0.00464606 0.99953942 -0.31993277] [ 0. 0. 0. 1. ]] SLAMing on 193.02313336499998 meters Centerline goodness : 0.428188 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.04, Z:-0.32 [[ 0.99953852 -0.00560549 -0.02985496 -1.81563812] [ 0.00546996 0.99997437 -0.00461916 0.03579505] [ 0.02988009 0.00445372 0.99954357 -0.31976217] [ 0. 0. 0. 1. ]] SLAMing on 193.05313336499998 meters Centerline goodness : 0.093028 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.03, Z:-0.32 [[ 0.99954177 -0.0058167 -0.02970545 -1.81590858] [ 0.0056855 0.99997372 -0.00449922 0.03402596] [ 0.02973084 0.00432827 0.99954857 -0.31971132] [ 0. 0. 0. 1. ]] SLAMing on 193.08313336499998 meters Centerline goodness : 0.196328 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.03, Z:-0.32 [[ 0.99946658 -0.00718309 -0.03185857 -1.86079837] [ 0.00701682 0.99996119 -0.00532762 0.02896498] [ 0.0318956 0.00510123 0.99947819 -0.32068951] [ 0. 0. 0. 1. ]] SLAMing on 193.11313336499998 meters Centerline goodness : 0.134745 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99494847e-01 -9.47025883e-04 -3.17671968e-02 -1.83797809e+00] [ 7.02317588e-04 9.99970004e-01 -7.71344945e-03 2.72847930e-02] [ 3.17735487e-02 7.68724231e-03 9.99465531e-01 -3.20418781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14313336499998 meters Centerline goodness : 0.094372 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99461669e-01 -5.59005279e-04 -3.28033490e-02 -1.83451825e+00] [ 3.17855281e-04 9.99972893e-01 -7.35613782e-03 2.73316958e-02] [ 3.28065719e-02 7.34175106e-03 9.99434754e-01 -3.21860199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 193.20313336499999 meters Centerline goodness : 0.090114 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99439623e-01 -3.41642005e-04 -3.34712217e-02 -1.83229173e+00] [ 8.90338815e-05 9.99971508e-01 -7.54822409e-03 2.92256688e-02] [ 3.34728469e-02 7.54101417e-03 9.99411177e-01 -3.22948847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.233133365 meters Centerline goodness : 0.340023 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99447950e-01 -3.79262165e-04 -3.32212378e-02 -1.83301435e+00] [ 1.21365879e-04 9.99969847e-01 -7.76466705e-03 3.03489722e-02] [ 3.32231809e-02 7.75634864e-03 9.99417860e-01 -3.22850257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.263133365 meters Centerline goodness : 0.099209 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99457912e-01 -3.88984092e-04 -3.29200760e-02 -1.83398649e+00] [ 1.25789890e-04 9.99968018e-01 -7.99663859e-03 3.18399694e-02] [ 3.29221338e-02 7.98816270e-03 9.99425996e-01 -3.22584336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.293133365 meters Centerline goodness : 0.437244 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99462187e-01 -3.91440848e-04 -3.27899993e-02 -1.83445722e+00] [ 1.23297520e-04 9.99966542e-01 -8.17921770e-03 3.31861300e-02] [ 3.27921039e-02 8.17077589e-03 9.99428795e-01 -3.22446214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.323133365 meters Centerline goodness : 0.295967 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99460594e-01 -4.60479088e-04 -3.28376153e-02 -1.83410979e+00] [ 1.82073918e-04 9.99964021e-01 -8.48072588e-03 3.49937376e-02] [ 3.28403391e-02 8.47017246e-03 9.99424719e-01 -3.22891259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.353133365 meters Centerline goodness : 0.096282 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.04, Z:-0.32 [[ 9.99459536e-01 -5.46282057e-04 -3.28684816e-02 -1.83406700e+00] [ 2.64203797e-04 9.99963107e-01 -8.58576011e-03 3.52966522e-02] [ 3.28719592e-02 8.57243584e-03 9.99422807e-01 -3.22865522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.383133365 meters Centerline goodness : 0.438239 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99460624e-01 -5.56438328e-04 -3.28352106e-02 -1.83435859e+00] [ 2.77218573e-04 9.99963771e-01 -8.50760861e-03 3.46469774e-02] [ 3.28387550e-02 8.49391728e-03 9.99424569e-01 -3.22564267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.413133365 meters Centerline goodness : 0.089734 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.03, Z:-0.32 [[ 9.99463212e-01 -5.23226026e-04 -3.27568949e-02 -1.83486186e+00] [ 2.50061411e-04 9.99965168e-01 -8.34269004e-03 3.37516639e-02] [ 3.27601190e-02 8.33002055e-03 9.99428529e-01 -3.22074501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.443133365 meters Centerline goodness : 0.098487 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99470601e-01 -4.73440396e-04 -3.25314156e-02 -1.83557970e+00] [ 2.10110467e-04 9.99967192e-01 -8.09757655e-03 3.24214773e-02] [ 3.25341820e-02 8.08645451e-03 9.99437910e-01 -3.21764099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.473133365 meters Centerline goodness : 0.095463 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99485834e-01 -5.34201802e-04 -3.20590416e-02 -1.83677486e+00] [ 2.89931604e-04 9.99970898e-01 -7.62355056e-03 2.86586962e-02] [ 3.20621812e-02 7.61033586e-03 9.99456902e-01 -3.21476098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.503133365 meters Centerline goodness : 0.242278 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99485120e-01 -4.92564308e-04 -3.20819724e-02 -1.83652400e+00] [ 2.57263769e-04 9.99973043e-01 -7.33806882e-03 2.66196494e-02] [ 3.20847220e-02 7.32603706e-03 9.99458303e-01 -3.21724493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.533133365 meters Centerline goodness : 0.242278 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.03, Z:-0.32 [[ 9.99485120e-01 -4.92564308e-04 -3.20819724e-02 -1.83652400e+00] [ 2.57263769e-04 9.99973043e-01 -7.33806882e-03 2.66196494e-02] [ 3.20847220e-02 7.32603706e-03 9.99458303e-01 -3.21724493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.563133365 meters Centerline goodness : 0.089950 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.02, Z:-0.32 [[ 9.99476308e-01 -3.22669422e-04 -3.23574560e-02 -1.83551620e+00] [ 9.92522293e-05 9.99976148e-01 -6.90602729e-03 2.43073460e-02] [ 3.23589126e-02 6.89919911e-03 9.99452501e-01 -3.22254990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.593133365 meters Centerline goodness : 0.263219 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.02, Z:-0.32 [[ 9.99467562e-01 -9.97528867e-05 -3.26279397e-02 -1.83456324e+00] [-1.09263788e-04 9.99979487e-01 -6.40421841e-03 2.19114608e-02] [ 3.26279092e-02 6.40437361e-03 9.99447049e-01 -3.22722558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.623133365 meters Centerline goodness : 0.435229 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.02, Z:-0.32 [[ 9.99461705e-01 1.28305778e-04 -3.28067693e-02 -1.83390185e+00] [-3.22634063e-04 9.99982435e-01 -5.91819524e-03 1.96279339e-02] [ 3.28054337e-02 5.92559409e-03 9.99444191e-01 -3.23052214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.653133365 meters Centerline goodness : 0.435063 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.02, Z:-0.32 [[ 9.99459977e-01 2.95535780e-04 -3.28582870e-02 -1.83359210e+00] [-4.77770576e-04 9.99984549e-01 -5.53837014e-03 1.75713762e-02] [ 3.28561425e-02 5.55107802e-03 9.99444676e-01 -3.23322235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.683133365 meters Centerline goodness : 0.442273 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.01, Z:-0.32 [[ 9.99466447e-01 6.45381961e-04 -3.26558661e-02 -1.83401931e+00] [-8.00080997e-04 9.99988520e-01 -4.72440565e-03 1.29600333e-02] [ 3.26524422e-02 4.74801227e-03 9.99455489e-01 -3.23379568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71313336499998 meters Centerline goodness : 0.208486 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.01, Z:-0.32 [[ 9.99408632e-01 4.45390303e-04 -3.43829606e-02 -1.88053866e+00] [-5.94136707e-04 9.99990509e-01 -4.31607038e-03 6.29621145e-03] [ 3.43807120e-02 4.33394618e-03 9.99399411e-01 -3.23795700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74313336499998 meters Centerline goodness : 0.275404 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.00, Z:-0.32 [[ 9.99414365e-01 6.37567436e-04 -3.42128671e-02 -1.88101035e+00] [-7.66330102e-04 9.99992673e-01 -3.75059323e-03 3.09988624e-03] [ 3.42102252e-02 3.77461510e-03 9.99407531e-01 -3.23659546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77313336499998 meters Centerline goodness : 0.440837 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.00, Z:-0.32 [[ 9.99416920e-01 7.82076645e-04 -3.41351364e-02 -1.88109141e+00] [-8.93451919e-04 9.99994327e-01 -3.24764359e-03 2.97595046e-05] [ 3.41324029e-02 3.27624806e-03 9.99411950e-01 -3.23774741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80313336499998 meters Centerline goodness : 0.435806 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.00, Z:-0.32 [[ 9.99409795e-01 8.52569308e-04 -3.43414311e-02 -1.88024169e+00] [-9.51813460e-04 9.99995418e-01 -2.87368030e-03 -2.62945233e-03] [ 3.43388237e-02 2.90467088e-03 9.99406028e-01 -3.24248260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83313336499998 meters Centerline goodness : 0.110242 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.32 [[ 9.99401928e-01 9.38734543e-04 -3.45673971e-02 -1.87935854e+00] [-1.02640191e-03 9.99996302e-01 -2.51847079e-03 -5.01589493e-03] [ 3.45649051e-02 2.55244461e-03 9.99399196e-01 -3.24780658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86313336499998 meters Centerline goodness : 0.260515 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99395437e-01 9.97775408e-04 -3.47528986e-02 -1.87864566e+00] [-1.07670905e-03 9.99996883e-01 -2.25264115e-03 -6.81907771e-03] [ 3.47505426e-02 2.28869805e-03 9.99393397e-01 -3.25186191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89313336499998 meters Centerline goodness : 0.111526 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99393376e-01 1.09852055e-03 -3.48091095e-02 -1.87834759e+00] [-1.16639495e-03 9.99997458e-01 -1.92965682e-03 -8.68584833e-03] [ 3.48069013e-02 1.96908741e-03 9.99392116e-01 -3.25422866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92313336499998 meters Centerline goodness : 0.093489 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99396392e-01 1.22387943e-03 -3.47182174e-02 -1.87855380e+00] [-1.28013185e-03 9.99997904e-01 -1.59807410e-03 -1.03214375e-02] [ 3.47161888e-02 1.64155338e-03 9.99395863e-01 -3.25430381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95313336499999 meters Centerline goodness : 0.115133 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.01, Z:-0.33 [[ 9.99392870e-01 1.41658678e-03 -3.48121247e-02 -1.87827409e+00] [-1.45009912e-03 9.99998509e-01 -9.37433340e-04 -1.36857943e-02] [ 3.48107448e-02 9.87345228e-04 9.99393435e-01 -3.25456496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.013133365 meters Centerline goodness : 0.118933 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:-0.33 [[ 9.99362323e-01 1.05200118e-03 -3.56909080e-02 -1.87555880e+00] [-1.08476589e-03 9.99999008e-01 -8.98660749e-04 -1.60803239e-02] [ 3.56899272e-02 9.36803973e-04 9.99362473e-01 -3.26352016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 194.073133365 meters Centerline goodness : 0.106661 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.02, Z:-0.33 [[ 9.99381635e-01 6.54687748e-04 -3.51556495e-02 -1.87718379e+00] [-6.81442048e-04 9.99999487e-01 -7.49047597e-04 -1.87483699e-02] [ 3.51551411e-02 7.72540950e-04 9.99381568e-01 -3.25759732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.103133365 meters Centerline goodness : 0.115983 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.33 [[ 9.99368035e-01 -8.14778888e-03 -3.45997795e-02 -1.90033299e+00] [ 8.15695139e-03 9.99966724e-01 1.23663195e-04 -1.73042909e-02] [ 3.45976205e-02 -4.05813763e-04 9.99401241e-01 -3.26573715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.133133365 meters Centerline goodness : 0.093330 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.33 [[ 9.99385749e-01 -8.58957279e-03 -3.39756463e-02 -1.90211250e+00] [ 8.60531522e-03 9.99962923e-01 3.17141240e-04 -2.03817090e-02] [ 3.39716625e-02 -6.09317582e-04 9.99422611e-01 -3.25949389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.163133365 meters Centerline goodness : 0.269443 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99392474e-01 -1.99924099e-03 -3.47948990e-02 -1.88326703e+00] [ 1.95174032e-03 9.99997117e-01 -1.39907407e-03 -2.65179714e-02] [ 3.47975958e-02 1.33031349e-03 9.99393495e-01 -3.23568569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.193133365 meters Centerline goodness : 0.346981 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99381170e-01 -2.06234388e-03 -3.51144306e-02 -1.88231117e+00] [ 2.02488706e-03 9.99997342e-01 -1.10223623e-03 -2.88376314e-02] [ 3.51166105e-02 1.03045138e-03 9.99382690e-01 -3.23834178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.223133365 meters Centerline goodness : 0.096112 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99377790e-01 -2.11221033e-03 -3.52075552e-02 -1.88203233e+00] [ 2.08573156e-03 9.99997514e-01 -7.88787363e-04 -3.11569498e-02] [ 3.52091338e-02 7.14863062e-04 9.99379711e-01 -3.23919766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.253133365 meters Centerline goodness : 0.091524 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.32 [[ 9.99378340e-01 -2.11086285e-03 -3.51920011e-02 -1.88218471e+00] [ 2.09760763e-03 9.99997714e-01 -4.13571290e-04 -3.35101477e-02] [ 3.51927937e-02 3.39495179e-04 9.99380484e-01 -3.23718939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.283133365 meters Centerline goodness : 0.440138 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.32 [[ 9.99394460e-01 -2.55127786e-03 -3.47016406e-02 -1.88367052e+00] [ 2.55008340e-03 9.99996745e-01 -7.86804572e-05 -3.78717601e-02] [ 3.47017283e-02 -9.85926432e-06 9.99397714e-01 -3.23161256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.313133365 meters Centerline goodness : 0.323130 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.32 [[ 9.99389868e-01 -2.53422029e-03 -3.48348775e-02 -1.88338623e+00] [ 2.54829030e-03 9.99996688e-01 3.59513587e-04 -4.07546616e-02] [ 3.48338511e-02 -4.48063617e-04 9.99393017e-01 -3.23121471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.343133365 meters Centerline goodness : 0.141881 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:-0.33 [[ 0.99943424 0.00328275 -0.03347267 -1.9043375 ] [-0.00334876 0.99999256 -0.00191614 -0.04909121] [ 0.03346614 0.00202714 0.9994378 -0.32540426] [ 0. 0. 0. 1. ]] SLAMing on 194.373133365 meters Centerline goodness : 0.431524 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.32 [[ 9.99440114e-01 -4.93138085e-03 -3.30928880e-02 -1.88332701e+00] [ 4.90719544e-03 9.99987630e-01 -8.12013573e-04 -4.85146294e-02] [ 3.30964830e-02 6.49165669e-04 9.99451951e-01 -3.24362502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.403133365 meters Centerline goodness : 0.432725 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.32 [[ 9.99441766e-01 -4.85650321e-03 -3.30540715e-02 -1.88333135e+00] [ 4.84992834e-03 9.99988200e-01 -2.79086987e-04 -5.18409521e-02] [ 3.30550369e-02 1.18621313e-04 9.99453526e-01 -3.24518837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.433133365 meters Centerline goodness : 0.428932 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.32 [[ 9.99446660e-01 -4.75563841e-03 -3.29204607e-02 -1.88372930e+00] [ 4.76398608e-03 9.99988637e-01 1.75137459e-04 -5.44825443e-02] [ 3.29192537e-02 -3.31873165e-04 9.99457959e-01 -3.24435722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46313336499998 meters Centerline goodness : 0.221293 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.06, Z:-0.33 [[ 9.99518303e-01 1.46372515e-03 -3.10003180e-02 -1.90560257e+00] [-1.51346886e-03 9.99997605e-01 -1.58121545e-03 -6.49759869e-02] [ 3.09979293e-02 1.62737180e-03 9.99518124e-01 -3.25855943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49313336499998 meters Centerline goodness : 0.121025 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.06, Z:-0.32 [[ 9.99500087e-01 -6.26916148e-03 -3.09882711e-02 -1.88510856e+00] [ 6.25751743e-03 9.99980310e-01 -4.72721191e-04 -6.32434503e-02] [ 3.09906245e-02 2.78575225e-04 9.99519636e-01 -3.24533741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52313336499998 meters Centerline goodness : 0.098944 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.06, Z:-0.33 [[ 9.99487462e-01 -6.08569891e-03 -3.14289347e-02 -1.88360133e+00] [ 6.08423761e-03 9.99981481e-01 -1.42130232e-04 -6.47319412e-02] [ 3.14292176e-02 -4.91637217e-05 9.99505979e-01 -3.25129977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55313336499998 meters Centerline goodness : 0.108646 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.33 [[ 9.99473973e-01 -5.91251769e-03 -3.18876175e-02 -1.88188791e+00] [ 5.91974332e-03 9.99982469e-01 1.32193429e-04 -6.58901981e-02] [ 3.18862769e-02 -3.20890402e-04 9.99491452e-01 -3.25978752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58313336499998 meters Centerline goodness : 0.099835 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.07, Z:-0.33 [[ 9.99420665e-01 2.60776140e-03 -3.39342601e-02 -1.85999080e+00] [-2.59677774e-03 9.99996561e-01 3.67743330e-04 -7.34198598e-02] [ 3.39351024e-02 -2.79410552e-04 9.99423999e-01 -3.25142641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61313336499998 meters Centerline goodness : 0.110249 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.07, Z:-0.33 [[ 9.99425497e-01 2.74446809e-03 -3.37808111e-02 -1.86033165e+00] [-2.72665259e-03 9.99996118e-01 5.73441430e-04 -7.44074433e-02] [ 3.37822537e-02 -4.81003450e-04 9.99429101e-01 -3.25152663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64313336499998 meters Centerline goodness : 0.100433 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.08, Z:-0.32 [[ 9.99434081e-01 2.85747825e-03 -3.35164555e-02 -1.86126825e+00] [-2.83479209e-03 9.99995720e-01 7.24366094e-04 -7.52373528e-02] [ 3.35183819e-02 -6.28943979e-04 9.99437903e-01 -3.24620174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67313336499998 meters Centerline goodness : 0.122999 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 0.99947323 -0.00453392 -0.03213589 -1.84267009] [ 0.0045971 0.99998764 0.00189251 -0.07226663] [ 0.03212691 -0.00203925 0.99948172 -0.32287728] [ 0. 0. 0. 1. ]] SLAMing on 194.70313336499999 meters Centerline goodness : 0.102862 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99473069e-01 -4.49780936e-03 -3.21458221e-02 -1.84295026e+00] [ 4.55844992e-03 9.99987966e-01 1.81338322e-03 -7.19031781e-02] [ 3.21372790e-02 -1.95896281e-03 9.99481544e-01 -3.22333062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.733133365 meters Centerline goodness : 0.098394 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:-0.32 [[ 9.99496355e-01 4.01646980e-03 -3.14786375e-02 -1.82309824e+00] [-3.99895621e-03 9.99991812e-01 6.19301430e-04 -7.49062765e-02] [ 3.14808671e-02 -4.93107829e-04 9.99504233e-01 -3.20646240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.763133365 meters Centerline goodness : 0.106540 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:-0.32 [[ 0.9994783 0.00801454 -0.03128738 -1.82359917] [-0.00788236 0.99995949 0.00434554 -0.07452193] [ 0.03132094 -0.00409666 0.99950098 -0.32036871] [ 0. 0. 0. 1. ]] SLAMing on 194.793133365 meters Centerline goodness : 0.112862 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99524975e-01 -5.31079674e-05 -3.08191766e-02 -1.84308338e+00] [ 2.17187001e-04 9.99985822e-01 5.32060344e-03 -6.91848203e-02] [ 3.08184571e-02 -5.32476955e-03 9.99510815e-01 -3.22258983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.823133365 meters Centerline goodness : 0.120523 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99524455e-01 -3.19981208e-05 -3.08360696e-02 -1.84288780e+00] [ 1.92846203e-04 9.99986392e-01 5.21327176e-03 -6.85545040e-02] [ 3.08354832e-02 -5.21673924e-03 9.99510860e-01 -3.22516777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.853133365 meters Centerline goodness : 0.103944 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99517401e-01 -2.09692476e-05 -3.10638805e-02 -1.84213893e+00] [ 1.82067796e-04 9.99986550e-01 5.18322125e-03 -6.84903657e-02] [ 3.10633540e-02 -5.18637556e-03 9.99503962e-01 -3.22856500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.883133365 meters Centerline goodness : 0.123687 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99510871e-01 3.18071192e-05 -3.12732715e-02 -1.84141176e+00] [ 1.32710817e-04 9.99986165e-01 5.25856667e-03 -6.87239933e-02] [ 3.12730061e-02 -5.26014486e-03 9.99497038e-01 -3.23228707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.913133365 meters Centerline goodness : 0.094881 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.07, Z:-0.32 [[ 0.99943423 0.00815645 -0.03262953 -1.82014482] [-0.00801358 0.99995773 0.00450699 -0.07398693] [ 0.03266492 -0.00424296 0.99945735 -0.32180155] [ 0. 0. 0. 1. ]] SLAMing on 194.943133365 meters Centerline goodness : 0.138033 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99451067e-01 -7.18998218e-04 -3.31217235e-02 -1.84059004e+00] [ 8.97995190e-04 9.99985072e-01 5.38965809e-03 -7.14608024e-02] [ 3.31173540e-02 -5.41644267e-03 9.99436793e-01 -3.23256346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.973133365 meters Centerline goodness : 0.101238 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99451659e-01 -6.65176755e-04 -3.31049725e-02 -1.84079036e+00] [ 8.49024738e-04 9.99984295e-01 5.53973800e-03 -7.23349972e-02] [ 3.31007677e-02 -5.56480728e-03 9.99436527e-01 -3.23013675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.003133365 meters Centerline goodness : 0.119985 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.07, Z:-0.32 [[ 9.99452683e-01 -6.17619476e-04 -3.30749687e-02 -1.84089062e+00] [ 8.03595395e-04 9.99983942e-01 5.60986217e-03 -7.26432595e-02] [ 3.30709728e-02 -5.63337069e-03 9.99437130e-01 -3.22972613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.033133365 meters Centerline goodness : 0.100632 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99942614 0.00790655 -0.03293748 -1.82084691] [-0.00776019 0.99995945 0.00456897 -0.0756133 ] [ 0.03297227 -0.00431074 0.99944697 -0.32139873] [ 0. 0. 0. 1. ]] SLAMing on 195.063133365 meters Centerline goodness : 0.100561 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99942396 0.00794404 -0.0329945 -1.82049349] [-0.00779706 0.99995911 0.00458082 -0.07558224] [ 0.03302954 -0.00432093 0.99944504 -0.32174599] [ 0. 0. 0. 1. ]] SLAMing on 195.093133365 meters Centerline goodness : 0.104705 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99941916 0.00796213 -0.03313528 -1.81984037] [-0.00781478 0.999959 0.00457394 -0.07572999] [ 0.03317034 -0.00431234 0.99944041 -0.3221483 ] [ 0. 0. 0. 1. ]] SLAMing on 195.123133365 meters Centerline goodness : 0.104286 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99941668 0.00795561 -0.03321167 -1.81969939] [-0.00780666 0.99995889 0.00461219 -0.07620077] [ 0.033247 -0.00435023 0.9994377 -0.32210479] [ 0. 0. 0. 1. ]] SLAMing on 195.153133365 meters Centerline goodness : 0.104286 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99941668 0.00795561 -0.03321167 -1.81969939] [-0.00780666 0.99995889 0.00461219 -0.07620077] [ 0.033247 -0.00435023 0.9994377 -0.32210479] [ 0. 0. 0. 1. ]] SLAMing on 195.183133365 meters Centerline goodness : 0.148831 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99942128 0.00814204 -0.03302739 -1.82055542] [-0.00798136 0.99995568 0.00499423 -0.07798073] [ 0.03306659 -0.00472774 0.99944197 -0.32151883] [ 0. 0. 0. 1. ]] SLAMing on 195.21313336499998 meters Centerline goodness : 0.100984 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:-0.32 [[ 9.99466895e-01 -7.56755365e-04 -3.26397556e-02 -1.84183625e+00] [ 9.50105810e-04 9.99982092e-01 5.90866833e-03 -7.63059971e-02] [ 3.26346997e-02 -5.93652961e-03 9.99449716e-01 -3.22907310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24313336499998 meters Centerline goodness : 0.200061 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.08, Z:-0.32 [[ 9.99470815e-01 -7.21928290e-04 -3.25202676e-02 -1.84225433e+00] [ 9.20966091e-04 9.99980935e-01 6.10586008e-03 -7.77004838e-02] [ 3.25152396e-02 -6.13257902e-03 9.99452425e-01 -3.22685312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27313336499998 meters Centerline goodness : 0.104674 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99946885 0.00733165 -0.03175319 -1.82319598] [-0.00718492 0.99996299 0.00473265 -0.08187507] [ 0.03178671 -0.00450199 0.99948454 -0.32079151] [ 0. 0. 0. 1. ]] SLAMing on 195.30313336499998 meters Centerline goodness : 0.118974 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99946481 0.00740086 -0.03186397 -1.82298577] [-0.00724757 0.99996161 0.00492367 -0.08294885] [ 0.03189919 -0.00469009 0.99948009 -0.32072605] [ 0. 0. 0. 1. ]] SLAMing on 195.33313336499998 meters Centerline goodness : 0.110412 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945596 0.00751524 -0.03211405 -1.8221017 ] [-0.00735571 0.99996003 0.00508266 -0.08376522] [ 0.03215096 -0.00484367 0.99947129 -0.32114834] [ 0. 0. 0. 1. ]] SLAMing on 195.36313336499998 meters Centerline goodness : 0.107639 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945122 0.00749395 -0.03226601 -1.82164846] [-0.00733629 0.99996058 0.00500188 -0.08357915] [ 0.03230222 -0.00476242 0.9994668 -0.32128625] [ 0. 0. 0. 1. ]] SLAMing on 195.39313336499998 meters Centerline goodness : 0.129748 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945381 0.00744082 -0.03219805 -1.82190038] [-0.00728672 0.99996144 0.00490053 -0.08331117] [ 0.03223328 -0.00466323 0.99946949 -0.3212114 ] [ 0. 0. 0. 1. ]] SLAMing on 195.42313336499998 meters Centerline goodness : 0.105150 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945734 0.00744559 -0.03208713 -1.82230249] [-0.00729466 0.99996179 0.0048183 -0.08268949] [ 0.03212178 -0.00458162 0.99947346 -0.32106292] [ 0. 0. 0. 1. ]] SLAMing on 195.45313336499999 meters Centerline goodness : 0.105150 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99945734 0.00744559 -0.03208713 -1.82230249] [-0.00729466 0.99996179 0.0048183 -0.08268949] [ 0.03212178 -0.00458162 0.99947346 -0.32106292] [ 0. 0. 0. 1. ]] SLAMing on 195.483133365 meters Centerline goodness : 0.114782 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.9994634 0.00739996 -0.0319084 -1.82275478] [-0.0072544 0.99996276 0.00467525 -0.08190988] [ 0.03194181 -0.00444126 0.99947986 -0.32105873] [ 0. 0. 0. 1. ]] SLAMing on 195.513133365 meters Centerline goodness : 0.116195 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99947593 0.00730928 -0.03153472 -1.82417311] [-0.00717337 0.9999645 0.00442083 -0.08056164] [ 0.03156592 -0.0041923 0.99949288 -0.32033657] [ 0. 0. 0. 1. ]] SLAMing on 195.543133365 meters Centerline goodness : 0.112833 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99948027 0.00725839 -0.0314087 -1.82477647] [-0.00712589 0.99996524 0.00432856 -0.08016236] [ 0.03143903 -0.0041025 0.99949725 -0.31996478] [ 0. 0. 0. 1. ]] SLAMing on 195.573133365 meters Centerline goodness : 0.118808 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.99948493 0.00718852 -0.03127626 -1.82526383] [-0.00705878 0.99996603 0.00425683 -0.07992656] [ 0.0313058 -0.00403386 0.99950171 -0.31972314] [ 0. 0. 0. 1. ]] SLAMing on 195.603133365 meters Centerline goodness : 0.117998 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.99948713 0.0071639 -0.03121161 -1.82545897] [-0.00703326 0.99996605 0.00429315 -0.08020297] [ 0.0312413 -0.00407142 0.99950358 -0.31967684] [ 0. 0. 0. 1. ]] SLAMing on 195.633133365 meters Centerline goodness : 0.116089 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.9994928 0.00688315 -0.03109296 -1.82594932] [-0.00675589 0.99996838 0.00419601 -0.08079459] [ 0.03112086 -0.00398382 0.99950769 -0.31931892] [ 0. 0. 0. 1. ]] SLAMing on 195.663133365 meters Centerline goodness : 0.121744 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.08, Z:-0.32 [[ 0.99948759 0.00679441 -0.03127932 -1.82549462] [-0.0066679 0.99996917 0.00414726 -0.08103878] [ 0.03130654 -0.00393657 0.99950208 -0.31934207] [ 0. 0. 0. 1. ]] SLAMing on 195.693133365 meters Centerline goodness : 0.118991 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.08, Z:-0.32 [[ 0.99947975 0.00673414 -0.03154166 -1.82487495] [-0.00660778 0.99996973 0.00410883 -0.08103983] [ 0.03156838 -0.00389828 0.99949399 -0.31934793] [ 0. 0. 0. 1. ]] SLAMing on 195.723133365 meters Centerline goodness : 0.102278 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99466406e-01 -4.40925073e-04 -3.26605166e-02 -1.80566581e+00] [ 6.09712905e-04 9.99986511e-01 5.15816828e-03 -7.55841944e-02] [ 3.26578017e-02 -5.17532945e-03 9.99453192e-01 -3.16931414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.753133365 meters Centerline goodness : 0.103915 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99466303e-01 -4.16183968e-04 -3.26639839e-02 -1.80551401e+00] [ 5.85478206e-04 9.99986446e-01 5.17350889e-03 -7.54882207e-02] [ 3.26613880e-02 -5.18987185e-03 9.99453000e-01 -3.17164123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.783133365 meters Centerline goodness : 0.123168 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99469272e-01 -4.12229963e-04 -3.25730488e-02 -1.80582875e+00] [ 5.81827275e-04 9.99986324e-01 5.19736911e-03 -7.56975419e-02] [ 3.25704609e-02 -5.21356262e-03 9.99455844e-01 -3.17028077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.813133365 meters Centerline goodness : 0.113309 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.08, Z:-0.32 [[ 9.99482600e-01 -3.77937557e-04 -3.21619114e-02 -1.80723486e+00] [ 5.54181824e-04 9.99984879e-01 5.47116887e-03 -7.77148262e-02] [ 3.21593573e-02 -5.48616163e-03 9.99467697e-01 -3.16318229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.843133365 meters Centerline goodness : 0.106580 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.08, Z:-0.32 [[ 0.99950108 0.00651016 -0.0309065 -1.78592192] [-0.00641623 0.99997449 0.0031373 -0.08034845] [ 0.03092613 -0.00293743 0.99951736 -0.31618213] [ 0. 0. 0. 1. ]] SLAMing on 195.873133365 meters Centerline goodness : 0.107119 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.08, Z:-0.32 [[ 0.99949414 0.00657254 -0.03111697 -1.78509882] [-0.00647124 0.99997343 0.00335502 -0.08173886] [ 0.0311382 -0.00315196 0.99951012 -0.31665099] [ 0. 0. 0. 1. ]] SLAMing on 195.903133365 meters Centerline goodness : 0.113252 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99948329 0.00656865 -0.03146427 -1.78372741] [-0.00646188 0.99997302 0.00349399 -0.08297057] [ 0.03148637 -0.00328887 0.99949877 -0.31745947] [ 0. 0. 0. 1. ]] SLAMing on 195.933133365 meters Centerline goodness : 0.165004 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99947393 0.00657878 -0.03175832 -1.7824236 ] [-0.00646966 0.99997281 0.00353738 -0.08352436] [ 0.03178073 -0.00333006 0.99948932 -0.31825682] [ 0. 0. 0. 1. ]] SLAMing on 195.96313336499998 meters Centerline goodness : 0.159802 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99946872 0.00656627 -0.03192445 -1.78175128] [-0.00645796 0.99997304 0.00349451 -0.08361124] [ 0.03194653 -0.00328649 0.99948418 -0.31867542] [ 0. 0. 0. 1. ]] SLAMing on 195.99313336499998 meters Centerline goodness : 0.121282 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99946841 0.0071016 -0.03181913 -1.78187029] [-0.00698648 0.99996865 0.00372767 -0.08298953] [ 0.03184461 -0.00350338 0.99948669 -0.3189725 ] [ 0. 0. 0. 1. ]] SLAMing on 196.02313336499998 meters Centerline goodness : 0.119244 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99946577 0.00723218 -0.0318728 -1.78149232] [-0.00712121 0.99996819 0.00359382 -0.0816526 ] [ 0.03189778 -0.00336493 0.99948547 -0.31944094] [ 0. 0. 0. 1. ]] SLAMing on 196.05313336499998 meters Centerline goodness : 0.121113 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99945389 0.00729572 -0.03222881 -1.78025613] [-0.00719124 0.99996851 0.00335675 -0.079949 ] [ 0.03225228 -0.00312316 0.99947488 -0.3201265 ] [ 0. 0. 0. 1. ]] SLAMing on 196.08313336499998 meters Centerline goodness : 0.156151 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99944645 0.00726699 -0.0324652 -1.7793431 ] [-0.00717178 0.99996964 0.00304828 -0.07815703] [ 0.03248637 -0.00281376 0.99946822 -0.32072592] [ 0. 0. 0. 1. ]] SLAMing on 196.11313336499998 meters Centerline goodness : 0.122014 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.999447 0.00719226 -0.03246485 -1.77904192] [-0.00710659 0.99997096 0.00275359 -0.07657676] [ 0.03248371 -0.00252136 0.99946908 -0.32126893] [ 0. 0. 0. 1. ]] SLAMing on 196.14313336499998 meters Centerline goodness : 0.125721 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.08, Z:-0.32 [[ 0.99944863 0.00709372 -0.03243639 -1.77910731] [-0.00701727 0.99997233 0.00247002 -0.07509134] [ 0.03245301 -0.00224104 0.99947075 -0.32134075] [ 0. 0. 0. 1. ]] SLAMing on 196.17313336499998 meters Centerline goodness : 0.122094 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945336 0.0069061 -0.03233079 -1.77967093] [-0.00684137 0.99997437 0.00211234 -0.0734933 ] [ 0.03234455 -0.00189 0.99947499 -0.32096883] [ 0. 0. 0. 1. ]] SLAMing on 196.20313336499999 meters Centerline goodness : 0.119149 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945432 0.0068572 -0.03231178 -1.77995531] [-0.00679334 0.99997475 0.00208559 -0.07335677] [ 0.03232526 -0.00186494 0.99947566 -0.32060997] [ 0. 0. 0. 1. ]] SLAMing on 196.233133365 meters Centerline goodness : 0.128822 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945374 0.00679743 -0.03234229 -1.78013729] [-0.00673273 0.99997511 0.00210872 -0.0736408 ] [ 0.03235582 -0.00188982 0.99947463 -0.32023189] [ 0. 0. 0. 1. ]] SLAMing on 196.263133365 meters Centerline goodness : 0.108348 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.07, Z:-0.32 [[ 0.99945168 0.00670662 -0.03242482 -1.78013058] [-0.00664018 0.99997563 0.00215627 -0.07433289] [ 0.03243849 -0.00193979 0.99947185 -0.31993324] [ 0. 0. 0. 1. ]] SLAMing on 196.293133365 meters Centerline goodness : 0.109756 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99484906e-01 -1.60083894e-03 -3.20524473e-02 -1.75906645e+00] [ 1.68439345e-03 9.99995253e-01 2.57997438e-03 -7.05960279e-02] [ 3.20481650e-02 -2.63263438e-03 9.99482858e-01 -3.18821997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.323133365 meters Centerline goodness : 0.113513 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99484944e-01 -1.73448841e-03 -3.20443307e-02 -1.75905859e+00] [ 1.81924113e-03 9.99994924e-01 2.61589216e-03 -7.15473607e-02] [ 3.20396308e-02 -2.67284119e-03 9.99483025e-01 -3.18793731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.353133365 meters Centerline goodness : 0.113697 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99948409 -0.00197012 -0.03205747 -1.75916679] [ 0.00205425 0.99999453 0.00259145 -0.07240439] [ 0.03205219 -0.00265597 0.99948267 -0.31852931] [ 0. 0. 0. 1. ]] SLAMing on 196.383133365 meters Centerline goodness : 0.126265 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99488680e-01 6.03292300e-03 -3.14003661e-02 -1.74030012e+00] [-5.99671939e-03 9.99981242e-01 1.24701383e-03 -7.54788381e-02] [ 3.14073003e-02 -1.05807702e-03 9.99506109e-01 -3.16772037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.413133365 meters Centerline goodness : 0.102933 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99490587e-01 6.08285370e-03 -3.13299423e-02 -1.74054373e+00] [-6.04373549e-03 9.99980834e-01 1.34313633e-03 -7.58162361e-02] [ 3.13375120e-02 -1.15310224e-03 9.99508194e-01 -3.16658217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.443133365 meters Centerline goodness : 0.113448 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99491729e-01 6.09330651e-03 -3.12914634e-02 -1.74062339e+00] [-6.05316585e-03 9.99980731e-01 1.37736904e-03 -7.60206591e-02] [ 3.12992531e-02 -1.18725655e-03 9.99509353e-01 -3.16670090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.473133365 meters Centerline goodness : 0.125371 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99493861e-01 6.07069584e-03 -3.12277002e-02 -1.74073188e+00] [-6.03114902e-03 9.99980887e-01 1.36043934e-03 -7.60824443e-02] [ 3.12353622e-02 -1.17141186e-03 9.99511371e-01 -3.16744390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.503133365 meters Centerline goodness : 0.126773 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99496578e-01 6.04644077e-03 -3.11453360e-02 -1.74081769e+00] [-6.00782350e-03 9.99981064e-01 1.33333756e-03 -7.61153952e-02] [ 3.11528082e-02 -1.14555065e-03 9.99513977e-01 -3.16893165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.533133365 meters Centerline goodness : 0.127173 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.08, Z:-0.32 [[ 9.99506975e-01 5.92267931e-03 -3.08338867e-02 -1.74145471e+00] [-5.89134556e-03 9.99982033e-01 1.10696134e-03 -7.55542070e-02] [ 3.08398889e-02 -9.24762496e-04 9.99523910e-01 -3.17051965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.563133365 meters Centerline goodness : 0.123779 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99515251e-01 5.83926092e-03 -3.05804770e-02 -1.74212913e+00] [-5.81474204e-03 9.99982698e-01 8.90650934e-04 -7.46362576e-02] [ 3.05851486e-02 -7.12401607e-04 9.99531911e-01 -3.16981352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.593133365 meters Centerline goodness : 0.111979 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99522067e-01 5.85493618e-03 -3.03538830e-02 -1.74286584e+00] [-5.83618060e-03 9.99982720e-01 7.06457021e-04 -7.31825268e-02] [ 3.03574947e-02 -5.28968639e-04 9.99538965e-01 -3.16723839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.623133365 meters Centerline goodness : 0.114976 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99525748e-01 5.93261242e-03 -3.02172627e-02 -1.74324557e+00] [-5.91993865e-03 9.99982348e-01 5.08867770e-04 -7.11942071e-02] [ 3.02197482e-02 -3.29742098e-04 9.99543225e-01 -3.16691774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.653133365 meters Centerline goodness : 0.128198 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99526422e-01 5.97458684e-03 -3.01866986e-02 -1.74307694e+00] [-5.96914455e-03 9.99982148e-01 2.70399969e-04 -6.91260470e-02] [ 3.01877752e-02 -9.00831457e-05 9.99544241e-01 -3.17131179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.683133365 meters Centerline goodness : 0.113227 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99524614e-01 5.92017135e-03 -3.02572007e-02 -1.74263977e+00] [-5.92337572e-03 9.99982457e-01 -1.62718421e-05 -6.74267657e-02] [ 3.02565735e-02 1.95488874e-04 9.99542146e-01 -3.17566569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71313336499998 meters Centerline goodness : 0.106955 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99527247e-01 5.70181889e-03 -3.02121180e-02 -1.74254212e+00] [-5.71622967e-03 9.99983586e-01 -3.90638327e-04 -6.63426630e-02] [ 3.02093947e-02 5.63153056e-04 9.99543433e-01 -3.17890499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74313336499998 meters Centerline goodness : 0.126200 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99527910e-01 5.68087574e-03 -3.01941262e-02 -1.74259621e+00] [-5.69499913e-03 9.99983710e-01 -3.81775582e-04 -6.67004970e-02] [ 3.01914656e-02 5.53550872e-04 9.99543981e-01 -3.17878471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77313336499998 meters Centerline goodness : 0.150708 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99523291e-01 5.64011123e-03 -3.03542450e-02 -1.74201249e+00] [-5.65357787e-03 9.99983954e-01 -3.57841931e-04 -6.72128006e-02] [ 3.03517397e-02 5.29281432e-04 9.99539140e-01 -3.18161032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80313336499998 meters Centerline goodness : 0.122511 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99514264e-01 5.59717416e-03 -3.06579303e-02 -1.74095186e+00] [-5.60968125e-03 9.99984214e-01 -3.21959734e-04 -6.79438421e-02] [ 3.06556443e-02 4.93784563e-04 9.99529883e-01 -3.18619231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83313336499998 meters Centerline goodness : 0.127137 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99463688e-01 -3.13530172e-03 -3.25960931e-02 -1.75988853e+00] [ 3.16249034e-03 9.99994693e-01 7.82583703e-04 -6.62921726e-02] [ 3.25934665e-02 -8.85248824e-04 9.99468300e-01 -3.20177825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86313336499998 meters Centerline goodness : 0.120657 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99458913e-01 -3.09089187e-03 -3.27464175e-02 -1.75943626e+00] [ 3.12192337e-03 9.99994725e-01 8.96543081e-04 -6.70889498e-02] [ 3.27434737e-02 -9.98289780e-04 9.99463290e-01 -3.20307504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89313336499998 meters Centerline goodness : 0.124452 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99458776e-01 -2.94734074e-03 -3.27638319e-02 -1.75943694e+00] [ 2.98348427e-03 9.99994994e-01 1.05431978e-03 -6.73915170e-02] [ 3.27605604e-02 -1.15149953e-03 9.99462565e-01 -3.20299371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92313336499998 meters Centerline goodness : 0.120013 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99465504e-01 -2.68751600e-03 -3.25804069e-02 -1.75964279e+00] [ 2.72894036e-03 9.99995524e-01 1.22704968e-03 -6.73450167e-02] [ 3.25769634e-02 -1.31530381e-03 9.99468364e-01 -3.20646994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 196.983133365 meters Centerline goodness : 0.120799 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99451818e-01 -2.61715713e-03 -3.30032444e-02 -1.75797404e+00] [ 2.65904025e-03 9.99995714e-01 1.22523389e-03 -6.75858504e-02] [ 3.29998963e-02 -1.31231920e-03 9.99454494e-01 -3.21711498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.013133365 meters Centerline goodness : 0.122815 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99450541e-01 -2.51258707e-03 -3.30500099e-02 -1.75778058e+00] [ 2.55893977e-03 9.99995801e-01 1.36027835e-03 -6.80143957e-02] [ 3.30464533e-02 -1.44410392e-03 9.99452774e-01 -3.21840386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 197.073133365 meters Centerline goodness : 0.121818 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99945266 -0.00232601 -0.03299968 -1.75822086] [ 0.00238541 0.9999956 0.00176078 -0.06983999] [ 0.03299544 -0.00183853 0.99945381 -0.32137662] [ 0. 0. 0. 1. ]] SLAMing on 197.103133365 meters Centerline goodness : 0.125005 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.9994521 -0.00233397 -0.03301587 -1.75838381] [ 0.00240194 0.99999508 0.0020193 -0.0718984 ] [ 0.033011 -0.00209749 0.99945279 -0.32104133] [ 0. 0. 0. 1. ]] SLAMing on 197.133133365 meters Centerline goodness : 0.136166 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99945622 -0.00229511 -0.03289375 -1.7585293 ] [ 0.00236646 0.99999493 0.00213046 -0.07239945] [ 0.03288869 -0.00220715 0.99945658 -0.32124933] [ 0. 0. 0. 1. ]] SLAMing on 197.163133365 meters Centerline goodness : 0.142764 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 0.99946032 -0.00225505 -0.03277173 -1.75875802] [ 0.00232775 0.99999491 0.00218035 -0.0724091 ] [ 0.03276665 -0.00225546 0.99946048 -0.32133229] [ 0. 0. 0. 1. ]] SLAMing on 197.193133365 meters Centerline goodness : 0.121750 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99488027e-01 5.93161304e-03 -3.14404058e-02 -1.73919023e+00] [-5.90955339e-03 9.99982223e-01 7.94510593e-04 -7.42829257e-02] [ 3.14445596e-02 -6.08305069e-04 9.99505312e-01 -3.20273413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.223133365 meters Centerline goodness : 0.125625 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99510040e-01 -2.96626119e-03 -3.11589511e-02 -1.76038732e+00] [ 3.01218366e-03 9.99994445e-01 1.42697661e-03 -6.97570562e-02] [ 3.11545453e-02 -1.52013393e-03 9.99513423e-01 -3.21813002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.253133365 meters Centerline goodness : 0.124432 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99520213e-01 -3.01321125e-03 -3.08263484e-02 -1.76155586e+00] [ 3.04724309e-03 9.99994798e-01 1.05706612e-03 -6.71091010e-02] [ 3.08230029e-02 -1.15049433e-03 9.99524196e-01 -3.21363944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.283133365 meters Centerline goodness : 0.125717 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.07, Z:-0.32 [[ 9.99521845e-01 -3.04463150e-03 -3.07703057e-02 -1.76174971e+00] [ 3.07312942e-03 9.99994892e-01 8.78900616e-04 -6.57582227e-02] [ 3.07674726e-02 -9.73041497e-04 9.99526096e-01 -3.21324308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.313133365 meters Centerline goodness : 0.126432 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.06, Z:-0.32 [[ 9.99522105e-01 -3.13321697e-03 -3.07529757e-02 -1.76179673e+00] [ 3.15448578e-03 9.99994818e-01 6.43109589e-04 -6.44709804e-02] [ 3.07508013e-02 -7.39812075e-04 9.99526808e-01 -3.21367857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.343133365 meters Centerline goodness : 0.126432 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.06, Z:-0.32 [[ 9.99522105e-01 -3.13321697e-03 -3.07529757e-02 -1.76179673e+00] [ 3.15448578e-03 9.99994818e-01 6.43109589e-04 -6.44709804e-02] [ 3.07508013e-02 -7.39812075e-04 9.99526808e-01 -3.21367857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.373133365 meters Centerline goodness : 0.134421 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.07, Z:-0.32 [[ 9.99544390e-01 4.81186820e-03 -2.97969417e-02 -1.74227797e+00] [-4.84602110e-03 9.99987681e-01 -1.07407959e-03 -6.57815890e-02] [ 2.97914063e-02 1.21798684e-03 9.99555395e-01 -3.19875317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.403133365 meters Centerline goodness : 0.118934 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99545625e-01 4.65116816e-03 -2.97810449e-02 -1.74236109e+00] [-4.69388909e-03 9.99988052e-01 -1.36475125e-03 -6.47118006e-02] [ 2.97743414e-02 1.50392007e-03 9.99555515e-01 -3.19827915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.433133365 meters Centerline goodness : 0.118176 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99546393e-01 4.53706072e-03 -2.97728576e-02 -1.74249395e+00] [-4.58678646e-03 9.99988197e-01 -1.60208649e-03 -6.35896115e-02] [ 2.97652374e-02 1.73792152e-03 9.99555406e-01 -3.19697077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46313336499998 meters Centerline goodness : 0.119442 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955091 0.00443979 -0.02963552 -1.74298418] [-0.00449725 0.99998813 -0.00187275 -0.06205167] [ 0.02962685 0.00200519 0.99955902 -0.31950488] [ 0. 0. 0. 1. ]] SLAMing on 197.49313336499998 meters Centerline goodness : 0.117500 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955562 0.00435302 -0.02948933 -1.74335152] [-0.00441809 0.99998795 -0.00214173 -0.06037434] [ 0.02947966 0.00227106 0.9995628 -0.31949589] [ 0. 0. 0. 1. ]] SLAMing on 197.52313336499998 meters Centerline goodness : 0.184549 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955917 0.00425467 -0.02938309 -1.74349514] [-0.00432803 0.99998767 -0.00243375 -0.05862011] [ 0.02937237 0.00255985 0.99956526 -0.31971272] [ 0. 0. 0. 1. ]] SLAMing on 197.55313336499998 meters Centerline goodness : 0.118905 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 0.99955653 0.00403762 -0.02950316 -1.74271531] [-0.00413 0.99998676 -0.00307079 -0.05513999] [ 0.02949037 0.00319128 0.99955997 -0.32051031] [ 0. 0. 0. 1. ]] SLAMing on 197.58313336499998 meters Centerline goodness : 0.128011 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.99955309 0.00386292 -0.0296428 -1.74192766] [-0.00396839 0.999986 -0.00350003 -0.05301567] [ 0.02962886 0.0036161 0.99955443 -0.32124309] [ 0. 0. 0. 1. ]] SLAMing on 197.61313336499998 meters Centerline goodness : 0.129694 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.9995481 0.0037396 -0.02982644 -1.74099383] [-0.00385615 0.99998515 -0.00385127 -0.05113108] [ 0.02981159 0.00396455 0.99954767 -0.32204881] [ 0. 0. 0. 1. ]] SLAMing on 197.64313336499998 meters Centerline goodness : 0.128859 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.99954302 0.00363032 -0.03000953 -1.74029272] [-0.00375582 0.99998443 -0.00412653 -0.04962883] [ 0.02999409 0.00423736 0.99954109 -0.32251055] [ 0. 0. 0. 1. ]] SLAMing on 197.67313336499998 meters Centerline goodness : 0.126373 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 0.99953918 0.00353321 -0.03014862 -1.73986346] [-0.00366428 0.99998407 -0.00429341 -0.04884061] [ 0.03013297 0.00440191 0.99953621 -0.32268442] [ 0. 0. 0. 1. ]] SLAMing on 197.70313336499999 meters Centerline goodness : 0.144768 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.05, Z:-0.32 [[ 0.99953142 -0.00515017 -0.03017314 -1.76051457] [ 0.00505433 0.99998194 -0.0032517 -0.04546236] [ 0.03018934 0.00309767 0.9995394 -0.32416611] [ 0. 0. 0. 1. ]] SLAMing on 197.733133365 meters Centerline goodness : 0.129151 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99614033e-01 9.95080779e-04 -2.77631804e-02 -1.74058687e+00] [-1.16163155e-03 9.99981424e-01 -5.98349676e-03 -4.63537461e-02] [ 2.77567107e-02 6.01343792e-03 9.99596620e-01 -3.23548745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.763133365 meters Centerline goodness : 0.131269 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99615146e-01 9.82174041e-04 -2.77235491e-02 -1.74074818e+00] [-1.14586286e-03 9.99982003e-01 -5.88905490e-03 -4.70952230e-02] [ 2.77172660e-02 5.91855586e-03 9.99598281e-01 -3.23444362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.793133365 meters Centerline goodness : 0.130779 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99614507e-01 9.63900779e-04 -2.77472295e-02 -1.74085878e+00] [-1.12514884e-03 9.99982568e-01 -5.79629483e-03 -4.78135791e-02] [ 2.77411587e-02 5.82528016e-03 9.99598166e-01 -3.23175138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.823133365 meters Centerline goodness : 0.127234 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99615899e-01 9.76614959e-04 -2.76965734e-02 -1.74118032e+00] [-1.13459741e-03 9.99983174e-01 -5.68890162e-03 -4.84897737e-02] [ 2.76905515e-02 5.71814097e-03 9.99600188e-01 -3.22898746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.853133365 meters Centerline goodness : 0.127049 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99615876e-01 1.00990007e-03 -2.76962117e-02 -1.74142651e+00] [-1.16218107e-03 9.99984294e-01 -5.48271521e-03 -4.97506654e-02] [ 2.76902397e-02 5.51279718e-03 9.99601350e-01 -3.22536491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.883133365 meters Centerline goodness : 0.127192 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99614400e-01 9.87975551e-04 -2.77502122e-02 -1.74137344e+00] [-1.13674527e-03 9.99985065e-01 -5.34576624e-03 -5.10135991e-02] [ 2.77445162e-02 5.37524984e-03 9.99600594e-01 -3.22388286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.913133365 meters Centerline goodness : 0.130574 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.05, Z:-0.32 [[ 9.99612739e-01 8.26608952e-04 -2.78152658e-02 -1.74118866e+00] [-9.68033323e-04 9.99986672e-01 -5.07133411e-03 -5.37316773e-02] [ 2.78107031e-02 5.09629628e-03 9.99600216e-01 -3.22385100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.943133365 meters Centerline goodness : 0.128995 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99611878e-01 8.67905234e-04 -2.78449446e-02 -1.74102789e+00] [-1.00089066e-03 9.99988159e-01 -4.76234522e-03 -5.56644377e-02] [ 2.78404817e-02 4.78836660e-03 9.99600910e-01 -3.22547758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.973133365 meters Centerline goodness : 0.132636 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99609698e-01 9.07033278e-04 -2.79218195e-02 -1.74097774e+00] [-1.02985822e-03 9.99989856e-01 -4.38482108e-03 -5.79644371e-02] [ 2.79175591e-02 4.41186519e-03 9.99600493e-01 -3.22327512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.003133365 meters Centerline goodness : 0.129446 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99613627e-01 8.65787249e-04 -2.77821238e-02 -1.74153570e+00] [-9.77222729e-04 9.99991532e-01 -3.99772314e-03 -6.07467098e-02] [ 2.77784273e-02 4.02332785e-03 9.99606008e-01 -3.21950311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.033133365 meters Centerline goodness : 0.129069 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.06, Z:-0.32 [[ 9.99623190e-01 6.91607970e-04 -2.74408264e-02 -1.74263160e+00] [-7.92843338e-04 9.99992920e-01 -3.67851580e-03 -6.38679628e-02] [ 2.74380880e-02 3.69888597e-03 9.99616661e-01 -3.21439363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.063133365 meters Centerline goodness : 0.130652 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.07, Z:-0.32 [[ 0.99963337 -0.00227064 -0.02698097 -1.7454166 ] [ 0.00211996 0.99998201 -0.00561203 -0.07114078] [ 0.02699323 0.00555278 0.99962019 -0.31943738] [ 0. 0. 0. 1. ]] SLAMing on 198.093133365 meters Centerline goodness : 0.132888 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.07, Z:-0.32 [[ 0.99964055 -0.00229109 -0.02671181 -1.7461099 ] [ 0.00215576 0.9999847 -0.00509396 -0.07498874] [ 0.02672308 0.00503454 0.9996302 -0.31924411] [ 0. 0. 0. 1. ]] SLAMing on 198.123133365 meters Centerline goodness : 0.131434 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.08, Z:-0.32 [[ 0.99964285 -0.00226495 -0.02662768 -1.74637476] [ 0.00214431 0.99998731 -0.00455821 -0.0787491 ] [ 0.02663767 0.00449949 0.99963503 -0.31911665] [ 0. 0. 0. 1. ]] SLAMing on 198.153133365 meters Centerline goodness : 0.129956 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.08, Z:-0.32 [[ 0.99964308 -0.00215961 -0.02662784 -1.74634879] [ 0.00205509 0.99999008 -0.00395202 -0.08268524] [ 0.02663611 0.00389588 0.9996376 -0.31917576] [ 0. 0. 0. 1. ]] SLAMing on 198.183133365 meters Centerline goodness : 0.146763 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.09, Z:-0.32 [[ 0.9996425 -0.00196706 -0.02666458 -1.74619611] [ 0.00188098 0.99999294 -0.00325317 -0.08673404] [ 0.02667079 0.00320186 0.99963914 -0.31922794] [ 0. 0. 0. 1. ]] SLAMing on 198.21313336499998 meters Centerline goodness : 0.113482 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.09, Z:-0.32 [[ 9.99641560e-01 -1.80328692e-03 -2.67114224e-02 -1.74620072e+00] [ 1.73425828e-03 9.99995097e-01 -2.60717764e-03 -9.01056944e-02] [ 2.67159929e-02 2.55991862e-03 9.99639786e-01 -3.19170496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24313336499998 meters Centerline goodness : 0.118396 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.10, Z:-0.32 [[ 0.99962899 -0.00391852 -0.026954 -1.74632295] [ 0.00382481 0.99998646 -0.00352742 -0.09904573] [ 0.02696746 0.00342302 0.99963045 -0.31867392] [ 0. 0. 0. 1. ]] SLAMing on 198.27313336499998 meters Centerline goodness : 0.170406 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.10, Z:-0.32 [[ 0.99962314 -0.00382342 -0.02718377 -1.7459337 ] [ 0.00374415 0.99998859 -0.00296653 -0.10223805] [ 0.0271948 0.00286363 0.99962605 -0.31856678] [ 0. 0. 0. 1. ]] SLAMing on 198.30313336499998 meters Centerline goodness : 0.135219 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.11, Z:-0.32 [[ 0.99961275 -0.00369537 -0.02758051 -1.74483298] [ 0.00363289 0.99999072 -0.00231518 -0.10643724] [ 0.02758881 0.00221409 0.9996169 -0.31883553] [ 0. 0. 0. 1. ]] SLAMing on 198.33313336499998 meters Centerline goodness : 0.132468 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.11, Z:-0.32 [[ 9.99603498e-01 -3.45106308e-03 -2.79452597e-02 -1.74379976e+00] [ 3.41176978e-03 9.99993123e-01 -1.45363976e-03 -1.10500711e-01] [ 2.79500842e-02 1.35772059e-03 9.99608398e-01 -3.19370060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36313336499998 meters Centerline goodness : 0.051462 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.12, Z:-0.32 [[ 9.99584096e-01 -4.43441582e-03 -2.84950910e-02 -1.74215812e+00] [ 4.40211196e-03 9.99989595e-01 -1.19629644e-03 -1.20982972e-01] [ 2.85000994e-02 1.07036032e-03 9.99593217e-01 -3.19722868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39313336499998 meters Centerline goodness : 0.132873 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.13, Z:-0.32 [[ 0.99960552 0.00193404 -0.02801901 -1.72006855] [-0.00203773 0.99999118 -0.00367267 -0.12741822] [ 0.02801166 0.00372831 0.99960064 -0.31951543] [ 0. 0. 0. 1. ]] SLAMing on 198.42313336499998 meters Centerline goodness : 0.119907 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.13, Z:-0.32 [[ 0.99960272 0.00208764 -0.02810787 -1.71982169] [-0.0021732 0.9999931 -0.00301386 -0.13159056] [ 0.02810139 0.00307374 0.99960035 -0.31958362] [ 0. 0. 0. 1. ]] SLAMing on 198.45313336499999 meters Centerline goodness : 0.111472 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.14, Z:-0.32 [[ 0.99959657 0.00219625 -0.02831729 -1.71923658] [-0.00226687 0.9999944 -0.00246186 -0.13514871] [ 0.02831172 0.00252506 0.99959595 -0.31972557] [ 0. 0. 0. 1. ]] SLAMing on 198.483133365 meters Centerline goodness : 0.104624 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.14, Z:-0.32 [[ 0.99959032 0.00233377 -0.0285262 -1.71863884] [-0.00238999 0.99999527 -0.00193698 -0.13836939] [ 0.02852154 0.00200436 0.99959117 -0.3199 ] [ 0. 0. 0. 1. ]] SLAMing on 198.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 198.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 198.573133365 meters Centerline goodness : 0.157864 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.15, Z:-0.32 [[ 9.99566800e-01 2.16056500e-03 -2.93520886e-02 -1.71592300e+00] [-2.19715627e-03 9.99996849e-01 -1.21443698e-03 -1.47929616e-01] [ 2.93493722e-02 1.27840201e-03 9.99568397e-01 -3.20896927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.603133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 198.633133365 meters Centerline goodness : 0.149152 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.15, Z:-0.32 [[ 9.99565587e-01 2.24223276e-03 -2.93872491e-02 -1.71606095e+00] [-2.25970000e-03 9.99997289e-01 -5.61184861e-04 -1.52203534e-01] [ 2.93859111e-02 6.27347442e-04 9.99567944e-01 -3.20617867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.663133365 meters Centerline goodness : 0.123290 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.15, Z:-0.32 [[ 9.99561435e-01 2.24536607e-03 -2.95278816e-02 -1.71583285e+00] [-2.25153153e-03 9.99997450e-01 -1.75554203e-04 -1.54997084e-01] [ 2.95274122e-02 2.41960168e-04 9.99563942e-01 -3.20504722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.693133365 meters Centerline goodness : 0.134399 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.16, Z:-0.32 [[ 9.99552837e-01 -6.29603964e-03 -2.92315816e-02 -1.69455523e+00] [ 6.32079892e-03 9.99979739e-01 7.54677280e-04 -1.58383495e-01] [ 2.92262379e-02 -9.39106766e-04 9.99572381e-01 -3.19070996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.723133365 meters Centerline goodness : 0.149773 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.16, Z:-0.32 [[ 9.99551048e-01 -6.14874182e-03 -2.93239597e-02 -1.69441951e+00] [ 6.18973149e-03 9.99979989e-01 1.30725249e-03 -1.61284978e-01] [ 2.93153349e-02 -1.48817304e-03 9.99569105e-01 -3.18985864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.753133365 meters Centerline goodness : 0.133741 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.16, Z:-0.32 [[ 0.99954915 -0.00601612 -0.02941598 -1.69444963] [ 0.00607246 0.99997989 0.00182647 -0.16405856] [ 0.0294044 -0.00200427 0.99956559 -0.31865737] [ 0. 0. 0. 1. ]] SLAMing on 198.783133365 meters Centerline goodness : 0.179851 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:-0.32 [[ 9.99598442e-01 3.66246757e-04 -2.83340782e-02 -1.67274901e+00] [-3.86092379e-04 9.99999684e-01 -6.94947577e-04 -1.69163422e-01] [ 2.83338147e-02 7.05608087e-04 9.99598268e-01 -3.18562780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.813133365 meters Centerline goodness : 0.118037 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:-0.32 [[ 9.99604004e-01 4.94171895e-04 -2.81352112e-02 -1.67354859e+00] [-4.99645210e-04 9.99999858e-01 -1.87506247e-04 -1.72062969e-01] [ 2.81351146e-02 2.01489619e-04 9.99604109e-01 -3.18110393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.843133365 meters Centerline goodness : 0.204755 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.17, Z:-0.32 [[ 9.99608992e-01 5.81610512e-04 -2.79557508e-02 -1.67440204e+00] [-5.74105183e-04 9.99999797e-01 2.76497329e-04 -1.74836942e-01] [ 2.79559059e-02 -2.60339675e-04 9.99609123e-01 -3.17520665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.873133365 meters Centerline goodness : 0.135642 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.18, Z:-0.32 [[ 9.99600126e-01 -7.18599780e-03 -2.73486686e-02 -1.65371411e+00] [ 7.22444452e-03 9.99973049e-01 1.30724896e-03 -1.75028182e-01] [ 2.73385376e-02 -1.50430517e-03 9.99625100e-01 -3.16060802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.903133365 meters Centerline goodness : 0.164755 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.18, Z:-0.32 [[ 0.99959766 -0.00709019 -0.02746369 -1.65367167] [ 0.00714211 0.99997289 0.00179292 -0.17795339] [ 0.02745024 -0.00198835 0.99962119 -0.31575555] [ 0. 0. 0. 1. ]] SLAMing on 198.933133365 meters Centerline goodness : 0.152789 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.18, Z:-0.32 [[ 0.99959785 -0.00696999 -0.02748758 -1.65378541] [ 0.00703508 0.99997267 0.002272 -0.18068551] [ 0.02747099 -0.00246447 0.99961956 -0.31557905] [ 0. 0. 0. 1. ]] SLAMing on 198.96313336499998 meters Centerline goodness : 0.146891 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99689598e-01 1.01862708e-03 -2.48931597e-02 -1.63553457e+00] [-9.83560109e-04 9.99998507e-01 1.42090237e-03 -1.88292696e-01] [ 2.48945699e-02 -1.39597740e-03 9.99689107e-01 -3.14538159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99313336499998 meters Centerline goodness : 0.069387 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99697283e-01 1.12679884e-03 -2.45778715e-02 -1.63656051e+00] [-1.08666174e-03 9.99998054e-01 1.64635301e-03 -1.89237754e-01] [ 2.45796788e-02 -1.61914680e-03 9.99696563e-01 -3.14112927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 199.05313336499998 meters Centerline goodness : 0.135596 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99698015e-01 1.25833289e-03 -2.45416886e-02 -1.63667264e+00] [-1.21074221e-03 9.99997358e-01 1.95393959e-03 -1.90710604e-01] [ 2.45440824e-02 -1.92363588e-03 9.99696898e-01 -3.14072910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08313336499998 meters Centerline goodness : 0.133780 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99694018e-01 1.33352257e-03 -2.47000322e-02 -1.63611938e+00] [-1.28154459e-03 9.99996931e-01 2.12007903e-03 -1.91410285e-01] [ 2.47027836e-02 -2.08777613e-03 9.99692660e-01 -3.14340516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11313336499998 meters Centerline goodness : 0.140588 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.19, Z:-0.31 [[ 9.99688720e-01 1.39199746e-03 -2.49103469e-02 -1.63549401e+00] [-1.33540674e-03 9.99996490e-01 2.28826685e-03 -1.92354052e-01] [ 2.49134448e-02 -2.25428911e-03 9.99687070e-01 -3.14528232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14313336499998 meters Centerline goodness : 0.118162 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.19, Z:-0.31 [[ 9.99683873e-01 1.42556285e-03 -2.51022115e-02 -1.63498016e+00] [-1.36338326e-03 9.99995961e-01 2.49399669e-03 -1.93939942e-01] [ 2.51056655e-02 -2.45898434e-03 9.99681779e-01 -3.14616382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17313336499998 meters Centerline goodness : 0.131623 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.19, Z:-0.31 [[ 9.99683232e-01 1.41933070e-03 -2.51281059e-02 -1.63487389e+00] [-1.35562954e-03 9.99995825e-01 2.55190930e-03 -1.94484207e-01] [ 2.51316230e-02 -2.51703653e-03 9.99680982e-01 -3.14671845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20313336499999 meters Centerline goodness : 0.151042 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.20, Z:-0.31 [[ 9.99683100e-01 1.50575657e-03 -2.51283215e-02 -1.63487890e+00] [-1.43819635e-03 9.99995303e-01 2.70646467e-03 -1.95057567e-01] [ 2.51322788e-02 -2.66946753e-03 9.99680570e-01 -3.14675231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.233133365 meters Centerline goodness : 0.113663 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.31 [[ 9.99669294e-01 9.11058280e-03 -2.40478593e-02 -1.61457906e+00] [-9.09503300e-03 9.99958354e-01 7.55915740e-04 -1.98943228e-01] [ 2.40537446e-02 -5.36949681e-04 9.99710523e-01 -3.14607296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.263133365 meters Centerline goodness : 0.113663 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.31 [[ 9.99669294e-01 9.11058280e-03 -2.40478593e-02 -1.61457906e+00] [-9.09503300e-03 9.99958354e-01 7.55915740e-04 -1.98943228e-01] [ 2.40537446e-02 -5.36949681e-04 9.99710523e-01 -3.14607296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.293133365 meters Centerline goodness : 0.176725 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.20, Z:-0.31 [[ 9.99670033e-01 9.12885351e-03 -2.40101710e-02 -1.61463604e+00] [-9.11096550e-03 9.99958129e-01 8.54308381e-04 -1.99827404e-01] [ 2.40169646e-02 -6.35270648e-04 9.99711349e-01 -3.14618811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.323133365 meters Centerline goodness : 0.168630 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99970559 0.00201005 -0.02418022 -1.59495187] [-0.00196542 0.99999632 0.00186924 -0.19738208] [ 0.02418389 -0.00182117 0.99970587 -0.31310456] [ 0. 0. 0. 1. ]] SLAMing on 199.353133365 meters Centerline goodness : 0.140136 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99969325 0.00230197 -0.02465983 -1.59296615] [-0.00224912 0.99999511 0.00217066 -0.19800702] [ 0.0246647 -0.00211453 0.99969354 -0.31429411] [ 0. 0. 0. 1. ]] SLAMing on 199.383133365 meters Centerline goodness : 0.216134 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99968383 0.00239187 -0.02503038 -1.59161559] [-0.00233902 0.99999497 0.00214053 -0.19729016] [ 0.02503537 -0.00208131 0.9996844 -0.31493475] [ 0. 0. 0. 1. ]] SLAMing on 199.413133365 meters Centerline goodness : 0.128066 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.32 [[ 0.99967829 0.00239421 -0.02525027 -1.59082614] [-0.00234511 0.9999953 0.0019739 -0.19622441] [ 0.02525488 -0.00191405 0.99967921 -0.31527492] [ 0. 0. 0. 1. ]] SLAMing on 199.443133365 meters Centerline goodness : 0.133900 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.20, Z:-0.31 [[ 0.99967465 0.00239724 -0.02539366 -1.59064808] [-0.00235056 0.99999549 0.0018679 -0.19564811] [ 0.02539802 -0.0018076 0.99967578 -0.31498982] [ 0. 0. 0. 1. ]] SLAMing on 199.473133365 meters Centerline goodness : 0.115573 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:-0.31 [[ 0.99967509 -0.00429985 -0.0251242 -1.57228645] [ 0.00438108 0.99998535 0.00317887 -0.1911604 ] [ 0.02511016 -0.0032879 0.99967928 -0.31272966] [ 0. 0. 0. 1. ]] SLAMing on 199.503133365 meters Centerline goodness : 0.121927 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:-0.31 [[ 0.99968385 -0.00402534 -0.02481938 -1.57302986] [ 0.00411297 0.99998548 0.00348071 -0.19192051] [ 0.02480501 -0.0035817 0.99968589 -0.31263574] [ 0. 0. 0. 1. ]] SLAMing on 199.533133365 meters Centerline goodness : 0.118692 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.19, Z:-0.31 [[ 0.99968568 -0.0039761 -0.02475344 -1.57326061] [ 0.00406809 0.999985 0.00366714 -0.19319444] [ 0.02473848 -0.00376668 0.99968686 -0.31250892] [ 0. 0. 0. 1. ]] SLAMing on 199.563133365 meters Centerline goodness : 0.125182 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:-0.31 [[ 9.99701636e-01 3.46582045e-03 -2.41790673e-02 -1.55336170e+00] [-3.43312006e-03 9.99993135e-01 1.39380542e-03 -1.98478156e-01] [ 2.41837320e-02 -1.31037991e-03 9.99706672e-01 -3.11564532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 199.623133365 meters Centerline goodness : 0.148422 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:-0.31 [[ 0.99968955 0.00365788 -0.02464578 -1.55237941] [-0.00360794 0.99999135 0.00207033 -0.2024218 ] [ 0.02465314 -0.00198076 0.9996941 -0.31141028] [ 0. 0. 0. 1. ]] SLAMing on 199.653133365 meters Centerline goodness : 0.195238 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:-0.31 [[ 0.9996876 0.00382919 -0.02469906 -1.55232212] [-0.00376966 0.99998988 0.00245619 -0.20422614] [ 0.02470822 -0.00236231 0.99969191 -0.3112672 ] [ 0. 0. 0. 1. ]] SLAMing on 199.683133365 meters Centerline goodness : 0.154473 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.99969188 0.00403138 -0.02449252 -1.55336924] [-0.00396166 0.99998796 0.00289446 -0.20680572] [ 0.0245039 -0.00279654 0.99969582 -0.31033176] [ 0. 0. 0. 1. ]] SLAMing on 199.71313336499998 meters Centerline goodness : 0.142636 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.99969372 0.0041379 -0.02439987 -1.55371856] [-0.00406569 0.99998721 0.00300829 -0.20732234] [ 0.02441201 -0.00290817 0.99969775 -0.31008866] [ 0. 0. 0. 1. ]] SLAMing on 199.74313336499998 meters Centerline goodness : 0.108212 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.99969687 0.0043382 -0.02423513 -1.55404359] [-0.00426292 0.99998593 0.00315695 -0.2073357 ] [ 0.02424849 -0.00305268 0.9997013 -0.31014611] [ 0. 0. 0. 1. ]] SLAMing on 199.77313336499998 meters Centerline goodness : 0.166630 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.21, Z:-0.31 [[ 0.999699 0.00461786 -0.0240954 -1.55413157] [-0.00453846 0.99998409 0.00334915 -0.20717618] [ 0.02411049 -0.00323879 0.99970405 -0.31045927] [ 0. 0. 0. 1. ]] SLAMing on 199.80313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 199.83313336499998 meters Centerline goodness : 0.172724 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.21, Z:-0.31 [[ 0.99970636 0.0050966 -0.02369012 -1.55509402] [-0.00501004 0.99998056 0.00371213 -0.20779452] [ 0.02370858 -0.00359235 0.99971246 -0.31038167] [ 0. 0. 0. 1. ]] SLAMing on 199.86313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 199.89313336499998 meters Centerline goodness : 0.094532 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99975062 0.00627778 -0.02143104 -1.51465131] [-0.00622498 0.99997743 0.00252958 -0.20941122] [ 0.02144643 -0.00239554 0.99976713 -0.30786712] [ 0. 0. 0. 1. ]] SLAMing on 199.92313336499998 meters Centerline goodness : 0.207342 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99974914 0.00629275 -0.02149551 -1.51440486] [-0.00623889 0.99997723 0.00257185 -0.20985752] [ 0.02151121 -0.0024371 0.99976564 -0.30797604] [ 0. 0. 0. 1. ]] SLAMing on 199.95313336499999 meters Centerline goodness : 0.091502 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99975052 0.00631502 -0.02142458 -1.51440689] [-0.00626088 0.99997704 0.00259313 -0.20993138] [ 0.02144046 -0.00245835 0.9997671 -0.30822389] [ 0. 0. 0. 1. ]] SLAMing on 199.983133365 meters Centerline goodness : 0.169701 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.21, Z:-0.31 [[ 0.99975501 0.00636257 -0.02119978 -1.51489362] [-0.00630827 0.99997665 0.0026274 -0.20989867] [ 0.021216 -0.00249302 0.99977181 -0.30827765] [ 0. 0. 0. 1. ]] SLAMing on 200.013133365 meters Centerline goodness : 0.182000 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.21, Z:-0.31 [[ 0.99976311 0.00644263 -0.02078959 -1.51575588] [-0.00638857 0.99997604 0.00266551 -0.20984811] [ 0.02080627 -0.00253206 0.99978032 -0.30841973] [ 0. 0. 0. 1. ]] SLAMing on 200.043133365 meters Centerline goodness : 0.125943 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99747838e-01 1.82056505e-04 -2.24549962e-02 -1.49769933e+00] [-1.06199731e-04 9.99994284e-01 3.37931534e-03 -2.04950130e-01] [ 2.24554830e-02 -3.37607849e-03 9.99742143e-01 -3.06577251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.073133365 meters Centerline goodness : 0.149347 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99745585e-01 1.03976968e-04 -2.25555944e-02 -1.49711117e+00] [-3.08821817e-05 9.99994748e-01 3.24097409e-03 -2.04525407e-01] [ 2.25558129e-02 -3.23945297e-03 9.99740337e-01 -3.07085516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.103133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 200.133133365 meters Centerline goodness : 0.127247 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99736507e-01 3.88186281e-05 -2.29546219e-02 -1.49558350e+00] [ 3.23893958e-05 9.99995189e-01 3.10174147e-03 -2.03963985e-01] [ 2.29546319e-02 -3.10166767e-03 9.99731696e-01 -3.07981292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.163133365 meters Centerline goodness : 0.161796 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99732235e-01 -2.44693247e-06 -2.31399718e-02 -1.49489012e+00] [ 7.18085160e-05 9.99995507e-01 2.99664871e-03 -2.03446710e-01] [ 2.31398605e-02 -2.99750796e-03 9.99727744e-01 -3.08385243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.193133365 meters Centerline goodness : 0.210343 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99728112e-01 -2.75591620e-05 -2.33173891e-02 -1.49422734e+00] [ 9.41429084e-05 9.99995922e-01 2.85444747e-03 -2.02555466e-01] [ 2.33172153e-02 -2.85586655e-03 9.99724038e-01 -3.08782137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.223133365 meters Centerline goodness : 0.209646 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99727591e-01 -5.37285188e-05 -2.33396741e-02 -1.49392243e+00] [ 1.16725679e-04 9.99996354e-01 2.69779084e-03 -2.01449789e-01] [ 2.33394440e-02 -2.69978027e-03 9.99723953e-01 -3.09204100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.253133365 meters Centerline goodness : 0.197626 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99727852e-01 -5.40371464e-05 -2.33285029e-02 -1.49368584e+00] [ 1.12777227e-04 9.99996827e-01 2.51664497e-03 -1.99970723e-01] [ 2.33282929e-02 -2.51859099e-03 9.99724686e-01 -3.09636314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.283133365 meters Centerline goodness : 0.149955 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99727694e-01 -1.03558327e-04 -2.33350952e-02 -1.49329351e+00] [ 1.53810573e-04 9.99997673e-01 2.15172055e-03 -1.97534010e-01] [ 2.33348181e-02 -2.15472381e-03 9.99725384e-01 -3.10230414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.313133365 meters Centerline goodness : 0.186399 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99725661e-01 -2.17805500e-04 -2.34212762e-02 -1.49289528e+00] [ 2.64014094e-04 9.99998025e-01 1.96985828e-03 -1.96968361e-01] [ 2.34208009e-02 -1.97550141e-03 9.99723744e-01 -3.10520353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.343133365 meters Centerline goodness : 0.202815 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99722262e-01 -2.64129302e-04 -2.35654231e-02 -1.49253368e+00] [ 3.09734336e-04 9.99998086e-01 1.93162305e-03 -1.97022682e-01] [ 2.35648678e-02 -1.93838559e-03 9.99720431e-01 -3.10569309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.373133365 meters Centerline goodness : 0.091233 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99717715e-01 -2.84815651e-04 -2.37573105e-02 -1.49192885e+00] [ 3.31944147e-04 9.99997985e-01 1.97982709e-03 -1.97484802e-01] [ 2.37566987e-02 -1.98715431e-03 9.99715795e-01 -3.10873057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.403133365 meters Centerline goodness : 0.167391 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99713624e-01 -2.91220329e-04 -2.39287633e-02 -1.49148491e+00] [ 3.40337062e-04 9.99997844e-01 2.04857625e-03 -1.98028666e-01] [ 2.39281151e-02 -2.05613343e-03 9.99711567e-01 -3.10927677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43313336499997 meters Centerline goodness : 0.184076 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99712852e-01 -2.82578810e-04 -2.39610708e-02 -1.49147616e+00] [ 3.34164098e-04 9.99997635e-01 2.14890238e-03 -1.98687618e-01] [ 2.39604069e-02 -2.15629226e-03 9.99710583e-01 -3.10853648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46313336499998 meters Centerline goodness : 0.189633 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99725393e-01 -1.52941976e-04 -2.34331868e-02 -1.49321432e+00] [ 2.05599058e-04 9.99997459e-01 2.24472294e-03 -1.98635461e-01] [ 2.34327840e-02 -2.24892436e-03 9.99722885e-01 -3.10063388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49313336499998 meters Centerline goodness : 0.174589 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.20, Z:-0.31 [[ 9.99739944e-01 -3.43146667e-05 -2.28044403e-02 -1.49492586e+00] [ 8.39205806e-05 9.99997633e-01 2.17432090e-03 -1.97401465e-01] [ 2.28043117e-02 -2.17566922e-03 9.99737580e-01 -3.09644843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52313336499998 meters Centerline goodness : 0.164630 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.20, Z:-0.31 [[ 9.99752729e-01 8.90573880e-05 -2.22367628e-02 -1.49639875e+00] [-4.37536031e-05 9.99997923e-01 2.03781546e-03 -1.95709431e-01] [ 2.22368981e-02 -2.03633862e-03 9.99750656e-01 -3.09403533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55313336499998 meters Centerline goodness : 0.179676 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99754392e-01 4.83102432e-05 -2.21619675e-02 -1.49648033e+00] [-1.05506784e-05 9.99998548e-01 1.70391397e-03 -1.93623856e-01] [ 2.21620177e-02 -1.70326165e-03 9.99752941e-01 -3.09550145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58313336499998 meters Centerline goodness : 0.169254 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99751572e-01 -5.99866095e-05 -2.22887942e-02 -1.49588437e+00] [ 8.89729114e-05 9.99999152e-01 1.29949827e-03 -1.91560105e-01] [ 2.22886973e-02 -1.30115854e-03 9.99750729e-01 -3.10033204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61313336499998 meters Centerline goodness : 0.201583 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99746081e-01 -1.53576694e-04 -2.25332909e-02 -1.49500966e+00] [ 1.75420796e-04 9.99999517e-01 9.67441205e-04 -1.89836637e-01] [ 2.25331314e-02 -9.71148362e-04 9.99745625e-01 -3.10511609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64313336499998 meters Centerline goodness : 0.141083 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99746484e-01 -1.34327066e-04 -2.25155244e-02 -1.49509629e+00] [ 1.49971516e-04 9.99999749e-01 6.93142373e-04 -1.87654892e-01] [ 2.25154256e-02 -6.96343338e-04 9.99746253e-01 -3.10501795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67313336499998 meters Centerline goodness : 0.164206 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99751654e-01 -1.30300225e-04 -2.22848297e-02 -1.49604373e+00] [ 1.46001970e-04 9.99999742e-01 7.02967843e-04 -1.87649555e-01] [ 2.22847324e-02 -7.06046892e-04 9.99751415e-01 -3.09901814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70313336499999 meters Centerline goodness : 0.151972 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99757491e-01 -1.88463342e-04 -2.20209647e-02 -1.49719490e+00] [ 2.03559324e-04 9.99999746e-01 6.83288190e-04 -1.87967376e-01] [ 2.20208304e-02 -6.87605060e-04 9.99757276e-01 -3.09094207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.733133365 meters Centerline goodness : 0.094208 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.19, Z:-0.31 [[ 9.99819144e-01 3.94349838e-04 -1.90137672e-02 -1.45687740e+00] [-4.04643269e-04 9.99999774e-01 -5.37523054e-04 -1.85548426e-01] [ 1.90135509e-02 5.45119633e-04 9.99819077e-01 -3.07422256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.763133365 meters Centerline goodness : 0.202516 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99790988e-01 -1.36173755e-03 -2.03991671e-02 -1.50323870e+00] [ 1.36344954e-03 9.99999068e-01 7.00166780e-05 -1.88815755e-01] [ 2.03990527e-02 -9.78152787e-05 9.99791913e-01 -3.06943410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.793133365 meters Centerline goodness : 0.162205 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99795927e-01 -1.25190756e-03 -2.01627836e-02 -1.50369052e+00] [ 1.25512912e-03 9.99999202e-01 1.47123700e-04 -1.88510648e-01] [ 2.01625833e-02 -1.72400573e-04 9.99796700e-01 -3.07084880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.823133365 meters Centerline goodness : 0.156833 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99798133e-01 -1.20898640e-03 -2.00557149e-02 -1.50372441e+00] [ 1.21103724e-03 9.99999263e-01 9.01124410e-05 -1.87793450e-01] [ 2.00555912e-02 -1.14382468e-04 9.99798860e-01 -3.07413447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.853133365 meters Centerline goodness : 0.151167 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.19, Z:-0.31 [[ 9.99796208e-01 -1.23557115e-03 -2.01498298e-02 -1.50328951e+00] [ 1.23392130e-03 9.99999234e-01 -9.43113540e-05 -1.86698106e-01] [ 2.01499309e-02 6.94288298e-05 9.99796967e-01 -3.07770331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.883133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 200.913133365 meters Centerline goodness : 0.156458 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:-0.31 [[ 9.99785338e-01 -1.09475561e-03 -2.06900837e-02 -1.50154610e+00] [ 1.08775692e-03 9.99999347e-01 -3.49514116e-04 -1.84570907e-01] [ 2.06904528e-02 3.26933307e-04 9.99785876e-01 -3.08638739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.943133365 meters Centerline goodness : 0.155996 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:-0.31 [[ 9.99773142e-01 -8.74498815e-04 -2.12814421e-02 -1.49987980e+00] [ 8.65303926e-04 9.99999528e-01 -4.41266047e-04 -1.83630030e-01] [ 2.12818179e-02 4.22751027e-04 9.99773427e-01 -3.08824309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.973133365 meters Centerline goodness : 0.179813 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.18, Z:-0.31 [[ 9.99743108e-01 6.48319837e-04 -2.26560687e-02 -1.49538338e+00] [-6.43477715e-04 9.99999769e-01 2.21012584e-04 -1.78830672e-01] [ 2.26562067e-02 -2.06377133e-04 9.99743294e-01 -3.09793356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.003133365 meters Centerline goodness : 0.186492 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-0.31 [[ 9.99736052e-01 7.32222926e-04 -2.29628114e-02 -1.49434542e+00] [-7.32962433e-04 9.99999731e-01 -2.37880406e-05 -1.77191488e-01] [ 2.29627878e-02 4.06126399e-05 9.99736320e-01 -3.10082522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.033133365 meters Centerline goodness : 0.176509 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-0.31 [[ 9.99731680e-01 7.10682734e-04 -2.31530233e-02 -1.49366624e+00] [-7.21174404e-04 9.99999641e-01 -4.44798085e-04 -1.75077771e-01] [ 2.31526988e-02 4.61376104e-04 9.99731834e-01 -3.10342972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.063133365 meters Centerline goodness : 0.186949 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:-0.31 [[ 9.99738281e-01 6.84273733e-04 -2.28670294e-02 -1.49428231e+00] [-7.03319343e-04 9.99999412e-01 -8.24853074e-04 -1.72372560e-01] [ 2.28664516e-02 8.40720019e-04 9.99738175e-01 -3.10497538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.093133365 meters Centerline goodness : 0.130559 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:-0.31 [[ 0.99972786 0.00446387 -0.02289704 -1.49431489] [-0.00441273 0.99998766 0.00228359 -0.16774071] [ 0.02290695 -0.00218193 0.99973522 -0.31040139] [ 0. 0. 0. 1. ]] SLAMing on 201.123133365 meters Centerline goodness : 0.088537 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99969579 0.00640101 -0.02381928 -1.45540268] [-0.00633163 0.99997549 0.0029872 -0.1623441 ] [ 0.02383782 -0.00283548 0.99971182 -0.30878134] [ 0. 0. 0. 1. ]] SLAMing on 201.153133365 meters Centerline goodness : 0.088537 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99969579 0.00640101 -0.02381928 -1.45540268] [-0.00633163 0.99997549 0.0029872 -0.1623441 ] [ 0.02383782 -0.00283548 0.99971182 -0.30878134] [ 0. 0. 0. 1. ]] SLAMing on 201.18313336499997 meters Centerline goodness : 0.140958 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99969958 0.00624651 -0.0237007 -1.45558231] [-0.00618768 0.99997759 0.00255452 -0.15987408] [ 0.02371613 -0.0024071 0.99971584 -0.30899613] [ 0. 0. 0. 1. ]] SLAMing on 201.21313336499998 meters Centerline goodness : 0.132510 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.9997028 0.00595882 -0.02363907 -1.45581942] [-0.0059134 0.99998053 0.00199091 -0.15763794] [ 0.02365047 -0.00185053 0.99971858 -0.3088978 ] [ 0. 0. 0. 1. ]] SLAMing on 201.24313336499998 meters Centerline goodness : 0.151866 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 9.99707232e-01 5.67735537e-03 -2.35205643e-02 -1.45641669e+00] [-5.64320028e-03 9.99982924e-01 1.51825844e-03 -1.55989090e-01] [ 2.35287823e-02 -1.38508269e-03 9.99722200e-01 -3.08553467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27313336499998 meters Centerline goodness : 0.141378 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.16, Z:-0.31 [[ 9.99661552e-01 3.82579695e-03 -2.57321727e-02 -1.50152060e+00] [-3.79270499e-03 9.99991917e-01 1.33469772e-03 -1.58473939e-01] [ 2.57370709e-02 -1.23665146e-03 9.99667982e-01 -3.08461101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30313336499998 meters Centerline goodness : 0.089266 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:-0.31 [[ 9.99701286e-01 3.83474518e-03 -2.41378024e-02 -1.45966297e+00] [-3.82168944e-03 9.99992525e-01 5.86991009e-04 -1.53580440e-01] [ 2.41398729e-02 -4.94568482e-04 9.99708468e-01 -3.08432108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33313336499998 meters Centerline goodness : 0.152050 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.15, Z:-0.31 [[ 9.99704465e-01 3.80333963e-03 -2.40107882e-02 -1.46009819e+00] [-3.78891275e-03 9.99992613e-01 6.46315390e-04 -1.54046902e-01] [ 2.40130690e-02 -5.55149599e-04 9.99711491e-01 -3.08233263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 201.39313336499998 meters Centerline goodness : 0.150738 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.15, Z:-0.31 [[ 9.99753667e-01 -5.71405903e-03 -2.14465587e-02 -1.44372345e+00] [ 5.74061589e-03 9.99982830e-01 1.17691900e-03 -1.50809031e-01] [ 2.14394655e-02 -1.29974554e-03 9.99769303e-01 -3.07949576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42313336499998 meters Centerline goodness : 0.149637 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:-0.31 [[ 9.99789351e-01 -1.02018663e-03 -2.04990815e-02 -1.46565927e+00] [ 9.85694240e-04 9.99998082e-01 -1.69266451e-03 -1.57177643e-01] [ 2.05007690e-02 1.67210213e-03 9.99788439e-01 -3.09052576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45313336499999 meters Centerline goodness : 0.179071 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:-0.31 [[ 0.99977651 -0.00411507 -0.02073647 -1.46443171] [ 0.00404132 0.99998536 -0.00359725 -0.16326764] [ 0.02075097 0.00351265 0.9997785 -0.31058852] [ 0. 0. 0. 1. ]] SLAMing on 201.483133365 meters Centerline goodness : 0.169564 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 0.99977066 -0.00380042 -0.02107578 -1.46325384] [ 0.00374484 0.99998941 -0.00267608 -0.16658259] [ 0.02108573 0.00259654 0.9997743 -0.31154339] [ 0. 0. 0. 1. ]] SLAMing on 201.513133365 meters Centerline goodness : 0.174618 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 0.99976513 -0.00354026 -0.02138092 -1.46218579] [ 0.00350118 0.99999213 -0.00186499 -0.1696952 ] [ 0.02138735 0.0017897 0.99976966 -0.3123703 ] [ 0. 0. 0. 1. ]] SLAMing on 201.543133365 meters Centerline goodness : 0.182146 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 9.99759118e-01 -3.48481623e-03 -2.16693968e-02 -1.46123286e+00] [ 3.45476620e-03 9.99993018e-01 -1.42403118e-03 -1.72138885e-01] [ 2.16742080e-02 1.34882546e-03 9.99764177e-01 -3.12923172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.573133365 meters Centerline goodness : 0.156022 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 9.99756323e-01 -3.47768615e-03 -2.17991026e-02 -1.46064758e+00] [ 3.45204479e-03 9.99993305e-01 -1.21377789e-03 -1.73481663e-01] [ 2.18031777e-02 1.13823064e-03 9.99761635e-01 -3.13388454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.603133365 meters Centerline goodness : 0.145355 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.17, Z:-0.31 [[ 9.99750205e-01 -3.32567243e-03 -2.21012823e-02 -1.45972852e+00] [ 3.30590977e-03 9.99994102e-01 -9.30662776e-04 -1.74777333e-01] [ 2.21042470e-02 8.57365457e-04 9.99755304e-01 -3.13666059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.633133365 meters Centerline goodness : 0.171221 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99761161e-01 -2.82423013e-03 -2.16713065e-02 -1.46079792e+00] [ 2.81732239e-03 9.99995970e-01 -3.49275251e-04 -1.76414629e-01] [ 2.16722057e-02 2.88136774e-04 9.99765089e-01 -3.13585108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.663133365 meters Centerline goodness : 0.089090 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99765439e-01 -2.68437004e-03 -2.14909419e-02 -1.46134646e+00] [ 2.67987567e-03 9.99996381e-01 -2.37925638e-04 -1.76529241e-01] [ 2.14915028e-02 1.80276777e-04 9.99769015e-01 -3.13427212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.693133365 meters Centerline goodness : 0.155357 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99767292e-01 -2.64461322e-03 -2.14095457e-02 -1.46146103e+00] [ 2.63995015e-03 9.99996485e-01 -2.46063745e-04 -1.76436867e-01] [ 2.14101212e-02 1.89486351e-04 9.99770759e-01 -3.13564554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.723133365 meters Centerline goodness : 0.152428 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99765611e-01 -2.51485880e-03 -2.15034521e-02 -1.46060236e+00] [ 2.50975763e-03 9.99996816e-01 -2.64209825e-04 -1.75886782e-01] [ 2.15040481e-02 2.10179444e-04 9.99768739e-01 -3.14623657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.753133365 meters Centerline goodness : 0.151009 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99764981e-01 -2.47802807e-03 -2.15370179e-02 -1.46029935e+00] [ 2.47347390e-03 9.99996913e-01 -2.38093919e-04 -1.75843027e-01] [ 2.15375415e-02 1.84766711e-04 9.99768023e-01 -3.14999349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.783133365 meters Centerline goodness : 0.089068 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99762444e-01 -2.49119146e-03 -2.16529542e-02 -1.45980495e+00] [ 2.48663902e-03 9.99996880e-01 -2.37167614e-04 -1.75976766e-01] [ 2.16534775e-02 1.83268192e-04 9.99765519e-01 -3.15320468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.813133365 meters Centerline goodness : 0.154971 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99759680e-01 -2.46447386e-03 -2.17832367e-02 -1.45952144e+00] [ 2.46233387e-03 9.99996961e-01 -1.25061512e-04 -1.76747877e-01] [ 2.17834787e-02 7.13938558e-05 9.99762709e-01 -3.15290164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.843133365 meters Centerline goodness : 0.157363 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99755033e-01 -2.49225367e-03 -2.19923444e-02 -1.45907761e+00] [ 2.49157476e-03 9.99996894e-01 -5.82712115e-05 -1.77469296e-01] [ 2.19924213e-02 3.46136681e-06 9.99758137e-01 -3.15224321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.873133365 meters Centerline goodness : 0.154583 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.32 [[ 9.99753480e-01 -2.46597549e-03 -2.20657533e-02 -1.45899426e+00] [ 2.46877837e-03 9.99996948e-01 9.97840249e-05 -1.78413220e-01] [ 2.20654399e-02 -1.54234881e-04 9.99756517e-01 -3.15132935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.903133365 meters Centerline goodness : 0.183651 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99769173e-01 -2.71614703e-03 -2.13125003e-02 -1.46127088e+00] [ 2.72880364e-03 9.99996117e-01 5.64798758e-04 -1.80679473e-01] [ 2.13108835e-02 -6.22826016e-04 9.99772703e-01 -3.14951183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93313336499997 meters Centerline goodness : 0.167920 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99779497e-01 -2.96603037e-03 -2.07884695e-02 -1.46293895e+00] [ 2.98054158e-03 9.99995336e-01 6.67092344e-04 -1.81847879e-01] [ 2.07863939e-02 -7.28906146e-04 9.99783674e-01 -3.14570634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96313336499998 meters Centerline goodness : 0.154860 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99788543e-01 -3.20206586e-03 -2.03129771e-02 -1.46431939e+00] [ 3.21904406e-03 9.99994496e-01 8.03187514e-04 -1.83061755e-01] [ 2.03102935e-02 -8.68406042e-04 9.99793348e-01 -3.14483331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99313336499998 meters Centerline goodness : 0.151407 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.18, Z:-0.31 [[ 9.99788844e-01 -3.20617992e-03 -2.02974710e-02 -1.46447209e+00] [ 3.22681497e-03 9.99994310e-01 9.83961566e-04 -1.84478791e-01] [ 2.02942007e-02 -1.04924998e-03 9.99793501e-01 -3.14292141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02313336499998 meters Centerline goodness : 0.151696 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 9.99794256e-01 -3.15710190e-03 -2.00369150e-02 -1.46512060e+00] [ 3.18597749e-03 9.99993932e-01 1.40936142e-03 -1.85933976e-01] [ 2.00323439e-02 -1.47290861e-03 9.99798248e-01 -3.14511446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05313336499998 meters Centerline goodness : 0.147024 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99979981 -0.0031415 -0.01976031 -1.46598766] [ 0.00317782 0.99999332 0.00180718 -0.18761077] [ 0.0197545 -0.00186962 0.99980311 -0.31448076] [ 0. 0. 0. 1. ]] SLAMing on 202.08313336499998 meters Centerline goodness : 0.152137 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99980584 -0.00314863 -0.01945188 -1.46700336] [ 0.0031962 0.99999198 0.00241526 -0.1906601 ] [ 0.01944412 -0.00247697 0.99980788 -0.31440191] [ 0. 0. 0. 1. ]] SLAMing on 202.11313336499998 meters Centerline goodness : 0.190929 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99980584 -0.00319054 -0.01944475 -1.46704265] [ 0.003242 0.99999133 0.00261513 -0.19202168] [ 0.01943624 -0.00267766 0.99980751 -0.31448726] [ 0. 0. 0. 1. ]] SLAMing on 202.14313336499998 meters Centerline goodness : 0.141004 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.19, Z:-0.31 [[ 0.99980492 -0.00315348 -0.01949801 -1.46693038] [ 0.00320976 0.99999077 0.00285573 -0.19372867] [ 0.01948883 -0.00291775 0.99980582 -0.31446862] [ 0. 0. 0. 1. ]] SLAMing on 202.17313336499998 meters Centerline goodness : 0.156898 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:-0.31 [[ 9.99822923e-01 4.49568303e-03 -1.82732712e-02 -1.44654968e+00] [-4.48396059e-03 9.99989714e-01 6.82428582e-04 -1.96718875e-01] [ 1.82761512e-02 -6.00371111e-04 9.99832797e-01 -3.14174305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20313336499999 meters Centerline goodness : 0.155248 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:-0.31 [[ 9.99825175e-01 4.59898026e-03 -1.81236992e-02 -1.44717051e+00] [-4.58331848e-03 9.99989086e-01 9.05602741e-04 -1.97753752e-01] [ 1.81276662e-02 -8.22377734e-04 9.99835342e-01 -3.13748130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.233133365 meters Centerline goodness : 0.160623 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.20, Z:-0.31 [[ 9.99826747e-01 4.68161168e-03 -1.80155147e-02 -1.44748461e+00] [-4.66263701e-03 9.99988530e-01 1.09510031e-03 -1.98677556e-01] [ 1.80204349e-02 -1.01091078e-03 9.99837108e-01 -3.13630783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.263133365 meters Centerline goodness : 0.157898 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.9998438 -0.00245964 -0.01750193 -1.42878728] [ 0.00249689 0.99999466 0.00210697 -0.19690307] [ 0.01749665 -0.00215034 0.99984461 -0.3122373 ] [ 0. 0. 0. 1. ]] SLAMing on 202.293133365 meters Centerline goodness : 0.152163 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99984581 -0.00240128 -0.01739529 -1.42901398] [ 0.00244082 0.99999449 0.00225198 -0.19771726] [ 0.01738978 -0.00229409 0.99984615 -0.31228788] [ 0. 0. 0. 1. ]] SLAMing on 202.323133365 meters Centerline goodness : 0.151638 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99984543 -0.0023338 -0.01742605 -1.4287796 ] [ 0.00237599 0.9999943 0.00240042 -0.19849164] [ 0.01742035 -0.00244145 0.99984527 -0.31251311] [ 0. 0. 0. 1. ]] SLAMing on 202.353133365 meters Centerline goodness : 0.151008 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99984552 -0.00229154 -0.01742657 -1.42846708] [ 0.00233527 0.99999418 0.00248899 -0.19901225] [ 0.01742076 -0.0025293 0.99984505 -0.31299695] [ 0. 0. 0. 1. ]] SLAMing on 202.383133365 meters Centerline goodness : 0.197349 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-0.31 [[ 9.99848333e-01 5.68526986e-03 -1.64617194e-02 -1.40735366e+00] [-5.67820943e-03 9.99983766e-01 4.75608619e-04 -2.01325739e-01] [ 1.64641561e-02 -3.82063395e-04 9.99864384e-01 -3.13188457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.413133365 meters Centerline goodness : 0.157167 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-0.31 [[ 9.99848332e-01 5.75881185e-03 -1.64362311e-02 -1.40752477e+00] [-5.74866046e-03 9.99983255e-01 6.64802802e-04 -2.02509126e-01] [ 1.64397844e-02 -5.70215661e-04 9.99864695e-01 -3.12988922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.443133365 meters Centerline goodness : 0.178155 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.20, Z:-0.31 [[ 0.99985205 -0.00289914 -0.01695518 -1.42863298] [ 0.0029457 0.99999196 0.00272175 -0.2036063 ] [ 0.01694716 -0.00277129 0.99985255 -0.31296151] [ 0. 0. 0. 1. ]] SLAMing on 202.473133365 meters Centerline goodness : 0.193612 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-0.31 [[ 0.99988521 -0.00224084 -0.01498452 -1.3864849 ] [ 0.00228958 0.99999214 0.00323644 -0.20411761] [ 0.01497715 -0.00327038 0.99988249 -0.31369383] [ 0. 0. 0. 1. ]] SLAMing on 202.503133365 meters Centerline goodness : 0.151307 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.21, Z:-0.31 [[ 0.99984333 -0.00301782 -0.01744132 -1.42796246] [ 0.00307802 0.9999894 0.00342571 -0.20956111] [ 0.0174308 -0.00347886 0.99984202 -0.31331951] [ 0. 0. 0. 1. ]] SLAMing on 202.533133365 meters Centerline goodness : 0.195293 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.21, Z:-0.31 [[ 0.99982941 -0.00318951 -0.01819257 -1.42567517] [ 0.00325741 0.99998784 0.00370371 -0.213417 ] [ 0.01818053 -0.00376234 0.99982764 -0.3139552 ] [ 0. 0. 0. 1. ]] SLAMing on 202.563133365 meters Centerline goodness : 0.162883 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.21, Z:-0.31 [[ 0.99982713 -0.00312284 -0.01832928 -1.42531256] [ 0.00319565 0.99998711 0.0039445 -0.21492354] [ 0.01831673 -0.00400239 0.99982422 -0.31395311] [ 0. 0. 0. 1. ]] SLAMing on 202.593133365 meters Centerline goodness : 0.194390 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.22, Z:-0.31 [[ 0.99982588 -0.00299039 -0.01841919 -1.4251224 ] [ 0.00306899 0.9999863 0.00424034 -0.2162921 ] [ 0.01840626 -0.00429613 0.99982136 -0.31392513] [ 0. 0. 0. 1. ]] SLAMing on 202.623133365 meters Centerline goodness : 0.161493 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-0.31 [[ 0.99982425 -0.00290124 -0.01852163 -1.42472941] [ 0.00298457 0.99998554 0.00447301 -0.21745042] [ 0.01850839 -0.0045275 0.99981845 -0.31413745] [ 0. 0. 0. 1. ]] SLAMing on 202.653133365 meters Centerline goodness : 0.188929 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-0.31 [[ 0.99981851 -0.00286229 -0.01883487 -1.4237917 ] [ 0.00295046 0.99998481 0.00465525 -0.21873713] [ 0.01882126 -0.00470997 0.99981177 -0.31444088] [ 0. 0. 0. 1. ]] SLAMing on 202.68313336499997 meters Centerline goodness : 0.160448 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.22, Z:-0.31 [[ 0.99979652 0.00459204 -0.01964246 -1.40188116] [-0.00455057 0.99998732 0.00215527 -0.22258008] [ 0.01965211 -0.00206544 0.99980475 -0.31412244] [ 0. 0. 0. 1. ]] SLAMing on 202.71313336499998 meters Centerline goodness : 0.151560 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.9997822 0.00449668 -0.02037995 -1.39960735] [-0.00444585 0.9999869 0.00253853 -0.22681129] [ 0.0203911 -0.00244737 0.99978908 -0.31481406] [ 0. 0. 0. 1. ]] SLAMing on 202.74313336499998 meters Centerline goodness : 0.156516 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.99977922 0.00455665 -0.02051229 -1.39925899] [-0.00449891 0.99998579 0.00286061 -0.22901255] [ 0.02052503 -0.0027677 0.99978551 -0.31482265] [ 0. 0. 0. 1. ]] SLAMing on 202.77313336499998 meters Centerline goodness : 0.229923 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.99977998 0.00470305 -0.02044178 -1.39964268] [-0.00463722 0.99998391 0.00326671 -0.23127802] [ 0.02045681 -0.0031712 0.99978571 -0.31445949] [ 0. 0. 0. 1. ]] SLAMing on 202.80313336499998 meters Centerline goodness : 0.150757 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.23, Z:-0.31 [[ 0.99978213 0.00487797 -0.02029511 -1.40037881] [-0.00480353 0.99998156 0.00371476 -0.23364806] [ 0.02031286 -0.00361646 0.99978713 -0.31381864] [ 0. 0. 0. 1. ]] SLAMing on 202.83313336499998 meters Centerline goodness : 0.158141 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.23, Z:-0.31 [[ 0.99984592 -0.00195984 -0.0174443 -1.38183655] [ 0.00205211 0.99998399 0.00527294 -0.2346959 ] [ 0.01743369 -0.00530792 0.99983393 -0.3125711 ] [ 0. 0. 0. 1. ]] SLAMing on 202.86313336499998 meters Centerline goodness : 0.158735 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.31 [[ 0.99985065 -0.0017799 -0.01719057 -1.38275442] [ 0.00187747 0.99998221 0.00566151 -0.23654673] [ 0.01718018 -0.00569294 0.9998362 -0.31207142] [ 0. 0. 0. 1. ]] SLAMing on 202.89313336499998 meters Centerline goodness : 0.149037 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.31 [[ 0.99985054 -0.00165808 -0.01720905 -1.38284573] [ 0.00176094 0.99998067 0.00596319 -0.23788516] [ 0.01719883 -0.0059926 0.99983413 -0.31182876] [ 0. 0. 0. 1. ]] SLAMing on 202.92313336499998 meters Centerline goodness : 0.101260 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.24, Z:-0.31 [[ 0.99985107 -0.00157374 -0.01718618 -1.38276337] [ 0.00168009 0.99997952 0.00617535 -0.23910118] [ 0.01717611 -0.0062033 0.99983324 -0.31198092] [ 0. 0. 0. 1. ]] SLAMing on 202.95313336499999 meters Centerline goodness : 0.142777 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.24, Z:-0.31 [[ 0.99983776 0.00727459 -0.01647845 -1.36315793] [-0.00719712 0.99996279 0.00475571 -0.24311808] [ 0.01651243 -0.00463634 0.99985291 -0.31100133] [ 0. 0. 0. 1. ]] SLAMing on 202.983133365 meters Centerline goodness : 0.239958 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983824 0.00738365 -0.01640046 -1.36376253] [-0.00730194 0.99996066 0.00503646 -0.24503068] [ 0.016437 -0.00491589 0.99985282 -0.31034432] [ 0. 0. 0. 1. ]] SLAMing on 203.013133365 meters Centerline goodness : 0.106077 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983812 0.00741979 -0.0163917 -1.36387782] [-0.00733624 0.99995982 0.00515119 -0.2458132 ] [ 0.01642926 -0.0050301 0.99985238 -0.3101989 ] [ 0. 0. 0. 1. ]] SLAMing on 203.043133365 meters Centerline goodness : 0.113253 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983827 0.00741078 -0.01638619 -1.36372776] [-0.00732694 0.99995979 0.00517063 -0.24609737] [ 0.01642385 -0.00504973 0.99985237 -0.3104571 ] [ 0. 0. 0. 1. ]] SLAMing on 203.073133365 meters Centerline goodness : 0.113253 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983827 0.00741078 -0.01638619 -1.36372776] [-0.00732694 0.99995979 0.00517063 -0.24609737] [ 0.01642385 -0.00504973 0.99985237 -0.3104571 ] [ 0. 0. 0. 1. ]] SLAMing on 203.103133365 meters Centerline goodness : 0.242063 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.9998367 0.00745069 -0.01646401 -1.3634238 ] [-0.00736479 0.99995898 0.00527182 -0.24665751] [ 0.01650261 -0.0051497 0.99985056 -0.31063026] [ 0. 0. 0. 1. ]] SLAMing on 203.133133365 meters Centerline goodness : 0.098529 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.25, Z:-0.31 [[ 0.99983789 0.00744157 -0.01639566 -1.36363622] [-0.00735613 0.99995908 0.0052651 -0.24669862] [ 0.01643417 -0.00514364 0.99985172 -0.31053157] [ 0. 0. 0. 1. ]] SLAMing on 203.163133365 meters Centerline goodness : 0.116990 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.24, Z:-0.31 [[ 9.99849021e-01 8.96004541e-04 -1.73531922e-02 -1.34525754e+00] [-7.94304091e-04 9.99982476e-01 5.86662504e-03 -2.41513294e-01] [ 1.73581446e-02 -5.85195559e-03 9.99832211e-01 -3.08714529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.193133365 meters Centerline goodness : 0.096449 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.24, Z:-0.31 [[ 9.99849657e-01 8.92184612e-04 -1.73166513e-02 -1.34532555e+00] [-7.90458930e-04 9.99982398e-01 5.88039892e-03 -2.41682633e-01] [ 1.73215929e-02 -5.86582675e-03 9.99832763e-01 -3.08749759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.223133365 meters Centerline goodness : 0.141313 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99847586e-01 8.11229529e-04 -1.74397803e-02 -1.34482664e+00] [-7.10698735e-04 9.99983102e-01 5.76987804e-03 -2.41385649e-01] [ 1.74441663e-02 -5.75660420e-03 9.99831267e-01 -3.09045347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.253133365 meters Centerline goodness : 0.185626 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99843980e-01 7.57383500e-04 -1.76477222e-02 -1.34404843e+00] [-6.57278099e-04 9.99983667e-01 5.67753606e-03 -2.41057240e-01] [ 1.76517340e-02 -5.66505079e-03 9.99828147e-01 -3.09499458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.283133365 meters Centerline goodness : 0.096616 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99834952e-01 6.49063840e-04 -1.81562047e-02 -1.34227678e+00] [-5.50102120e-04 9.99984970e-01 5.45503638e-03 -2.40158599e-01] [ 1.81594725e-02 -5.44414827e-03 9.99820281e-01 -3.10423408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.313133365 meters Centerline goodness : 0.105189 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99834712e-01 6.03354150e-04 -1.81709623e-02 -1.34214716e+00] [-5.05566114e-04 9.99985369e-01 5.38566812e-03 -2.39867312e-01] [ 1.81739459e-02 -5.37559131e-03 9.99820389e-01 -3.10585636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.343133365 meters Centerline goodness : 0.114500 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99837082e-01 6.12474695e-04 -1.80398096e-02 -1.34264580e+00] [-5.14664166e-04 9.99985146e-01 5.42607056e-03 -2.40002024e-01] [ 1.80428650e-02 -5.41590211e-03 9.99822546e-01 -3.10345741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 203.403133365 meters Centerline goodness : 0.239553 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99840675e-01 6.52378769e-04 -1.78381394e-02 -1.34318256e+00] [-5.51625905e-04 9.99983872e-01 5.65250827e-03 -2.41192396e-01] [ 1.78415393e-02 -5.64176770e-03 9.99824910e-01 -3.10238038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43313336499997 meters Centerline goodness : 0.242042 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99837966e-01 5.45527763e-04 -1.79929076e-02 -1.34267524e+00] [-4.45307301e-04 9.99984369e-01 5.57353440e-03 -2.41490180e-01] [ 1.79956669e-02 -5.56461893e-03 9.99822580e-01 -3.10387162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46313336499998 meters Centerline goodness : 0.236466 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99834702e-01 4.29087005e-04 -1.81764567e-02 -1.34223151e+00] [-3.29558614e-04 9.99984940e-01 5.47831764e-03 -2.41698076e-01] [ 1.81785336e-02 -5.47142188e-03 9.99819786e-01 -3.10370590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49313336499998 meters Centerline goodness : 0.096850 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99830122e-01 4.10437671e-04 -1.84271215e-02 -1.34147529e+00] [-3.10516930e-04 9.99985236e-01 5.42501608e-03 -2.41299836e-01] [ 1.84290761e-02 -5.41837256e-03 9.99815488e-01 -3.10663091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52313336499998 meters Centerline goodness : 0.103480 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99831776e-01 4.68166565e-04 -1.83357516e-02 -1.34150585e+00] [-3.68153099e-04 9.99985040e-01 5.45755616e-03 -2.40980701e-01] [ 1.83380323e-02 -5.44988770e-03 9.99816991e-01 -3.10993565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55313336499998 meters Centerline goodness : 0.145176 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99982244 0.00849633 -0.01681968 -1.32079891] [-0.00844206 0.99995894 0.00329472 -0.24198833] [ 0.01684698 -0.00315214 0.99985311 -0.31148245] [ 0. 0. 0. 1. ]] SLAMing on 203.58313336499998 meters Centerline goodness : 0.157832 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99982299 0.00838571 -0.01684231 -1.32094375] [-0.0083319 0.99995997 0.00326215 -0.24260603] [ 0.01686899 -0.00312124 0.99985284 -0.31118574] [ 0. 0. 0. 1. ]] SLAMing on 203.61313336499998 meters Centerline goodness : 0.104195 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99982124 0.00832249 -0.01697688 -1.32101215] [-0.00826722 0.99996031 0.00332272 -0.24368072] [ 0.01700386 -0.00318177 0.99985036 -0.31059841] [ 0. 0. 0. 1. ]] SLAMing on 203.64313336499998 meters Centerline goodness : 0.233650 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99981753 0.00827975 -0.01721502 -1.32047709] [-0.0082222 0.99996038 0.00341132 -0.2446644 ] [ 0.01724258 -0.00326915 0.99984599 -0.31058837] [ 0. 0. 0. 1. ]] SLAMing on 203.67313336499998 meters Centerline goodness : 0.123959 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99981271 0.00828008 -0.01749268 -1.31962964] [-0.00821894 0.99995987 0.00356412 -0.24582239] [ 0.01752149 -0.00341968 0.99984064 -0.31081563] [ 0. 0. 0. 1. ]] SLAMing on 203.70313336499999 meters Centerline goodness : 0.238831 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99981394 0.00832904 -0.01739863 -1.32005601] [-0.00826622 0.99995907 0.00367933 -0.24638687] [ 0.01742856 -0.00353483 0.99984186 -0.31051969] [ 0. 0. 0. 1. ]] SLAMing on 203.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 203.763133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 203.793133365 meters Centerline goodness : 0.123336 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99981932 0.00848902 -0.01700765 -1.32138788] [-0.00842479 0.99995712 0.00384476 -0.24681951] [ 0.01703956 -0.00370077 0.99984797 -0.30985568] [ 0. 0. 0. 1. ]] SLAMing on 203.823133365 meters Centerline goodness : 0.210482 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.24, Z:-0.31 [[ 9.99833167e-01 -8.81233989e-04 -1.82445029e-02 -1.33974593e+00] [ 9.71800196e-04 9.99987248e-01 4.95575665e-03 -2.43167108e-01] [ 1.82399030e-02 -4.97265988e-03 9.99821273e-01 -3.11136014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.853133365 meters Centerline goodness : 0.171050 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.24, Z:-0.31 [[ 0.99980601 0.00711814 -0.01836476 -1.31788606] [-0.00707538 0.99997211 0.00239225 -0.24468511] [ 0.01838128 -0.00226184 0.99982849 -0.31079648] [ 0. 0. 0. 1. ]] SLAMing on 203.883133365 meters Centerline goodness : 0.147877 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99980462 0.00717102 -0.01841996 -1.31791908] [-0.00712602 0.99997147 0.00250737 -0.24523917] [ 0.01843742 -0.00237562 0.99982719 -0.31056548] [ 0. 0. 0. 1. ]] SLAMing on 203.913133365 meters Centerline goodness : 0.240066 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99980364 0.00725019 -0.01844225 -1.31797962] [-0.00720096 0.99997033 0.00273461 -0.24634891] [ 0.01846153 -0.00260127 0.99982619 -0.31036811] [ 0. 0. 0. 1. ]] SLAMing on 203.943133365 meters Centerline goodness : 0.098706 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 0.99980252 0.00731702 -0.01847671 -1.31798095] [-0.00726243 0.99996907 0.00302001 -0.24803008] [ 0.01849823 -0.00288522 0.99982473 -0.31024894] [ 0. 0. 0. 1. ]] SLAMing on 203.973133365 meters Centerline goodness : 0.097257 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 9.99826315e-01 3.60750831e-03 -1.82845770e-02 -1.31810524e+00] [-3.61253677e-03 9.99993445e-01 -2.41988716e-04 -2.50649120e-01] [ 1.82835842e-02 3.08000393e-04 9.99832794e-01 -3.10640219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.003133365 meters Centerline goodness : 0.243574 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.25, Z:-0.31 [[ 9.99822127e-01 3.68571474e-03 -1.84967472e-02 -1.31789965e+00] [-3.68264460e-03 9.99993199e-01 2.00041428e-04 -2.53360866e-01] [ 1.84973587e-02 -1.31888900e-04 9.99828901e-01 -3.10182322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.033133365 meters Centerline goodness : 0.190110 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.26, Z:-0.31 [[ 9.99817313e-01 3.77473774e-03 -1.87374323e-02 -1.31744384e+00] [-3.76262034e-03 9.99992689e-01 6.81906633e-04 -2.56148180e-01] [ 1.87398693e-02 -6.11280214e-04 9.99824206e-01 -3.09977618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.063133365 meters Centerline goodness : 0.196320 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.25, Z:-0.31 [[ 0.9998216 -0.00315965 -0.01862193 -1.2973401 ] [ 0.00319422 0.99999323 0.00182694 -0.25477108] [ 0.01861603 -0.0018861 0.99982493 -0.30865372] [ 0. 0. 0. 1. ]] SLAMing on 204.093133365 meters Centerline goodness : 0.096934 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.27, Z:-0.31 [[ 0.99977994 -0.00589554 -0.02013221 -1.3397681 ] [ 0.00592726 0.99998128 0.00151609 -0.2651063 ] [ 0.0201229 -0.00163508 0.99979618 -0.30728381] [ 0. 0. 0. 1. ]] SLAMing on 204.123133365 meters Centerline goodness : 0.231820 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.27, Z:-0.31 [[ 9.99806864e-01 1.55160624e-03 -1.95915151e-02 -1.31932560e+00] [-1.57574195e-03 9.99998018e-01 -1.21656987e-03 -2.70152039e-01] [ 1.95895887e-02 1.24720607e-03 9.99807328e-01 -3.06871338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.153133365 meters Centerline goodness : 0.257524 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.27, Z:-0.31 [[ 9.99801157e-01 1.59999866e-03 -1.98767848e-02 -1.31860700e+00] [-1.61756621e-03 9.99998315e-01 -8.67775973e-04 -2.72554017e-01] [ 1.98753628e-02 8.99755437e-04 9.99802061e-01 -3.06869760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18313336499997 meters Centerline goodness : 0.230235 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.27, Z:-0.31 [[ 9.99798896e-01 1.73702454e-03 -1.99787689e-02 -1.31842371e+00] [-1.74654297e-03 9.99998369e-01 -4.58988395e-04 -2.74768990e-01] [ 1.99779391e-02 4.93789869e-04 9.99800299e-01 -3.06777676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21313336499998 meters Centerline goodness : 0.237305 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.28, Z:-0.31 [[ 9.99799485e-01 1.84892601e-03 -1.99392028e-02 -1.31871227e+00] [-1.85085392e-03 9.99998284e-01 -7.82354235e-05 -2.76817686e-01] [ 1.99390239e-02 1.15124288e-04 9.99801191e-01 -3.06473479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24313336499998 meters Centerline goodness : 0.201170 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.28, Z:-0.31 [[ 9.99799471e-01 1.94797386e-03 -1.99304654e-02 -1.31909369e+00] [-1.94219071e-03 9.99998066e-01 3.09518478e-04 -2.78963444e-01] [ 1.99310298e-02 -2.70747645e-04 9.99801321e-01 -3.05911382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27313336499998 meters Centerline goodness : 0.132721 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.28, Z:-0.31 [[ 9.99805950e-01 1.77998304e-03 -1.96187380e-02 -1.32034047e+00] [-1.76438454e-03 9.99998114e-01 8.12361833e-04 -2.82901926e-01] [ 1.96201469e-02 -7.77589196e-04 9.99807204e-01 -3.05077953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30313336499998 meters Centerline goodness : 0.233474 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.29, Z:-0.30 [[ 9.99808507e-01 1.76504693e-03 -1.94893212e-02 -1.32105453e+00] [-1.74282315e-03 9.99997812e-01 1.15723176e-03 -2.85133719e-01] [ 1.94913212e-02 -1.12304372e-03 9.99809395e-01 -3.04448306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33313336499998 meters Centerline goodness : 0.231140 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.28, Z:-0.30 [[ 0.99981033 -0.00559274 -0.01865531 -1.30103051] [ 0.00563277 0.99998194 0.00209381 -0.28391116] [ 0.01864327 -0.00219849 0.99982378 -0.30316038] [ 0. 0. 0. 1. ]] SLAMing on 204.36313336499998 meters Centerline goodness : 0.106702 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.30 [[ 0.99980492 -0.00569923 -0.01891147 -1.30064441] [ 0.00574535 0.99998065 0.00238482 -0.28638276] [ 0.01889751 -0.00249301 0.99981832 -0.302811 ] [ 0. 0. 0. 1. ]] SLAMing on 204.39313336499998 meters Centerline goodness : 0.233661 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.30 [[ 0.99979717 -0.00582998 -0.01927765 -1.29987027] [ 0.00588105 0.99997934 0.00259353 -0.2884284 ] [ 0.01926213 -0.00270638 0.99981081 -0.30269193] [ 0. 0. 0. 1. ]] SLAMing on 204.42313336499998 meters Centerline goodness : 0.107167 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.29, Z:-0.30 [[ 0.99979228 -0.00581192 -0.01953524 -1.29933484] [ 0.00586996 0.99997852 0.00291498 -0.29040759] [ 0.01951788 -0.00302905 0.99980492 -0.30260597] [ 0. 0. 0. 1. ]] SLAMing on 204.45313336499999 meters Centerline goodness : 0.106278 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.30, Z:-0.30 [[ 9.99833334e-01 1.90597650e-03 -1.81568359e-02 -1.27979736e+00] [-1.88959722e-03 9.99997792e-01 9.19213347e-04 -2.96350539e-01] [ 1.81585478e-02 -8.84751039e-04 9.99834729e-01 -3.02613311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.483133365 meters Centerline goodness : 0.154446 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.30, Z:-0.30 [[ 9.99833168e-01 1.93434164e-03 -1.81629771e-02 -1.27974836e+00] [-1.91483478e-03 9.99997571e-01 1.09131988e-03 -2.97520210e-01] [ 1.81650440e-02 -1.05635872e-03 9.99834444e-01 -3.02610266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.513133365 meters Centerline goodness : 0.235214 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979807 -0.00466104 -0.01954726 -1.26015168] [ 0.00469057 0.99998793 0.00146489 -0.29398367] [ 0.0195402 -0.00155628 0.99980786 -0.30124882] [ 0. 0. 0. 1. ]] SLAMing on 204.543133365 meters Centerline goodness : 0.197206 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.9997937 -0.00464319 -0.0197737 -1.25939469] [ 0.00467415 0.99998792 0.00151963 -0.29447237] [ 0.0197664 -0.00161174 0.99980333 -0.3015165 ] [ 0. 0. 0. 1. ]] SLAMing on 204.573133365 meters Centerline goodness : 0.098698 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979222 -0.00454738 -0.01987038 -1.2590548 ] [ 0.00457972 0.99998826 0.00158273 -0.29439112] [ 0.01986295 -0.0016734 0.99980131 -0.30166542] [ 0. 0. 0. 1. ]] SLAMing on 204.603133365 meters Centerline goodness : 0.101723 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979429 -0.00441573 -0.01979605 -1.25896926] [ 0.00444817 0.99998884 0.00159474 -0.29371069] [ 0.01978878 -0.00168246 0.99980277 -0.30202307] [ 0. 0. 0. 1. ]] SLAMing on 204.633133365 meters Centerline goodness : 0.233560 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.99979183 -0.00423247 -0.01995948 -1.25824005] [ 0.00426184 0.9999899 0.0014295 -0.29225562] [ 0.01995323 -0.00151427 0.99979977 -0.3025018 ] [ 0. 0. 0. 1. ]] SLAMing on 204.663133365 meters Centerline goodness : 0.196400 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99806045e-01 4.20403558e-03 -1.92405626e-02 -1.23749684e+00] [-4.22159008e-03 9.99990709e-01 -8.71843582e-04 -2.93113635e-01] [ 1.92367186e-02 9.52900252e-04 9.99814503e-01 -3.02743107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.693133365 meters Centerline goodness : 0.239527 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99806749e-01 4.18895602e-03 -1.92072088e-02 -1.23739232e+00] [-4.21036249e-03 9.99990559e-01 -1.07419877e-03 -2.91811227e-01] [ 1.92025277e-02 1.15486049e-03 9.99814947e-01 -3.03011891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.723133365 meters Centerline goodness : 0.107572 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 0.9997951 -0.00381042 -0.0198807 -1.25750737] [ 0.00384016 0.99999156 0.00145808 -0.2881719 ] [ 0.01987498 -0.00153412 0.9998013 -0.30343034] [ 0. 0. 0. 1. ]] SLAMing on 204.753133365 meters Centerline goodness : 0.174471 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99806631e-01 5.29319179e-03 -1.89389232e-02 -1.23817877e+00] [-5.29246388e-03 9.99985991e-01 8.85559882e-05 -2.90470079e-01] [ 1.89391267e-02 1.16947028e-05 9.99820639e-01 -3.03041506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.783133365 meters Centerline goodness : 0.178240 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.29, Z:-0.30 [[ 9.99803401e-01 5.19740621e-03 -1.91349443e-02 -1.23741816e+00] [-5.19933020e-03 9.99986482e-01 -5.08003675e-05 -2.89979384e-01] [ 1.91344216e-02 1.50279274e-04 9.99816909e-01 -3.03512172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.813133365 meters Centerline goodness : 0.226499 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.29, Z:-0.30 [[ 9.99785876e-01 4.88354087e-03 -2.01085190e-02 -1.23453479e+00] [-4.89068453e-03 9.99987994e-01 -3.06093247e-04 -2.89501859e-01] [ 2.01067828e-02 4.04372128e-04 9.99797756e-01 -3.04465642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.843133365 meters Centerline goodness : 0.234871 Centerline is valid? [False, False] Translation: X:-1.21, Y:-0.29, Z:-0.30 [[ 9.99775620e-01 -1.84612512e-03 -2.11021526e-02 -1.21472611e+00] [ 1.85544397e-03 9.99998190e-01 4.22036177e-04 -2.85420055e-01] [ 2.11013353e-02 -4.61095342e-04 9.99777236e-01 -3.02702261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.873133365 meters Centerline goodness : 0.106824 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 9.99724187e-01 -4.68169922e-03 -2.30137060e-02 -1.25993436e+00] [ 4.70264035e-03 9.99988576e-01 8.55905942e-04 -2.87972385e-01] [ 2.30094360e-02 -9.63895055e-04 9.99734783e-01 -3.01425944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.903133365 meters Centerline goodness : 0.123506 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.29, Z:-0.30 [[ 9.99727603e-01 -4.69234754e-03 -2.28626615e-02 -1.26085413e+00] [ 4.71606399e-03 9.99988396e-01 9.83536207e-04 -2.88741362e-01] [ 2.28577811e-02 -1.09109007e-03 9.99738131e-01 -3.00623497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93313336499997 meters Centerline goodness : 0.230439 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99796019e-01 -3.39473293e-03 -1.99096843e-02 -1.22129475e+00] [ 3.39194395e-03 9.99994232e-01 -1.73849705e-04 -2.87432841e-01] [ 1.99101597e-02 1.06281710e-04 9.99801767e-01 -2.99434276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96313336499998 meters Centerline goodness : 0.230439 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99796019e-01 -3.39473293e-03 -1.99096843e-02 -1.22129475e+00] [ 3.39194395e-03 9.99994232e-01 -1.73849705e-04 -2.87432841e-01] [ 1.99101597e-02 1.06281710e-04 9.99801767e-01 -2.99434276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99313336499998 meters Centerline goodness : 0.240417 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99800761e-01 -3.34226387e-03 -1.96791288e-02 -1.22232560e+00] [ 3.34222349e-03 9.99994414e-01 -3.49411660e-05 -2.87832586e-01] [ 1.96791356e-02 -3.08378422e-05 9.99806347e-01 -2.98789681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02313336499998 meters Centerline goodness : 0.235345 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99807159e-01 -3.47846570e-03 -1.93272954e-02 -1.22366921e+00] [ 3.48229596e-03 9.99993923e-01 1.64527102e-04 -2.89342860e-01] [ 1.93266057e-02 -2.31798737e-04 9.99813197e-01 -2.98018727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05313336499998 meters Centerline goodness : 0.106550 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.29, Z:-0.30 [[ 9.99809936e-01 -3.46063993e-03 -1.91863371e-02 -1.22450705e+00] [ 3.46706471e-03 9.99993944e-01 3.01609210e-04 -2.90102621e-01] [ 1.91851771e-02 -3.68072158e-04 9.99815880e-01 -2.97328523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08313336499998 meters Centerline goodness : 0.110291 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.30, Z:-0.30 [[ 9.99835330e-01 3.27113648e-03 -1.78497233e-02 -1.24514213e+00] [-3.27530567e-03 9.99994615e-01 -2.04342918e-04 -2.95240602e-01] [ 1.78489588e-02 2.62772569e-04 9.99840660e-01 -2.98320244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11313336499998 meters Centerline goodness : 0.095507 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 0.99986778 0.00435087 -0.01566802 -1.20370159] [-0.00437849 0.99998892 -0.0017292 -0.29406523] [ 0.01566032 0.00179758 0.99987575 -0.29807797] [ 0. 0. 0. 1. ]] SLAMing on 205.14313336499998 meters Centerline goodness : 0.096519 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 0.9998683 0.00434603 -0.01563656 -1.20368753] [-0.00437288 0.99998902 -0.00168343 -0.29434377] [ 0.01562908 0.00175159 0.99987632 -0.29822178] [ 0. 0. 0. 1. ]] SLAMing on 205.17313336499998 meters Centerline goodness : 0.234409 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 0.99986665 0.00428789 -0.0157575 -1.20328626] [-0.00431507 0.99998926 -0.00169101 -0.29471269] [ 0.01575008 0.00175878 0.99987441 -0.29839542] [ 0. 0. 0. 1. ]] SLAMing on 205.20313336499999 meters Centerline goodness : 0.129605 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99853491e-01 -1.92274909e-03 -1.70088008e-02 -1.18491430e+00] [ 1.90832693e-03 9.99997806e-01 -8.64113031e-04 -2.89903306e-01] [ 1.70104250e-02 8.31528078e-04 9.99854966e-01 -2.95985563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.233133365 meters Centerline goodness : 0.095013 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99853710e-01 -1.91365509e-03 -1.69969653e-02 -1.18499063e+00] [ 1.89718509e-03 9.99997715e-01 -9.85068244e-04 -2.88951116e-01] [ 1.69988115e-02 9.52677750e-04 9.99855056e-01 -2.95894522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.263133365 meters Centerline goodness : 0.108409 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99852302e-01 -1.88740475e-03 -1.70824906e-02 -1.18487631e+00] [ 1.86853513e-03 9.99997627e-01 -1.12051045e-03 -2.87784707e-01] [ 1.70845649e-02 1.08842572e-03 9.99853456e-01 -2.95737244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.293133365 meters Centerline goodness : 0.110119 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.29, Z:-0.30 [[ 0.99985542 -0.00182359 -0.01690575 -1.18518914] [ 0.00179883 0.99999729 -0.00148006 -0.28551103] [ 0.01690841 0.00144944 0.99985599 -0.29575643] [ 0. 0. 0. 1. ]] SLAMing on 205.323133365 meters Centerline goodness : 0.107680 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.29, Z:-0.30 [[ 0.99985371 0.00668882 -0.01574253 -1.16548507] [-0.00674815 0.99997032 -0.00371869 -0.28609643] [ 0.01571719 0.00382438 0.99986916 -0.29550543] [ 0. 0. 0. 1. ]] SLAMing on 205.353133365 meters Centerline goodness : 0.105588 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.28, Z:-0.30 [[ 0.99985559 0.0066553 -0.01563682 -1.16561338] [-0.00671891 0.99996935 -0.00401892 -0.28421832] [ 0.01560959 0.0041234 0.99986966 -0.29562918] [ 0. 0. 0. 1. ]] SLAMing on 205.383133365 meters Centerline goodness : 0.104243 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.9998705 -0.00199435 -0.0159689 -1.18350925] [ 0.00195732 0.99999536 -0.00233412 -0.27796666] [ 0.01597348 0.00230256 0.99986976 -0.29743387] [ 0. 0. 0. 1. ]] SLAMing on 205.413133365 meters Centerline goodness : 0.149000 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986802 -0.00201723 -0.01612062 -1.18275791] [ 0.00197591 0.99999472 -0.00257871 -0.2763812 ] [ 0.01612573 0.00254652 0.99986673 -0.29803542] [ 0. 0. 0. 1. ]] SLAMing on 205.443133365 meters Centerline goodness : 0.137037 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986504 -0.00209716 -0.01629422 -1.18217582] [ 0.00205258 0.99999411 -0.00275214 -0.27563546] [ 0.0162999 0.00271832 0.99986345 -0.29829657] [ 0. 0. 0. 1. ]] SLAMing on 205.473133365 meters Centerline goodness : 0.091946 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986415 -0.00210228 -0.01634824 -1.18244166] [ 0.00206126 0.99999469 -0.00252543 -0.27721429] [ 0.01635346 0.00249139 0.99986317 -0.29776611] [ 0. 0. 0. 1. ]] SLAMing on 205.503133365 meters Centerline goodness : 0.161194 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986648 -0.00198082 -0.01622017 -1.18311349] [ 0.0019457 0.99999573 -0.00218054 -0.27885301] [ 0.01622442 0.00214869 0.99986607 -0.29725034] [ 0. 0. 0. 1. ]] SLAMing on 205.533133365 meters Centerline goodness : 0.101993 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986644 -0.00191232 -0.0162313 -1.18321994] [ 0.00188191 0.99999645 -0.00188842 -0.28041451] [ 0.01623486 0.00185762 0.99986648 -0.29704707] [ 0. 0. 0. 1. ]] SLAMing on 205.563133365 meters Centerline goodness : 0.107356 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 0.99986475 -0.00188124 -0.01633828 -1.18291152] [ 0.00185352 0.99999682 -0.0017117 -0.28158387] [ 0.01634145 0.00168118 0.99986506 -0.29715564] [ 0. 0. 0. 1. ]] SLAMing on 205.593133365 meters Centerline goodness : 0.117601 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.28, Z:-0.30 [[ 0.99986086 0.00555644 -0.01572859 -1.1617502 ] [-0.00562807 0.99997398 -0.00451377 -0.28453354] [ 0.0157031 0.00460166 0.99986611 -0.29763236] [ 0. 0. 0. 1. ]] SLAMing on 205.623133365 meters Centerline goodness : 0.231357 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.29, Z:-0.30 [[ 0.99986103 0.00561316 -0.01569757 -1.16191453] [-0.00568292 0.99997416 -0.00440282 -0.28509636] [ 0.01567245 0.00449142 0.99986709 -0.29751966] [ 0. 0. 0. 1. ]] SLAMing on 205.653133365 meters Centerline goodness : 0.109142 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99890665e-01 -1.43235304e-03 -1.47175620e-02 -1.18381689e+00] [ 1.41763859e-03 9.99998485e-01 -1.01017314e-03 -2.82933297e-01] [ 1.47189867e-02 9.89198513e-04 9.99891181e-01 -2.97502940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68313336499997 meters Centerline goodness : 0.234249 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99891054e-01 -1.35326149e-03 -1.46985806e-02 -1.18387009e+00] [ 1.33934252e-03 9.99998645e-01 -9.56762605e-04 -2.82925883e-01] [ 1.46998555e-02 9.36971936e-04 9.99891512e-01 -2.97445889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71313336499998 meters Centerline goodness : 0.177250 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99888304e-01 -1.42605374e-03 -1.48776982e-02 -1.18314325e+00] [ 1.41060901e-03 9.99998455e-01 -1.04855559e-03 -2.83011987e-01] [ 1.48791705e-02 1.02745186e-03 9.99888771e-01 -2.97861569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74313336499998 meters Centerline goodness : 0.196498 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99883072e-01 -1.48206932e-03 -1.52198999e-02 -1.18206340e+00] [ 1.46567168e-03 9.99998334e-01 -1.08847913e-03 -2.83339085e-01] [ 1.52214878e-02 1.06604448e-03 9.99883578e-01 -2.98189337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77313336499998 meters Centerline goodness : 0.098314 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.28, Z:-0.30 [[ 9.99883723e-01 -1.21367373e-03 -1.52008906e-02 -1.18213437e+00] [ 1.20386270e-03 9.99999061e-01 -6.54558028e-04 -2.84793443e-01] [ 1.52016708e-02 6.36182133e-04 9.99884246e-01 -2.98185742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80313336499998 meters Centerline goodness : 0.161980 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99914053e-01 4.40942762e-03 -1.23467710e-02 -1.19965198e+00] [-4.42342137e-03 9.99989605e-01 -1.10631444e-03 -2.90164998e-01] [ 1.23417645e-02 1.16083432e-03 9.99923164e-01 -3.00775129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83313336499998 meters Centerline goodness : 0.129222 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99915051e-01 4.39203533e-03 -1.22719347e-02 -1.19998636e+00] [-4.40509415e-03 9.99989760e-01 -1.03729261e-03 -2.91033480e-01] [ 1.22672532e-02 1.09126352e-03 9.99924159e-01 -3.00504594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86313336499998 meters Centerline goodness : 0.170925 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99915852e-01 4.34456316e-03 -1.22234801e-02 -1.20015935e+00] [-4.35724037e-03 9.99989996e-01 -1.01067979e-03 -2.91806780e-01] [ 1.22189668e-02 1.06385538e-03 9.99924780e-01 -3.00374156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89313336499998 meters Centerline goodness : 0.103167 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99915826e-01 4.37559933e-03 -1.22145622e-02 -1.20015092e+00] [-4.38730838e-03 9.99989941e-01 -9.31982854e-04 -2.92317959e-01] [ 1.22103613e-02 9.85493456e-04 9.99924965e-01 -3.00393834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92313336499998 meters Centerline goodness : 0.105543 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.29, Z:-0.30 [[ 9.99916591e-01 4.42762516e-03 -1.21328950e-02 -1.20002416e+00] [-4.43848675e-03 9.99989773e-01 -8.68437374e-04 -2.92451840e-01] [ 1.21289258e-02 9.22216632e-04 9.99926017e-01 -3.00903045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95313336499999 meters Centerline goodness : 0.187798 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99918886e-01 -2.45982587e-03 -1.24968384e-02 -1.18048797e+00] [ 2.45561630e-03 9.99996923e-01 -3.52183812e-04 -2.88837960e-01] [ 1.24976662e-02 3.21467805e-04 9.99921849e-01 -2.99638243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.983133365 meters Centerline goodness : 0.106662 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.29, Z:-0.30 [[ 9.99918145e-01 -2.44983665e-03 -1.25578969e-02 -1.18071021e+00] [ 2.44772004e-03 9.99996987e-01 -1.83915227e-04 -2.90113269e-01] [ 1.25583096e-02 1.53161957e-04 9.99921130e-01 -2.99101471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.013133365 meters Centerline goodness : 0.105951 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.29, Z:-0.30 [[ 0.99991962 0.00552676 -0.01141058 -1.16193935] [-0.00555585 0.99998139 -0.00251896 -0.29433167] [ 0.01139644 0.00258215 0.99993172 -0.29859098] [ 0. 0. 0. 1. ]] SLAMing on 206.043133365 meters Centerline goodness : 0.105908 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.30, Z:-0.30 [[ 0.99991983 0.00562428 -0.01134505 -1.16223457] [-0.00564891 0.99998176 -0.00213972 -0.29627496] [ 0.01133281 0.00220363 0.99993335 -0.29841758] [ 0. 0. 0. 1. ]] SLAMing on 206.073133365 meters Centerline goodness : 0.138366 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.30, Z:-0.30 [[ 0.99991641 0.00568995 -0.01161037 -1.16156011] [-0.00571019 0.99998223 -0.00171123 -0.29866807] [ 0.01160043 0.00177738 0.99993113 -0.29857238] [ 0. 0. 0. 1. ]] SLAMing on 206.103133365 meters Centerline goodness : 0.107997 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.30, Z:-0.30 [[ 0.99989054 -0.00604558 -0.01350378 -1.18041855] [ 0.00602177 0.99998024 -0.0018034 -0.3032896 ] [ 0.01351442 0.00172189 0.99990719 -0.29894181] [ 0. 0. 0. 1. ]] SLAMing on 206.133133365 meters Centerline goodness : 0.120028 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.31, Z:-0.30 [[ 0.99988133 -0.00614024 -0.01412875 -1.17935627] [ 0.00612292 0.99998045 -0.00126907 -0.30759735] [ 0.01413626 0.00118241 0.99989938 -0.29844773] [ 0. 0. 0. 1. ]] SLAMing on 206.163133365 meters Centerline goodness : 0.108553 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.31, Z:-0.30 [[ 9.99876949e-01 -6.02033752e-03 -1.44859248e-02 -1.17907432e+00] [ 6.01396114e-03 9.99981799e-01 -4.83698914e-04 -3.12241245e-01] [ 1.44885732e-02 3.96521606e-04 9.99894956e-01 -2.97693958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.193133365 meters Centerline goodness : 0.107711 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.33, Z:-0.30 [[ 9.99896478e-01 9.11837963e-04 -1.43597529e-02 -1.15867974e+00] [-9.44162224e-04 9.99997036e-01 -2.24441344e-03 -3.25004568e-01] [ 1.43576638e-02 2.25773903e-03 9.99894374e-01 -2.97658631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.223133365 meters Centerline goodness : 0.149346 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.33, Z:-0.30 [[ 9.99889378e-01 9.97714536e-04 -1.48403789e-02 -1.15751775e+00] [-1.02150064e-03 9.99998206e-01 -1.59530270e-03 -3.29284721e-01] [ 1.48387606e-02 1.61028568e-03 9.99888603e-01 -2.97714199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.253133365 meters Centerline goodness : 0.109461 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.33, Z:-0.30 [[ 9.99884620e-01 1.14633098e-03 -1.51470486e-02 -1.15686377e+00] [-1.16122720e-03 9.99998851e-01 -9.74682195e-04 -3.33142453e-01] [ 1.51459138e-02 9.92158901e-04 9.99884802e-01 -2.97630840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.283133365 meters Centerline goodness : 0.107934 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.33, Z:-0.30 [[ 9.99865543e-01 -5.40767495e-03 -1.54807318e-02 -1.13779756e+00] [ 5.41221628e-03 9.99985322e-01 2.51473556e-04 -3.33939174e-01] [ 1.54791446e-02 -3.35224812e-04 9.99880135e-01 -2.95716639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.313133365 meters Centerline goodness : 0.140185 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.34, Z:-0.30 [[ 9.99865384e-01 -5.16939427e-03 -1.55721398e-02 -1.13795435e+00] [ 5.18279522e-03 9.99986233e-01 8.20338666e-04 -3.36832031e-01] [ 1.55676847e-02 -9.00935447e-04 9.99878410e-01 -2.95159989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.343133365 meters Centerline goodness : 0.140634 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.34, Z:-0.29 [[ 9.99871452e-01 4.11572293e-03 -1.54964592e-02 -1.12029555e+00] [-4.12134348e-03 9.99991453e-01 -3.30781292e-04 -3.43887434e-01] [ 1.54949653e-02 3.94605002e-04 9.99879868e-01 -2.93232867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.373133365 meters Centerline goodness : 0.129466 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.35, Z:-0.29 [[ 9.99868342e-01 4.43302449e-03 -1.56092117e-02 -1.12061794e+00] [-4.42386437e-03 9.99990022e-01 6.21320621e-04 -3.49149260e-01] [ 1.56118103e-02 -5.52185784e-04 9.99877976e-01 -2.92421217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.403133365 meters Centerline goodness : 0.128822 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.35, Z:-0.29 [[ 9.99867914e-01 4.50135482e-03 -1.56170446e-02 -1.12104566e+00] [-4.48525509e-03 9.99989373e-01 1.06577976e-03 -3.51928025e-01] [ 1.56216761e-02 -9.95592556e-04 9.99877479e-01 -2.91826643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43313336499997 meters Centerline goodness : 0.226720 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.35, Z:-0.29 [[ 0.99988638 -0.00246676 -0.01487077 -1.10231699] [ 0.00249927 0.99999453 0.0021684 -0.35202962] [ 0.01486534 -0.00220532 0.99988707 -0.28989911] [ 0. 0. 0. 1. ]] SLAMing on 206.46313336499998 meters Centerline goodness : 0.140328 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.36, Z:-0.29 [[ 0.99988686 -0.00245425 -0.0148406 -1.10293659] [ 0.00249379 0.99999339 0.00264656 -0.355262 ] [ 0.01483401 -0.00268327 0.99988637 -0.28914836] [ 0. 0. 0. 1. ]] SLAMing on 206.49313336499998 meters Centerline goodness : 0.129462 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.36, Z:-0.29 [[ 0.99988877 -0.00244018 -0.01471338 -1.10376927] [ 0.00248684 0.99999194 0.00315327 -0.35850777] [ 0.01470557 -0.00318951 0.99988678 -0.28840723] [ 0. 0. 0. 1. ]] SLAMing on 206.52313336499998 meters Centerline goodness : 0.144160 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.37, Z:-0.29 [[ 9.99886057e-01 -5.62726944e-03 -1.40073695e-02 -1.10575076e+00] [ 5.64146643e-03 9.99983612e-01 9.74230621e-04 -3.65266852e-01] [ 1.40016577e-02 -1.05314172e-03 9.99901417e-01 -2.87902914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55313336499998 meters Centerline goodness : 0.137440 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.37, Z:-0.29 [[ 0.9998839 -0.00558654 -0.01417686 -1.10583391] [ 0.00560975 0.99998299 0.00159826 -0.36908611] [ 0.01416769 -0.00167761 0.99989823 -0.28728653] [ 0. 0. 0. 1. ]] SLAMing on 206.58313336499998 meters Centerline goodness : 0.141824 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.37, Z:-0.29 [[ 0.99988108 -0.00553912 -0.01439252 -1.10579088] [ 0.00557043 0.9999822 0.00213611 -0.3724401 ] [ 0.01438044 -0.00221603 0.99989414 -0.28667569] [ 0. 0. 0. 1. ]] SLAMing on 206.61313336499998 meters Centerline goodness : 0.180011 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99893967e-01 1.76772954e-03 -1.44544209e-02 -1.08642442e+00] [-1.77833582e-03 9.99998159e-01 -7.20953749e-04 -3.78966762e-01] [ 1.44531198e-02 7.46582118e-04 9.99895269e-01 -2.86310533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64313336499998 meters Centerline goodness : 0.236274 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99890932e-01 1.88563312e-03 -1.46481810e-02 -1.08620582e+00] [-1.89013372e-03 9.99998171e-01 -2.93408121e-04 -3.81295618e-01] [ 1.46476009e-02 3.21063141e-04 9.99892667e-01 -2.86034487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67313336499998 meters Centerline goodness : 0.237601 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99892522e-01 2.02869954e-03 -1.45199620e-02 -1.08668417e+00] [-2.02741078e-03 9.99997939e-01 1.03476949e-04 -3.83368548e-01] [ 1.45201420e-02 -7.40279003e-05 9.99894574e-01 -2.85785196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70313336499999 meters Centerline goodness : 0.132568 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.38, Z:-0.29 [[ 9.99895771e-01 2.06996424e-03 -1.42885443e-02 -1.08743242e+00] [-2.06837109e-03 9.99997853e-01 1.26274893e-04 -3.83413246e-01] [ 1.42887750e-02 -9.67077190e-05 9.99897906e-01 -2.85474370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.733133365 meters Centerline goodness : 0.176799 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99882901e-01 -4.28204544e-03 -1.46917986e-02 -1.06910571e+00] [ 4.29380763e-03 9.99990486e-01 7.69145660e-04 -3.79266312e-01] [ 1.46883653e-02 -8.32139350e-04 9.99891774e-01 -2.83372993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.763133365 meters Centerline goodness : 0.235425 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99882943e-01 -4.30535511e-03 -1.46821363e-02 -1.06900723e+00] [ 4.31579468e-03 9.99990456e-01 6.79428988e-04 -3.78608118e-01] [ 1.46790710e-02 -7.42714541e-04 9.99891981e-01 -2.83606271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.793133365 meters Centerline goodness : 0.236784 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99882804e-01 -4.33467441e-03 -1.46829252e-02 -1.06873364e+00] [ 4.34348759e-03 9.99990405e-01 5.68397179e-04 -3.77756145e-01] [ 1.46803205e-02 -6.32105669e-04 9.99892038e-01 -2.84084132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.823133365 meters Centerline goodness : 0.236709 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.38, Z:-0.28 [[ 9.99883518e-01 -4.34105405e-03 -1.46323738e-02 -1.06861199e+00] [ 4.34894713e-03 9.99990414e-01 5.07648996e-04 -3.76997116e-01] [ 1.46300298e-02 -5.71225284e-04 9.99892812e-01 -2.84538761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.853133365 meters Centerline goodness : 0.129708 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989772 0.00307022 -0.01396872 -1.0473968 ] [-0.0031042 0.99999227 -0.00241176 -0.37737893] [ 0.01396121 0.00245487 0.99989952 -0.28595686] [ 0. 0. 0. 1. ]] SLAMing on 206.883133365 meters Centerline goodness : 0.129708 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989772 0.00307022 -0.01396872 -1.0473968 ] [-0.0031042 0.99999227 -0.00241176 -0.37737893] [ 0.01396121 0.00245487 0.99989952 -0.28595686] [ 0. 0. 0. 1. ]] SLAMing on 206.913133365 meters Centerline goodness : 0.232500 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989515 0.00283745 -0.01419981 -1.04672821] [-0.00287647 0.99999214 -0.00272835 -0.37638987] [ 0.01419196 0.00276891 0.99989546 -0.28613919] [ 0. 0. 0. 1. ]] SLAMing on 206.943133365 meters Centerline goodness : 0.231136 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.38, Z:-0.29 [[ 0.99989228 0.00269849 -0.01442747 -1.04588408] [-0.00274197 0.99999176 -0.00299468 -0.3751082 ] [ 0.01441927 0.00303391 0.99989143 -0.28665857] [ 0. 0. 0. 1. ]] SLAMing on 206.973133365 meters Centerline goodness : 0.193862 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.99988562 0.00251467 -0.01491397 -1.04399384] [-0.00256787 0.99999041 -0.00354896 -0.37125269] [ 0.0149049 0.00358686 0.99988248 -0.28779252] [ 0. 0. 0. 1. ]] SLAMing on 207.003133365 meters Centerline goodness : 0.114278 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.9998851 0.00241451 -0.01496505 -1.04383812] [-0.00247288 0.9999894 -0.00388302 -0.36925355] [ 0.01495552 0.00391958 0.99988048 -0.2878664 ] [ 0. 0. 0. 1. ]] SLAMing on 207.033133365 meters Centerline goodness : 0.172587 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.99988544 0.00232146 -0.01495696 -1.04398791] [-0.00238482 0.99998825 -0.00421976 -0.36719148] [ 0.01494698 0.00425495 0.99987923 -0.28767763] [ 0. 0. 0. 1. ]] SLAMing on 207.063133365 meters Centerline goodness : 0.177044 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.37, Z:-0.29 [[ 0.99988705 0.00223988 -0.01486181 -1.04435063] [-0.00230753 0.99998705 -0.00453574 -0.36518534] [ 0.01485146 0.00456952 0.99987927 -0.28746179] [ 0. 0. 0. 1. ]] SLAMing on 207.093133365 meters Centerline goodness : 0.097368 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.36, Z:-0.29 [[ 0.99987298 -0.0039002 -0.01545332 -1.0264738 ] [ 0.00384324 0.99998572 -0.00371448 -0.35877178] [ 0.01546759 0.00365461 0.99987369 -0.28510027] [ 0. 0. 0. 1. ]] SLAMing on 207.123133365 meters Centerline goodness : 0.193126 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.36, Z:-0.28 [[ 0.99987688 -0.00394979 -0.01518642 -1.027176 ] [ 0.00388885 0.99998428 -0.00404058 -0.35655522] [ 0.01520214 0.00398103 0.99987652 -0.28497544] [ 0. 0. 0. 1. ]] SLAMing on 207.153133365 meters Centerline goodness : 0.099427 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.35, Z:-0.28 [[ 0.99991903 -0.00148592 -0.01263831 -0.98954615] [ 0.00141953 0.99998516 -0.00526027 -0.35031727] [ 0.01264594 0.0052419 0.9999063 -0.28338311] [ 0. 0. 0. 1. ]] SLAMing on 207.18313336499997 meters Centerline goodness : 0.099937 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.35, Z:-0.28 [[ 0.99992336 -0.00152846 -0.0122859 -0.99051215] [ 0.00145914 0.99998298 -0.00564899 -0.34763997] [ 0.01229432 0.00563063 0.99990857 -0.28310769] [ 0. 0. 0. 1. ]] SLAMing on 207.21313336499998 meters Centerline goodness : 0.228700 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.34, Z:-0.28 [[ 0.99992727 -0.00155937 -0.01195929 -0.99123125] [ 0.00148716 0.99998062 -0.00604483 -0.34462862] [ 0.01196848 0.0060266 0.99991021 -0.2831191 ] [ 0. 0. 0. 1. ]] SLAMing on 207.24313336499998 meters Centerline goodness : 0.167017 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.34, Z:-0.28 [[ 0.99992986 -0.00169559 -0.01172204 -0.99147893] [ 0.0016186 0.99997708 -0.00657405 -0.3412305 ] [ 0.01173292 0.00655462 0.99990968 -0.28349142] [ 0. 0. 0. 1. ]] SLAMing on 207.27313336499998 meters Centerline goodness : 0.147835 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.34, Z:-0.28 [[ 0.99992987 -0.00188381 -0.01169173 -0.99119885] [ 0.00180046 0.99997292 -0.00713596 -0.33813801] [ 0.01170486 0.00711441 0.99990619 -0.28394901] [ 0. 0. 0. 1. ]] SLAMing on 207.30313336499998 meters Centerline goodness : 0.098945 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.33, Z:-0.28 [[ 0.99992893 -0.00215739 -0.01172481 -0.99066247] [ 0.00206602 0.99996745 -0.00779934 -0.33497631] [ 0.01174125 0.00777456 0.99990084 -0.28456785] [ 0. 0. 0. 1. ]] SLAMing on 207.33313336499998 meters Centerline goodness : 0.100657 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.32, Z:-0.28 [[ 0.99987311 -0.010289 -0.01216146 -1.01072817] [ 0.01021571 0.99992938 -0.00607283 -0.32440553] [ 0.01222308 0.00594782 0.99990761 -0.28476116] [ 0. 0. 0. 1. ]] SLAMing on 207.36313336499998 meters Centerline goodness : 0.156909 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.32, Z:-0.28 [[ 9.99930890e-01 -8.29732612e-04 -1.17272212e-02 -9.91756061e-01] [ 7.45259075e-04 9.99973761e-01 -7.20573690e-03 -3.24977835e-01] [ 1.17328923e-02 7.19649909e-03 9.99905270e-01 -2.84598296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39313336499998 meters Centerline goodness : 0.165956 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.32, Z:-0.29 [[ 9.99930285e-01 -1.02692066e-03 -1.17631236e-02 -9.91135602e-01] [ 9.35697161e-04 9.99969469e-01 -7.75792067e-03 -3.21861904e-01] [ 1.17707312e-02 7.74637310e-03 9.99900717e-01 -2.85397524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42313336499998 meters Centerline goodness : 0.098987 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.32, Z:-0.29 [[ 0.99992992 -0.00120594 -0.01177738 -0.99088195] [ 0.00110837 0.99996504 -0.00828749 -0.31891688] [ 0.01178696 0.00827386 0.9998963 -0.28572361] [ 0. 0. 0. 1. ]] SLAMing on 207.45313336499999 meters Centerline goodness : 0.147551 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.31, Z:-0.28 [[ 0.9998957 -0.00772188 -0.01220496 -0.97218318] [ 0.00762594 0.99993981 -0.00788769 -0.31147348] [ 0.01226513 0.00779379 0.99989441 -0.28394164] [ 0. 0. 0. 1. ]] SLAMing on 207.483133365 meters Centerline goodness : 0.097342 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.31, Z:-0.28 [[ 0.9998987 -0.00783914 -0.01188025 -0.97302641] [ 0.0077396 0.99993476 -0.00840136 -0.30818717] [ 0.01194534 0.00830856 0.99989413 -0.28378516] [ 0. 0. 0. 1. ]] SLAMing on 207.513133365 meters Centerline goodness : 0.099425 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.30, Z:-0.28 [[ 9.99940930e-01 5.99527723e-05 -1.08688660e-02 -9.96729677e-01] [-1.57784822e-04 9.99959482e-01 -9.00049365e-03 -3.04072518e-01] [ 1.08678860e-02 9.00167693e-03 9.99900424e-01 -2.84395285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.543133365 meters Centerline goodness : 0.099437 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.30, Z:-0.28 [[ 9.99941963e-01 -6.98707038e-05 -1.07733712e-02 -9.96725907e-01] [-3.22806456e-05 9.99955050e-01 -9.48137152e-03 -3.01467141e-01] [ 1.07735495e-02 9.48116902e-03 9.99897014e-01 -2.84621522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.573133365 meters Centerline goodness : 0.103620 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.30, Z:-0.29 [[ 9.99938383e-01 -7.91688197e-05 -1.11006636e-02 -9.95236493e-01] [-3.37552635e-05 9.99948262e-01 -1.01721763e-02 -2.95792453e-01] [ 1.11008946e-02 1.01719242e-02 9.99886645e-01 -2.85524443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.603133365 meters Centerline goodness : 0.187294 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99992262 0.00353907 -0.01192609 -0.99343078] [-0.00362004 0.9999705 -0.0067747 -0.29461623] [ 0.01190176 0.00681735 0.99990593 -0.28551559] [ 0. 0. 0. 1. ]] SLAMing on 207.633133365 meters Centerline goodness : 0.135469 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99991677 0.00354881 -0.01240383 -0.99183368] [-0.00363813 0.99996756 -0.00718627 -0.29170879] [ 0.01237793 0.0072308 0.99989725 -0.28611818] [ 0. 0. 0. 1. ]] SLAMing on 207.663133365 meters Centerline goodness : 0.135149 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99991595 0.0035508 -0.01246909 -0.99152421] [-0.00364528 0.99996476 -0.00756267 -0.28924548] [ 0.0124418 0.00760749 0.99989366 -0.28622436] [ 0. 0. 0. 1. ]] SLAMing on 207.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 207.723133365 meters Centerline goodness : 0.111401 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.29, Z:-0.29 [[ 0.99991889 0.00380028 -0.01215622 -0.99230885] [-0.00389705 0.99996083 -0.00794664 -0.28594867] [ 0.01212554 0.00799337 0.99989453 -0.28597063] [ 0. 0. 0. 1. ]] SLAMing on 207.753133365 meters Centerline goodness : 0.143170 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:-0.29 [[ 0.99992984 -0.00199717 -0.01167592 -1.01200315] [ 0.0019482 0.99998926 -0.0042043 -0.27838038] [ 0.01168419 0.00418126 0.999923 -0.28587856] [ 0. 0. 0. 1. ]] SLAMing on 207.783133365 meters Centerline goodness : 0.098135 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.28, Z:-0.29 [[ 0.9999317 -0.00179308 -0.01154937 -1.01238434] [ 0.00174296 0.99998903 -0.00434769 -0.2764629 ] [ 0.01155704 0.00432726 0.99992385 -0.28567845] [ 0. 0. 0. 1. ]] SLAMing on 207.813133365 meters Centerline goodness : 0.098710 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.27, Z:-0.29 [[ 0.9999347 -0.00168911 -0.01130277 -1.01305674] [ 0.00163729 0.99998811 -0.00459241 -0.2745714 ] [ 0.01131039 0.0045736 0.99992558 -0.28540158] [ 0. 0. 0. 1. ]] SLAMing on 207.843133365 meters Centerline goodness : 0.100063 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.27, Z:-0.28 [[ 0.9999386 -0.00156442 -0.01097048 -1.01406369] [ 0.00151219 0.99998749 -0.00476773 -0.27299704] [ 0.0109778 0.00475085 0.99992846 -0.28490683] [ 0. 0. 0. 1. ]] SLAMing on 207.873133365 meters Centerline goodness : 0.099804 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 0.99994466 -0.00133618 -0.01043543 -1.01552461] [ 0.00128598 0.99998758 -0.00481584 -0.27161436] [ 0.01044174 0.00480215 0.99993395 -0.28454105] [ 0. 0. 0. 1. ]] SLAMing on 207.903133365 meters Centerline goodness : 0.110428 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 0.99995013 -0.00107602 -0.00992835 -1.01691214] [ 0.00102855 0.99998802 -0.00478506 -0.27033559] [ 0.00993338 0.00477461 0.99993926 -0.28414175] [ 0. 0. 0. 1. ]] SLAMing on 207.93313336499997 meters Centerline goodness : 0.108627 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99955151e-01 -6.44505501e-04 -9.44880612e-03 -1.01820260e+00] [ 6.00421696e-04 9.99988926e-01 -4.66763685e-03 -2.68818232e-01] [ 9.45170980e-03 4.66175425e-03 9.99944465e-01 -2.83837298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96313336499998 meters Centerline goodness : 0.239316 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99954073e-01 -7.13885409e-04 -9.55734080e-03 -1.01787905e+00] [ 6.68113126e-04 9.99988297e-01 -4.79156436e-03 -2.68443968e-01] [ 9.56064958e-03 4.78495892e-03 9.99942847e-01 -2.83918382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99313336499998 meters Centerline goodness : 0.191243 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99953675e-01 -7.36922087e-04 -9.59711929e-03 -1.01789086e+00] [ 6.90834078e-04 9.99988219e-01 -4.80470525e-03 -2.68647707e-01] [ 9.60054692e-03 4.79785266e-03 9.99942403e-01 -2.83793474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02313336499998 meters Centerline goodness : 0.096452 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99953804e-01 -7.11255269e-04 -9.58560164e-03 -1.01814094e+00] [ 6.65788382e-04 9.99988518e-01 -4.74560473e-03 -2.68905094e-01] [ 9.58886691e-03 4.73900352e-03 9.99942796e-01 -2.83486616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05313336499998 meters Centerline goodness : 0.109097 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99954256e-01 -6.15989222e-04 -9.54495464e-03 -1.01843194e+00] [ 5.72012603e-04 9.99989213e-01 -4.60936085e-03 -2.69134115e-01] [ 9.54769100e-03 4.60369016e-03 9.99943822e-01 -2.83214374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08313336499998 meters Centerline goodness : 0.164052 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99955216e-01 -5.22172428e-04 -9.44949201e-03 -1.01866118e+00] [ 4.79946658e-04 9.99989893e-01 -4.47029185e-03 -2.69385103e-01] [ 9.45173077e-03 4.46555640e-03 9.99945360e-01 -2.83234312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11313336499998 meters Centerline goodness : 0.108989 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99956908e-01 -4.80467174e-04 -9.27095080e-03 -1.01929076e+00] [ 4.40416836e-04 9.99990565e-01 -4.32153979e-03 -2.70487078e-01] [ 9.27293969e-03 4.31727048e-03 9.99947686e-01 -2.82888031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14313336499998 meters Centerline goodness : 0.095244 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99992691 -0.00706422 -0.00981204 -1.00103708] [ 0.00703141 0.99996959 -0.0033738 -0.26708855] [ 0.00983557 0.00330456 0.99994617 -0.28051068] [ 0. 0. 0. 1. ]] SLAMing on 208.17313336499998 meters Centerline goodness : 0.186445 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99992692 -0.00701482 -0.00984612 -1.00119954] [ 0.00698281 0.99997024 -0.00328163 -0.26757911] [ 0.00986885 0.00321263 0.99994614 -0.28015389] [ 0. 0. 0. 1. ]] SLAMing on 208.20313336499999 meters Centerline goodness : 0.092894 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99992904 -0.00689428 -0.00971496 -1.00163838] [ 0.00686409 0.99997152 -0.00313747 -0.26787537] [ 0.00973632 0.00307056 0.99994789 -0.27996486] [ 0. 0. 0. 1. ]] SLAMing on 208.233133365 meters Centerline goodness : 0.156771 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99993199 -0.00679848 -0.00947604 -1.0023072 ] [ 0.00676974 0.9999724 -0.00306084 -0.26777523] [ 0.00949658 0.00299648 0.99995042 -0.27979555] [ 0. 0. 0. 1. ]] SLAMing on 208.263133365 meters Centerline goodness : 0.165985 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.9999343 -0.00671061 -0.00929268 -1.00273952] [ 0.00668309 0.9999732 -0.00298882 -0.26781523] [ 0.00931248 0.00292652 0.99995236 -0.27978562] [ 0. 0. 0. 1. ]] SLAMing on 208.293133365 meters Centerline goodness : 0.188558 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99993357 -0.0067263 -0.00935965 -1.00218898] [ 0.00669776 0.99997284 -0.00307644 -0.26735656] [ 0.00938009 0.00301354 0.99995147 -0.28036753] [ 0. 0. 0. 1. ]] SLAMing on 208.323133365 meters Centerline goodness : 0.108289 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99935522e-01 6.78378091e-04 -1.13353913e-02 -1.02089311e+00] [-7.22705859e-04 9.99992107e-01 -3.90692504e-03 -2.70797635e-01] [ 1.13326514e-02 3.91486529e-03 9.99928120e-01 -2.82213207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.353133365 meters Centerline goodness : 0.179299 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99934908e-01 7.01016024e-04 -1.13881098e-02 -1.02058948e+00] [-7.45894809e-04 9.99991972e-01 -3.93707660e-03 -2.70382688e-01] [ 1.13852584e-02 3.94531466e-03 9.99927403e-01 -2.82462830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.383133365 meters Centerline goodness : 0.137103 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99935095e-01 7.55257039e-04 -1.13682073e-02 -1.02079476e+00] [-7.99254777e-04 9.99992207e-01 -3.86619860e-03 -2.70551528e-01] [ 1.13651987e-02 3.87503376e-03 9.99927906e-01 -2.82232991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.413133365 meters Centerline goodness : 0.132730 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 9.99935728e-01 8.08577049e-04 -1.13086364e-02 -1.02115112e+00] [-8.51273730e-04 9.99992526e-01 -3.77127797e-03 -2.70928152e-01] [ 1.13055025e-02 3.78066233e-03 9.99928944e-01 -2.81879816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.443133365 meters Centerline goodness : 0.232013 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99991424 -0.00572595 -0.011778 -1.00264702] [ 0.0056928 0.99997975 -0.00284565 -0.2672407 ] [ 0.01179406 0.00277836 0.99992659 -0.27996163] [ 0. 0. 0. 1. ]] SLAMing on 208.473133365 meters Centerline goodness : 0.108407 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.27, Z:-0.28 [[ 0.99992201 0.00104642 -0.01244509 -1.0212135 ] [-0.00109185 0.99999277 -0.00364381 -0.27403403] [ 0.01244119 0.00365712 0.99991592 -0.28162491] [ 0. 0. 0. 1. ]] SLAMing on 208.503133365 meters Centerline goodness : 0.240695 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989595 -0.00555355 -0.01331331 -1.00149173] [ 0.0055152 0.99998054 -0.00291594 -0.27000226] [ 0.01332925 0.00284221 0.99990712 -0.28051632] [ 0. 0. 0. 1. ]] SLAMing on 208.533133365 meters Centerline goodness : 0.172692 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989592 -0.00549671 -0.01333936 -1.00141297] [ 0.00545984 0.99998118 -0.00279939 -0.27051667] [ 0.01335449 0.00272626 0.99990711 -0.28055006] [ 0. 0. 0. 1. ]] SLAMing on 208.563133365 meters Centerline goodness : 0.196456 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989732 -0.00542178 -0.01326501 -1.00182887] [ 0.00538726 0.99998201 -0.00263644 -0.27127674] [ 0.01327907 0.00256471 0.99990854 -0.2802226 ] [ 0. 0. 0. 1. ]] SLAMing on 208.593133365 meters Centerline goodness : 0.225649 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989624 -0.00541169 -0.01335021 -1.00191593] [ 0.00537769 0.99998221 -0.00258178 -0.27174075] [ 0.01336394 0.00250972 0.99990755 -0.27977949] [ 0. 0. 0. 1. ]] SLAMing on 208.623133365 meters Centerline goodness : 0.140180 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99989401 -0.00538135 -0.01352784 -1.00157862] [ 0.00534777 0.99998253 -0.00251706 -0.27199935] [ 0.01354114 0.00244445 0.99990533 -0.27969855] [ 0. 0. 0. 1. ]] SLAMing on 208.653133365 meters Centerline goodness : 0.201902 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.9998891 -0.005364 -0.0138928 -1.00042963] [ 0.0053304 0.99998278 -0.00245464 -0.27226496] [ 0.01390573 0.00238031 0.99990048 -0.28019308] [ 0. 0. 0. 1. ]] SLAMing on 208.68313336499997 meters Centerline goodness : 0.212260 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.27, Z:-0.28 [[ 0.99988879 -0.00528637 -0.01394465 -1.0004829 ] [ 0.00525529 0.99998363 -0.00226445 -0.27305618] [ 0.0139564 0.00219091 0.9999002 -0.27998378] [ 0. 0. 0. 1. ]] SLAMing on 208.71313336499998 meters Centerline goodness : 0.159674 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991953 0.00249172 -0.01243916 -0.9803829 ] [-0.00254954 0.99998601 -0.00463438 -0.27555435] [ 0.01242744 0.00466572 0.99991189 -0.28033824] [ 0. 0. 0. 1. ]] SLAMing on 208.74313336499998 meters Centerline goodness : 0.244761 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991898 0.00258284 -0.01246431 -0.98068628] [-0.00263699 0.99998715 -0.00432957 -0.27717611] [ 0.01245297 0.00436209 0.99991294 -0.27984997] [ 0. 0. 0. 1. ]] SLAMing on 208.77313336499998 meters Centerline goodness : 0.244761 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991898 0.00258284 -0.01246431 -0.98068628] [-0.00263699 0.99998715 -0.00432957 -0.27717611] [ 0.01245297 0.00436209 0.99991294 -0.27984997] [ 0. 0. 0. 1. ]] SLAMing on 208.80313336499998 meters Centerline goodness : 0.154134 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991879 0.00266675 -0.01246215 -0.98099674] [-0.00271706 0.99998822 -0.00402155 -0.27881818] [ 0.01245128 0.00405508 0.99991426 -0.27946807] [ 0. 0. 0. 1. ]] SLAMing on 208.83313336499998 meters Centerline goodness : 0.139714 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99991727 0.00275064 -0.01256546 -0.98084807] [-0.00279719 0.99998929 -0.00368821 -0.28066954] [ 0.01255518 0.00372306 0.99991425 -0.27933565] [ 0. 0. 0. 1. ]] SLAMing on 208.86313336499998 meters Centerline goodness : 0.237245 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 0.99990869 0.00254798 -0.01327115 -0.97917775] [-0.00259331 0.99999086 -0.00339953 -0.28407466] [ 0.01326237 0.00343364 0.99990616 -0.27933117] [ 0. 0. 0. 1. ]] SLAMing on 208.89313336499998 meters Centerline goodness : 0.108336 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 0.99992043 -0.00322377 -0.01219603 -1.01125575] [ 0.00320084 0.99999307 -0.00189942 -0.28646873] [ 0.01220207 0.00186023 0.99992382 -0.28102197] [ 0. 0. 0. 1. ]] SLAMing on 208.92313336499998 meters Centerline goodness : 0.232148 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 0.99992269 -0.00313705 -0.01203189 -1.01185441] [ 0.00311869 0.99999395 -0.00154381 -0.28857579] [ 0.01203666 0.00150617 0.99992642 -0.28071161] [ 0. 0. 0. 1. ]] SLAMing on 208.95313336499999 meters Centerline goodness : 0.105960 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 0.99992681 -0.00296345 -0.01172996 -1.01301223] [ 0.00294991 0.99999496 -0.00117189 -0.29014209] [ 0.01173337 0.0011372 0.99993051 -0.28008488] [ 0. 0. 0. 1. ]] SLAMing on 208.983133365 meters Centerline goodness : 0.168359 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99933404e-01 -2.75861343e-03 -1.12061005e-02 -1.01498274e+00] [ 2.75165117e-03 9.99996012e-01 -6.36663294e-04 -2.92615459e-01] [ 1.12078121e-02 6.05785615e-04 9.99937007e-01 -2.78935337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.013133365 meters Centerline goodness : 0.107364 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99933761e-01 -2.70032855e-03 -1.11884622e-02 -1.01512665e+00] [ 2.69523555e-03 9.99996257e-01 -4.70254017e-04 -2.93359227e-01] [ 1.11896901e-02 4.40067327e-04 9.99937297e-01 -2.78851319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.043133365 meters Centerline goodness : 0.182969 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99932162e-01 -2.67940677e-03 -1.13354445e-02 -1.01477565e+00] [ 2.67526259e-03 9.99996349e-01 -3.80742050e-04 -2.93692766e-01] [ 1.13364233e-02 3.50390931e-04 9.99935679e-01 -2.78901831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.073133365 meters Centerline goodness : 0.109167 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99932673e-01 -2.60045458e-03 -1.13086999e-02 -1.01490339e+00] [ 2.59807351e-03 9.99996600e-01 -2.25238039e-04 -2.94059256e-01] [ 1.13092471e-02 1.95842041e-04 9.99936029e-01 -2.78870468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.103133365 meters Centerline goodness : 0.107944 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99934727e-01 -2.56065457e-03 -1.11348878e-02 -1.01553957e+00] [ 2.55925526e-03 9.99996715e-01 -1.39916432e-04 -2.94302318e-01] [ 1.11352095e-02 1.11410279e-04 9.99937995e-01 -2.78543571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.133133365 meters Centerline goodness : 0.153956 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99937340e-01 -2.76701876e-03 -1.08470836e-02 -1.01678302e+00] [ 2.76446424e-03 9.99996147e-01 -2.50489706e-04 -2.94920197e-01] [ 1.08477350e-02 2.20487635e-04 9.99941137e-01 -2.77694822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.163133365 meters Centerline goodness : 0.152251 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.30, Z:-0.28 [[ 9.99935604e-01 -2.85403968e-03 -1.09837667e-02 -1.01654403e+00] [ 2.85074816e-03 9.99995887e-01 -3.15316113e-04 -2.95010249e-01] [ 1.09846215e-02 2.83983855e-04 9.99939627e-01 -2.77626318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.193133365 meters Centerline goodness : 0.231814 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.30, Z:-0.28 [[ 9.99934183e-01 -2.84040047e-03 -1.11158712e-02 -1.01599157e+00] [ 2.83754065e-03 9.99995937e-01 -2.73036131e-04 -2.95036030e-01] [ 1.11166016e-02 2.41476424e-04 9.99938180e-01 -2.78054056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.223133365 meters Centerline goodness : 0.173899 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.29, Z:-0.28 [[ 9.99931970e-01 -2.82857571e-03 -1.13160968e-02 -1.01510511e+00] [ 2.82536215e-03 9.99995964e-01 -2.99957372e-04 -2.94484917e-01] [ 1.13168995e-02 2.67964895e-04 9.99935926e-01 -2.78706909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.253133365 meters Centerline goodness : 0.108021 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99930586e-01 -2.83438172e-03 -1.14363536e-02 -1.01433143e+00] [ 2.83060047e-03 9.99995934e-01 -3.46807758e-04 -2.94033051e-01] [ 1.14372901e-02 3.14411937e-04 9.99934543e-01 -2.79463940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.283133365 meters Centerline goodness : 0.097451 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99927832e-01 -2.91799632e-03 -1.16540251e-02 -1.01354738e+00] [ 2.91263733e-03 9.99995645e-01 -4.76786581e-04 -2.93701665e-01] [ 1.16553656e-02 4.42808223e-04 9.99931976e-01 -2.79828491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.313133365 meters Centerline goodness : 0.142198 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99924097e-01 -3.00140464e-03 -1.19495118e-02 -1.01274380e+00] [ 2.99270482e-03 9.99995244e-01 -7.45863204e-04 -2.92543906e-01] [ 1.19516936e-02 7.10045230e-04 9.99928324e-01 -2.79924264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.343133365 meters Centerline goodness : 0.111011 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.29, Z:-0.28 [[ 9.99922346e-01 -2.95512095e-03 -1.21065584e-02 -1.01225153e+00] [ 2.94466202e-03 9.99995276e-01 -8.81640448e-04 -2.91215623e-01] [ 1.21091066e-02 8.45922263e-04 9.99926324e-01 -2.80086070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.373133365 meters Centerline goodness : 0.179241 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.29, Z:-0.28 [[ 9.99904982e-01 7.76417293e-04 -1.37631731e-02 -9.73501372e-01] [-7.97621070e-04 9.99998503e-01 -1.53519467e-03 -2.88598599e-01] [ 1.37619606e-02 1.54602659e-03 9.99904105e-01 -2.77997751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.403133365 meters Centerline goodness : 0.234934 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.29, Z:-0.28 [[ 9.99901542e-01 7.40309682e-04 -1.40127688e-02 -9.72478835e-01] [-7.65795833e-04 9.99998062e-01 -1.81350216e-03 -2.86943104e-01] [ 1.40113991e-02 1.82405452e-03 9.99900172e-01 -2.78604460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43313336499997 meters Centerline goodness : 0.186894 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.29, Z:-0.28 [[ 9.99900935e-01 7.27676434e-04 -1.40566873e-02 -9.72098557e-01] [-7.56953261e-04 9.99997555e-01 -2.07756053e-03 -2.85406213e-01] [ 1.40551411e-02 2.08799498e-03 9.99899042e-01 -2.78940866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46313336499998 meters Centerline goodness : 0.189005 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.28 [[ 9.99903481e-01 7.18686303e-04 -1.38748804e-02 -9.72367727e-01] [-7.50831042e-04 9.99997046e-01 -2.31168783e-03 -2.84015664e-01] [ 1.38731780e-02 2.32188240e-03 9.99901067e-01 -2.79105369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49313336499998 meters Centerline goodness : 0.177512 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.28, Z:-0.28 [[ 0.9999166 0.00114187 -0.01286456 -0.97492884] [-0.00117024 0.9999969 -0.0021974 -0.28259933] [ 0.01286201 0.00221227 0.99991483 -0.27875804] [ 0. 0. 0. 1. ]] SLAMing on 209.52313336499998 meters Centerline goodness : 0.217873 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 9.99902112e-01 -4.79352445e-03 -1.31449252e-02 -9.57095648e-01] [ 4.78065293e-03 9.99988062e-01 -1.01044826e-03 -2.77257266e-01] [ 1.31496118e-02 9.47508027e-04 9.99913091e-01 -2.76841025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55313336499998 meters Centerline goodness : 0.205517 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 0.99990217 -0.0047763 -0.01314692 -0.95703243] [ 0.00476266 0.99998809 -0.00106913 -0.27675463] [ 0.01315187 0.00100641 0.999913 -0.27690777] [ 0. 0. 0. 1. ]] SLAMing on 209.58313336499998 meters Centerline goodness : 0.107094 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 0.99990189 -0.00475873 -0.0131741 -0.9570112 ] [ 0.00474446 0.99998812 -0.00111408 -0.276333 ] [ 0.01317925 0.00105147 0.9999126 -0.27683271] [ 0. 0. 0. 1. ]] SLAMing on 209.61313336499998 meters Centerline goodness : 0.170527 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.28 [[ 0.99990413 -0.00469353 -0.01302708 -0.95756041] [ 0.00467908 0.9999884 -0.00113997 -0.27574639] [ 0.01303228 0.0010789 0.99991449 -0.2765372 ] [ 0. 0. 0. 1. ]] SLAMing on 209.64313336499998 meters Centerline goodness : 0.203042 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.28, Z:-0.27 [[ 9.99926148e-01 -3.24592671e-03 -1.17116768e-02 -9.62543028e-01] [ 3.24805205e-03 9.99994712e-01 1.62455655e-04 -2.75129793e-01] [ 1.17110876e-02 -2.00483793e-04 9.99931403e-01 -2.74315654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67313336499998 meters Centerline goodness : 0.106988 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.28, Z:-0.28 [[ 9.99934886e-01 4.19946267e-03 -1.06108046e-02 -9.84240900e-01] [-4.20016817e-03 9.99991178e-01 -4.42055747e-05 -2.78737763e-01] [ 1.06105253e-02 8.87698600e-05 9.99943703e-01 -2.75173392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70313336499999 meters Centerline goodness : 0.105267 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99945532e-01 -2.32031959e-03 -1.01758954e-02 -9.65902261e-01] [ 2.32650591e-03 9.99997116e-01 5.96143560e-04 -2.72834165e-01] [ 1.01744828e-02 -6.19785370e-04 9.99948047e-01 -2.73923506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.733133365 meters Centerline goodness : 0.180286 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99947729e-01 -2.37984342e-03 -9.94360781e-03 -9.66379181e-01] [ 2.38297531e-03 9.99997115e-01 3.03128864e-04 -2.71106682e-01] [ 9.94285772e-03 -3.26808391e-04 9.99950515e-01 -2.74012698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.763133365 meters Centerline goodness : 0.102219 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99951542e-01 -2.35357277e-03 -9.55902977e-03 -9.67347294e-01] [ 2.35451898e-03 9.99997224e-01 8.77333343e-05 -2.69256346e-01] [ 9.55879675e-03 -1.10236000e-04 9.99954308e-01 -2.73922205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.793133365 meters Centerline goodness : 0.144347 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.27, Z:-0.27 [[ 9.99955648e-01 -2.28779702e-03 -9.13611401e-03 -9.68189791e-01] [ 2.28639134e-03 9.99997373e-01 -1.64301139e-04 -2.66785055e-01] [ 9.13646589e-03 1.43405120e-04 9.99958251e-01 -2.74175026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.823133365 meters Centerline goodness : 0.104888 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.26, Z:-0.28 [[ 9.99957666e-01 -2.36905740e-03 -8.89126175e-03 -9.67988036e-01] [ 2.36198208e-03 9.99996886e-01 -8.06177306e-04 -2.61168988e-01] [ 8.89314394e-03 7.85142176e-04 9.99960147e-01 -2.75270204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.853133365 meters Centerline goodness : 0.173436 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.26, Z:-0.28 [[ 0.99995178 0.00522429 -0.00831561 -0.9465154 ] [-0.00525573 0.99997911 -0.00376327 -0.25947183] [ 0.00829577 0.00380679 0.99995834 -0.27618217] [ 0. 0. 0. 1. ]] SLAMing on 209.883133365 meters Centerline goodness : 0.162284 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.25, Z:-0.28 [[ 0.99994879 -0.00400286 -0.00929486 -0.96455416] [ 0.0039796 0.99998891 -0.00251933 -0.25359027] [ 0.00930484 0.00248221 0.99995363 -0.27780448] [ 0. 0. 0. 1. ]] SLAMing on 209.913133365 meters Centerline goodness : 0.156053 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.9999554 0.00393669 -0.00858442 -0.94447592] [-0.00398005 0.99997938 -0.00504055 -0.25332001] [ 0.0085644 0.0050745 0.99995045 -0.27809154] [ 0. 0. 0. 1. ]] SLAMing on 209.943133365 meters Centerline goodness : 0.171945 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995605 0.00358263 -0.00866351 -0.94396153] [-0.00363108 0.99997782 -0.00558315 -0.25087918] [ 0.00864331 0.00561436 0.99994688 -0.27869399] [ 0. 0. 0. 1. ]] SLAMing on 209.973133365 meters Centerline goodness : 0.104140 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995717 0.00347783 -0.00857637 -0.94411909] [-0.00352696 0.99997742 -0.00572058 -0.25025404] [ 0.00855628 0.00575058 0.99994686 -0.27883378] [ 0. 0. 0. 1. ]] SLAMing on 210.003133365 meters Centerline goodness : 0.127444 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995718 0.00324434 -0.00866635 -0.9437789 ] [-0.00329601 0.99997684 -0.00595415 -0.24974561] [ 0.00864683 0.00598246 0.99994472 -0.27906394] [ 0. 0. 0. 1. ]] SLAMing on 210.033133365 meters Centerline goodness : 0.136004 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.25, Z:-0.28 [[ 0.99995658 0.00310096 -0.00878757 -0.94334688] [-0.00315444 0.99997655 -0.00607884 -0.24954375] [ 0.00876851 0.0061063 0.99994291 -0.27935448] [ 0. 0. 0. 1. ]] SLAMing on 210.063133365 meters Centerline goodness : 0.179013 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.25, Z:-0.28 [[ 0.99993199 -0.00267906 -0.01135071 -0.92554526] [ 0.00261979 0.99998287 -0.00523351 -0.24525829] [ 0.01136454 0.00520342 0.99992188 -0.27682796] [ 0. 0. 0. 1. ]] SLAMing on 210.093133365 meters Centerline goodness : 0.170547 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.25, Z:-0.28 [[ 0.99992989 -0.00274007 -0.01151946 -0.92506182] [ 0.00268041 0.99998293 -0.00519099 -0.24574157] [ 0.01153349 0.00515975 0.99992017 -0.27702002] [ 0. 0. 0. 1. ]] SLAMing on 210.123133365 meters Centerline goodness : 0.162964 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99992295 -0.0030476 -0.01203391 -0.92369256] [ 0.00298429 0.99998163 -0.00527537 -0.24664343] [ 0.01204976 0.00523905 0.99991367 -0.27734901] [ 0. 0. 0. 1. ]] SLAMing on 210.153133365 meters Centerline goodness : 0.105722 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99992037 -0.00303392 -0.01224914 -0.92309612] [ 0.00297098 0.99998231 -0.00515381 -0.24724331] [ 0.01226456 0.00511701 0.99991169 -0.27756162] [ 0. 0. 0. 1. ]] SLAMing on 210.18313336499997 meters Centerline goodness : 0.182745 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99991904 -0.0030038 -0.01236512 -0.92258764] [ 0.0029412 0.99998278 -0.00507759 -0.24751751] [ 0.01238016 0.00504081 0.99991066 -0.2779681 ] [ 0. 0. 0. 1. ]] SLAMing on 210.21313336499998 meters Centerline goodness : 0.174444 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99991962 -0.00295242 -0.01233002 -0.92255402] [ 0.00289053 0.99998315 -0.00503377 -0.24733666] [ 0.01234467 0.00499772 0.99991131 -0.27818442] [ 0. 0. 0. 1. ]] SLAMing on 210.24313336499998 meters Centerline goodness : 0.169673 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.25, Z:-0.28 [[ 0.99992197 -0.00287665 -0.01215684 -0.92296954] [ 0.00281612 0.99998357 -0.00499309 -0.2470165 ] [ 0.01217101 0.00495847 0.99991364 -0.27816645] [ 0. 0. 0. 1. ]] SLAMing on 210.27313336499998 meters Centerline goodness : 0.105181 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.9999267 -0.00281966 -0.01177457 -0.9235492 ] [ 0.0027583 0.99998255 -0.00522404 -0.24496328] [ 0.01178909 0.00519117 0.99991703 -0.27859008] [ 0. 0. 0. 1. ]] SLAMing on 210.30313336499998 meters Centerline goodness : 0.191774 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99992922 -0.00280921 -0.01156094 -0.92398603] [ 0.00274724 0.9999818 -0.00537225 -0.24382366] [ 0.01157582 0.00534011 0.99991874 -0.27864388] [ 0. 0. 0. 1. ]] SLAMing on 210.33313336499998 meters Centerline goodness : 0.155075 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993211 -0.00277313 -0.01131727 -0.92447301] [ 0.00271033 0.99998087 -0.00556048 -0.24220438] [ 0.01133248 0.00552943 0.9999205 -0.27872263] [ 0. 0. 0. 1. ]] SLAMing on 210.36313336499998 meters Centerline goodness : 0.145822 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993399 -0.00275517 -0.01115491 -0.92473462] [ 0.00269015 0.99997933 -0.00583959 -0.24004438] [ 0.01117077 0.0058092 0.99992073 -0.27889731] [ 0. 0. 0. 1. ]] SLAMing on 210.39313336499998 meters Centerline goodness : 0.202823 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993437 -0.00275596 -0.01111999 -0.92460296] [ 0.00268809 0.9999777 -0.00611323 -0.23798694] [ 0.01113659 0.00608294 0.99991948 -0.27919563] [ 0. 0. 0. 1. ]] SLAMing on 210.42313336499998 meters Centerline goodness : 0.105698 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99993603 -0.00281704 -0.01095447 -0.92493765] [ 0.00274731 0.99997591 -0.00637497 -0.23636988] [ 0.01097217 0.00634447 0.99991968 -0.27930381] [ 0. 0. 0. 1. ]] SLAMing on 210.45313336499999 meters Centerline goodness : 0.105945 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989782 -0.00992628 -0.01028654 -0.90628612] [ 0.00986412 0.99993288 -0.00607688 -0.22895413] [ 0.01034617 0.00597479 0.99992863 -0.27776191] [ 0. 0. 0. 1. ]] SLAMing on 210.483133365 meters Centerline goodness : 0.143582 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989848 -0.0099603 -0.01018954 -0.90660556] [ 0.00989767 0.99993193 -0.00617806 -0.22809068] [ 0.01025038 0.00607658 0.999929 -0.27771626] [ 0. 0. 0. 1. ]] SLAMing on 210.513133365 meters Centerline goodness : 0.140766 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989898 -0.01003306 -0.01006862 -0.90673759] [ 0.00997003 0.99993051 -0.00629127 -0.22732273] [ 0.01013104 0.00619025 0.99992952 -0.27803709] [ 0. 0. 0. 1. ]] SLAMing on 210.543133365 meters Centerline goodness : 0.178317 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99989939 -0.0101079 -0.00995232 -0.90705724] [ 0.01004511 0.99992945 -0.00633966 -0.22711181] [ 0.0100157 0.00623905 0.99993038 -0.27805817] [ 0. 0. 0. 1. ]] SLAMing on 210.573133365 meters Centerline goodness : 0.171666 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.23, Z:-0.28 [[ 0.99995287 -0.00203875 -0.00949241 -0.88921882] [ 0.00195845 0.99996229 -0.00846074 -0.2302101 ] [ 0.0095093 0.00844176 0.99991915 -0.27680676] [ 0. 0. 0. 1. ]] SLAMing on 210.603133365 meters Centerline goodness : 0.127753 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99986299 -0.01307081 -0.01015691 -0.90954514] [ 0.01298282 0.99987803 -0.00868178 -0.22698843] [ 0.01026915 0.00854873 0.99991073 -0.27755889] [ 0. 0. 0. 1. ]] SLAMing on 210.633133365 meters Centerline goodness : 0.128187 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99985668 -0.01325031 -0.01053836 -0.90856787] [ 0.01315943 0.99987602 -0.00864686 -0.22775559] [ 0.01065162 0.00850695 0.99990708 -0.27788222] [ 0. 0. 0. 1. ]] SLAMing on 210.663133365 meters Centerline goodness : 0.186426 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99985109 -0.01342097 -0.01084795 -0.90769568] [ 0.01332822 0.99987438 -0.00857756 -0.22870137] [ 0.01096171 0.0084317 0.99990437 -0.27827983] [ 0. 0. 0. 1. ]] SLAMing on 210.693133365 meters Centerline goodness : 0.186426 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99985109 -0.01342097 -0.01084795 -0.90769568] [ 0.01332822 0.99987438 -0.00857756 -0.22870137] [ 0.01096171 0.0084317 0.99990437 -0.27827983] [ 0. 0. 0. 1. ]] SLAMing on 210.723133365 meters Centerline goodness : 0.093500 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.23, Z:-0.28 [[ 0.99984347 -0.0136341 -0.01127576 -0.90651365] [ 0.01353832 0.99987199 -0.008527 -0.22984977] [ 0.01139058 0.00837301 0.99990007 -0.27873964] [ 0. 0. 0. 1. ]] SLAMing on 210.753133365 meters Centerline goodness : 0.095234 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.24, Z:-0.28 [[ 0.99991364 -0.00709537 -0.0110619 -0.92466291] [ 0.00699007 0.99993017 -0.00952874 -0.23531057] [ 0.01112874 0.00945059 0.99989341 -0.28148095] [ 0. 0. 0. 1. ]] SLAMing on 210.783133365 meters Centerline goodness : 0.189544 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.28 [[ 0.99992615 -0.00746614 -0.00958942 -0.88144964] [ 0.00735891 0.99991055 -0.01116893 -0.23802444] [ 0.00967195 0.01109753 0.99989164 -0.28249027] [ 0. 0. 0. 1. ]] SLAMing on 210.813133365 meters Centerline goodness : 0.197382 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.28 [[ 0.99992719 -0.00738405 -0.00954406 -0.8814818 ] [ 0.00727953 0.99991366 -0.0109399 -0.2388819 ] [ 0.00962402 0.01086963 0.99989461 -0.28272175] [ 0. 0. 0. 1. ]] SLAMing on 210.843133365 meters Centerline goodness : 0.095970 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.24, Z:-0.28 [[ 0.99992854 -0.00731479 -0.00945586 -0.88160665] [ 0.00721264 0.99991575 -0.01079184 -0.23937653] [ 0.009534 0.01072287 0.99989706 -0.28288913] [ 0. 0. 0. 1. ]] SLAMing on 210.873133365 meters Centerline goodness : 0.122550 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.24, Z:-0.28 [[ 0.99985437 -0.01419423 -0.00947414 -0.86206525] [ 0.01410049 0.99985168 -0.00988885 -0.2361112 ] [ 0.0096131 0.00975382 0.99990622 -0.28137109] [ 0. 0. 0. 1. ]] SLAMing on 210.903133365 meters Centerline goodness : 0.159046 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.24, Z:-0.28 [[ 0.99985376 -0.01422873 -0.00948723 -0.8619981 ] [ 0.01413388 0.9998502 -0.00999086 -0.23565286] [ 0.00962797 0.00985531 0.99990508 -0.28137792] [ 0. 0. 0. 1. ]] SLAMing on 210.93313336499997 meters Centerline goodness : 0.175772 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 0.999898 -0.01049057 -0.00969209 -0.86163342] [ 0.01042857 0.99992498 -0.00642519 -0.23491635] [ 0.00975877 0.00632346 0.99993239 -0.28148092] [ 0. 0. 0. 1. ]] SLAMing on 210.96313336499998 meters Centerline goodness : 0.163318 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 0.99992859 -0.00680791 -0.00982206 -0.86155673] [ 0.00678096 0.99997316 -0.00277445 -0.23491576] [ 0.00984069 0.00270765 0.99994791 -0.28130911] [ 0. 0. 0. 1. ]] SLAMing on 210.99313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 211.02313336499998 meters Centerline goodness : 0.157885 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 9.99948028e-01 -3.72672021e-03 -9.48957282e-03 -8.62463963e-01] [ 3.72622910e-03 9.99993055e-01 -6.94332890e-05 -2.32744277e-01] [ 9.48976567e-03 3.40693581e-05 9.99954971e-01 -2.81170486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05313336499998 meters Centerline goodness : 0.167734 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 9.99949261e-01 -3.84260778e-03 -9.31178965e-03 -8.62722720e-01] [ 3.83829026e-03 9.99992518e-01 -4.81489141e-04 -2.30541877e-01] [ 9.31357015e-03 4.45723360e-04 9.99956528e-01 -2.81356008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08313336499998 meters Centerline goodness : 0.114475 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.23, Z:-0.28 [[ 9.99949972e-01 -3.86999554e-03 -9.22368011e-03 -8.62771205e-01] [ 3.86253394e-03 9.99992199e-01 -8.26638033e-04 -2.28107248e-01] [ 9.22680724e-03 7.90969901e-04 9.99957119e-01 -2.81586677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11313336499998 meters Centerline goodness : 0.111632 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.22, Z:-0.28 [[ 9.99954710e-01 -1.60718070e-04 -9.51584910e-03 -8.61540033e-01] [ 1.82525781e-04 9.99997359e-01 2.29090113e-03 -2.23887755e-01] [ 9.51545578e-03 -2.29253427e-03 9.99952099e-01 -2.82388043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14313336499998 meters Centerline goodness : 0.173977 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.22, Z:-0.28 [[ 0.99995746 0.002299 -0.00893269 -0.81821545] [-0.00228641 0.99999638 0.00142015 -0.21935552] [ 0.00893592 -0.00139967 0.99995909 -0.28269157] [ 0. 0. 0. 1. ]] SLAMing on 211.17313336499998 meters Centerline goodness : 0.162953 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.22, Z:-0.28 [[ 9.99957690e-01 2.10153263e-03 -8.95556114e-03 -8.17801418e-01] [-2.09515142e-03 9.99997545e-01 7.21864187e-04 -2.15746021e-01] [ 8.95705617e-03 -7.03070389e-04 9.99959638e-01 -2.83161802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20313336499999 meters Centerline goodness : 0.195038 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.21, Z:-0.28 [[ 9.99958492e-01 1.91381926e-03 -8.90794731e-03 -8.17544118e-01] [-1.91347751e-03 9.99998168e-01 4.68879222e-05 -2.12120010e-01] [ 8.90802073e-03 -2.98408191e-05 9.99960322e-01 -2.83674814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.233133365 meters Centerline goodness : 0.174494 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.21, Z:-0.28 [[ 9.99958865e-01 1.76615791e-03 -8.89662304e-03 -8.17171955e-01] [-1.77164751e-03 9.99998245e-01 -6.09200036e-04 -2.08121553e-01] [ 8.89553148e-03 6.24936657e-04 9.99960239e-01 -2.84206263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.263133365 meters Centerline goodness : 0.163112 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.99996007 0.00170898 -0.00877169 -0.81710169] [-0.00171879 0.99999791 -0.00111064 -0.20457173] [ 0.00876977 0.00112567 0.99996091 -0.28473894] [ 0. 0. 0. 1. ]] SLAMing on 211.293133365 meters Centerline goodness : 0.114034 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.99996497 0.00140552 -0.00825074 -0.81814391] [-0.00142272 0.99999683 -0.00207928 -0.1994788 ] [ 0.00824779 0.00209094 0.9999638 -0.28487929] [ 0. 0. 0. 1. ]] SLAMing on 211.323133365 meters Centerline goodness : 0.118449 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.9999665 0.00119896 -0.00809748 -0.8185891 ] [-0.00121943 0.99999607 -0.00252358 -0.19758435] [ 0.00809443 0.00253337 0.99996403 -0.28471084] [ 0. 0. 0. 1. ]] SLAMing on 211.353133365 meters Centerline goodness : 0.163769 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.20, Z:-0.28 [[ 0.99996732 0.00104649 -0.00801589 -0.81871174] [-0.00106998 0.99999514 -0.00292678 -0.19544183] [ 0.00801279 0.00293526 0.99996359 -0.28482467] [ 0. 0. 0. 1. ]] SLAMing on 211.383133365 meters Centerline goodness : 0.199455 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.19, Z:-0.29 [[ 0.99996746 0.00100711 -0.00800429 -0.8183326 ] [-0.00103294 0.99999427 -0.00322351 -0.19314204] [ 0.00800099 0.00323167 0.99996277 -0.28543334] [ 0. 0. 0. 1. ]] SLAMing on 211.413133365 meters Centerline goodness : 0.169158 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.19, Z:-0.29 [[ 0.9999653 0.00113166 -0.0082528 -0.81664394] [-0.00116153 0.99999279 -0.00361447 -0.188199 ] [ 0.00824865 0.00362393 0.99995941 -0.28691119] [ 0. 0. 0. 1. ]] SLAMing on 211.443133365 meters Centerline goodness : 0.194487 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.19, Z:-0.29 [[ 0.99996557 0.00101625 -0.00823538 -0.81646544] [-0.00104913 0.99999149 -0.00398957 -0.18629229] [ 0.00823126 0.00399808 0.99995813 -0.28717477] [ 0. 0. 0. 1. ]] SLAMing on 211.473133365 meters Centerline goodness : 0.115658 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 9.99966193e-01 9.49801191e-04 -8.16765906e-03 -8.16670023e-01] [-9.85070016e-04 9.99990204e-01 -4.31516867e-03 -1.84426259e-01] [ 8.16348050e-03 4.32306850e-03 9.99957333e-01 -2.87037303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.503133365 meters Centerline goodness : 0.165533 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 9.99967083e-01 9.30921991e-04 -8.06017047e-03 -8.16848538e-01] [-9.68293553e-04 9.99988795e-01 -4.63391200e-03 -1.82253896e-01] [ 8.05576634e-03 4.64156408e-03 9.99956779e-01 -2.87143157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.533133365 meters Centerline goodness : 0.110643 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 9.99968201e-01 9.96650129e-04 -7.91219420e-03 -8.17022056e-01] [-1.03532264e-03 9.99987532e-01 -4.88511995e-03 -1.79967553e-01] [ 7.90722679e-03 4.89315628e-03 9.99956765e-01 -2.87388834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.563133365 meters Centerline goodness : 0.193493 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.18, Z:-0.29 [[ 0.99995776 0.00454191 -0.00799098 -0.8165047 ] [-0.00455738 0.99998777 -0.00191866 -0.1761309 ] [ 0.00798217 0.001955 0.99996623 -0.28774074] [ 0. 0. 0. 1. ]] SLAMing on 211.593133365 meters Centerline goodness : 0.138420 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.17, Z:-0.29 [[ 0.99995993 0.00446082 -0.00776099 -0.81694358] [-0.00447933 0.99998716 -0.00237038 -0.17347467] [ 0.00775032 0.00240505 0.99996707 -0.28784405] [ 0. 0. 0. 1. ]] SLAMing on 211.623133365 meters Centerline goodness : 0.093078 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.17, Z:-0.29 [[ 0.99996204 0.00442377 -0.00750649 -0.81739022] [-0.00444493 0.99998619 -0.00280535 -0.17059899] [ 0.00749398 0.0028386 0.99996789 -0.28803385] [ 0. 0. 0. 1. ]] SLAMing on 211.653133365 meters Centerline goodness : 0.195146 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.16, Z:-0.29 [[ 0.99996055 -0.00127169 -0.00879052 -0.79991004] [ 0.00125816 0.99999801 -0.00154543 -0.16306364] [ 0.00879247 0.00153431 0.99996017 -0.28596145] [ 0. 0. 0. 1. ]] SLAMing on 211.68313336499997 meters Centerline goodness : 0.094384 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.16, Z:-0.29 [[ 0.99996148 -0.00127007 -0.00868517 -0.79966705] [ 0.00125401 0.99999749 -0.00185477 -0.16052867] [ 0.0086875 0.00184381 0.99996056 -0.28673705] [ 0. 0. 0. 1. ]] SLAMing on 211.71313336499998 meters Centerline goodness : 0.212874 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.16, Z:-0.29 [[ 0.99996195 -0.00135287 -0.00861843 -0.79950771] [ 0.00133383 0.99999666 -0.00221499 -0.15835054] [ 0.00862139 0.00220341 0.99996041 -0.28720751] [ 0. 0. 0. 1. ]] SLAMing on 211.74313336499998 meters Centerline goodness : 0.168958 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995934 -0.00167498 -0.00886059 -0.79863365] [ 0.00164845 0.99999414 -0.00300092 -0.15480171] [ 0.00886557 0.00298619 0.99995624 -0.2877407 ] [ 0. 0. 0. 1. ]] SLAMing on 211.77313336499998 meters Centerline goodness : 0.192415 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995742 -0.00178563 -0.00905424 -0.79777917] [ 0.00175516 0.99999277 -0.00337201 -0.15256269] [ 0.00906019 0.00335598 0.99995332 -0.28840722] [ 0. 0. 0. 1. ]] SLAMing on 211.80313336499998 meters Centerline goodness : 0.445417 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995613 -0.00178824 -0.00919467 -0.79697942] [ 0.00175496 0.99999189 -0.00362601 -0.15048011] [ 0.00920108 0.00360971 0.99995115 -0.28919305] [ 0. 0. 0. 1. ]] SLAMing on 211.83313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 211.86313336499998 meters Centerline goodness : 0.167972 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995765 -0.00190731 -0.00900375 -0.7971336 ] [ 0.00187058 0.9999899 -0.00408611 -0.14762852] [ 0.00901146 0.0040691 0.99995112 -0.28966397] [ 0. 0. 0. 1. ]] SLAMing on 211.89313336499998 meters Centerline goodness : 0.202361 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995961 -0.00195002 -0.00877314 -0.79786033] [ 0.00191286 0.99998917 -0.00424178 -0.1467351 ] [ 0.00878132 0.00422483 0.99995252 -0.28938736] [ 0. 0. 0. 1. ]] SLAMing on 211.92313336499998 meters Centerline goodness : 0.184739 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995895 -0.00199568 -0.00883816 -0.79745393] [ 0.00195689 0.99998843 -0.00439508 -0.1456865 ] [ 0.00884683 0.0043776 0.99995128 -0.28982742] [ 0. 0. 0. 1. ]] SLAMing on 211.95313336499999 meters Centerline goodness : 0.119131 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995711 -0.00198772 -0.00904624 -0.79656612] [ 0.00194818 0.99998852 -0.0043772 -0.14563416] [ 0.00905483 0.00435939 0.9999495 -0.29049326] [ 0. 0. 0. 1. ]] SLAMing on 211.983133365 meters Centerline goodness : 0.173873 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995581 -0.00196913 -0.00919288 -0.79593321] [ 0.00192943 0.99998879 -0.00432489 -0.14580005] [ 0.00920129 0.00430696 0.99994839 -0.29100263] [ 0. 0. 0. 1. ]] SLAMing on 212.013133365 meters Centerline goodness : 0.131331 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.15, Z:-0.29 [[ 0.99995534 -0.00196444 -0.00924416 -0.79568607] [ 0.00192432 0.9999887 -0.00434776 -0.14554224] [ 0.0092526 0.00432978 0.99994782 -0.29119356] [ 0. 0. 0. 1. ]] SLAMing on 212.043133365 meters Centerline goodness : 0.157608 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99995273 -0.00202065 -0.00951102 -0.79469468] [ 0.00197514 0.99998656 -0.00479267 -0.14312923] [ 0.00952058 0.00477366 0.99994328 -0.29176683] [ 0. 0. 0. 1. ]] SLAMing on 212.073133365 meters Centerline goodness : 0.190803 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99994919 -0.00209315 -0.00986073 -0.79343822] [ 0.00204209 0.99998447 -0.0051855 -0.14071542] [ 0.00987143 0.0051651 0.99993794 -0.29243915] [ 0. 0. 0. 1. ]] SLAMing on 212.103133365 meters Centerline goodness : 0.140740 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99994478 -0.00212843 -0.0102909 -0.79185441] [ 0.00207129 0.9999824 -0.00555973 -0.13832552] [ 0.01030255 0.0055381 0.99993159 -0.29336277] [ 0. 0. 0. 1. ]] SLAMing on 212.133133365 meters Centerline goodness : 0.151851 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.14, Z:-0.29 [[ 0.99994351 -0.00214015 -0.01041175 -0.791023 ] [ 0.0020791 0.9999806 -0.00587116 -0.13610672] [ 0.01042411 0.00584918 0.99992856 -0.29422693] [ 0. 0. 0. 1. ]] SLAMing on 212.163133365 meters Centerline goodness : 0.139256 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.29 [[ 0.99994248 -0.0021738 -0.01050247 -0.79049497] [ 0.00210878 0.99997857 -0.00619818 -0.13386987] [ 0.01051572 0.00617568 0.99992564 -0.29476622] [ 0. 0. 0. 1. ]] SLAMing on 212.193133365 meters Centerline goodness : 0.190130 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.30 [[ 0.99994233 -0.00221184 -0.01050969 -0.79017116] [ 0.00214336 0.99997643 -0.00652221 -0.13154995] [ 0.01052387 0.00649931 0.9999235 -0.29522097] [ 0. 0. 0. 1. ]] SLAMing on 212.223133365 meters Centerline goodness : 0.133819 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.30 [[ 0.99994244 0.00145194 -0.01063093 -0.78980802] [-0.00148744 0.99999334 -0.00333141 -0.12850841] [ 0.01062603 0.00334703 0.99993794 -0.29542457] [ 0. 0. 0. 1. ]] SLAMing on 212.253133365 meters Centerline goodness : 0.146154 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.13, Z:-0.30 [[ 0.99994394 0.00133101 -0.01050455 -0.78988257] [-0.00137129 0.99999173 -0.00382794 -0.12555858] [ 0.01049937 0.00384213 0.9999375 -0.29575491] [ 0. 0. 0. 1. ]] SLAMing on 212.283133365 meters Centerline goodness : 0.137568 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.12, Z:-0.30 [[ 0.99994589 0.00114931 -0.01033947 -0.7900697 ] [-0.00119457 0.99998973 -0.00437205 -0.12264767] [ 0.01033434 0.00438417 0.99993699 -0.2960976 ] [ 0. 0. 0. 1. ]] SLAMing on 212.313133365 meters Centerline goodness : 0.128249 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.12, Z:-0.30 [[ 9.99947826e-01 8.45951299e-04 -1.01798373e-02 -7.90117572e-01] [-8.99682327e-04 9.99985684e-01 -5.27475999e-03 -1.17728269e-01] [ 1.01752294e-02 5.28364341e-03 9.99934272e-01 -2.96655055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.343133365 meters Centerline goodness : 0.121647 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.12, Z:-0.30 [[ 9.99947417e-01 6.93363355e-04 -1.02314363e-02 -7.89604490e-01] [-7.51887831e-04 9.99983373e-01 -5.71732716e-03 -1.15191172e-01] [ 1.02273020e-02 5.72471942e-03 9.99931313e-01 -2.97331055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.373133365 meters Centerline goodness : 0.170925 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:-0.30 [[ 9.99946487e-01 5.53102415e-04 -1.03304382e-02 -7.88933652e-01] [-6.16418574e-04 9.99981040e-01 -6.12690942e-03 -1.12868000e-01] [ 1.03268535e-02 6.13294942e-03 9.99927869e-01 -2.98052026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.403133365 meters Centerline goodness : 0.131436 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.11, Z:-0.30 [[ 0.99991434 -0.00599866 -0.01163333 -0.77036829] [ 0.00593607 0.99996776 -0.0054074 -0.10520521] [ 0.01166539 0.00533789 0.99991771 -0.29633756] [ 0. 0. 0. 1. ]] SLAMing on 212.43313336499997 meters Centerline goodness : 0.127533 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.10, Z:-0.30 [[ 0.99991523 -0.00606218 -0.01152327 -0.77045538] [ 0.00599745 0.99996609 -0.00564431 -0.10372723] [ 0.0115571 0.00557472 0.99991767 -0.29661053] [ 0. 0. 0. 1. ]] SLAMing on 212.46313336499998 meters Centerline goodness : 0.133077 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.10, Z:-0.30 [[ 0.99992289 -0.00645326 -0.01060978 -0.7729499 ] [ 0.0063873 0.99996014 -0.00623895 -0.10129039] [ 0.01064962 0.0061707 0.99992425 -0.29616409] [ 0. 0. 0. 1. ]] SLAMing on 212.49313336499998 meters Centerline goodness : 0.128699 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.10, Z:-0.30 [[ 0.99995004 0.0021887 -0.00975289 -0.75524173] [-0.00225478 0.99997455 -0.0067693 -0.10478951] [ 0.00973782 0.00679096 0.99992953 -0.29559058] [ 0. 0. 0. 1. ]] SLAMing on 212.52313336499998 meters Centerline goodness : 0.167615 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.10, Z:-0.30 [[ 0.99992917 -0.00676685 -0.00979142 -0.77454162] [ 0.00671208 0.99996171 -0.00561559 -0.10059929] [ 0.00982905 0.00554947 0.99993629 -0.29733014] [ 0. 0. 0. 1. ]] SLAMing on 212.55313336499998 meters Centerline goodness : 0.094249 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:-0.30 [[ 0.99995121 0.00190804 -0.00969237 -0.79119234] [-0.00197832 0.99997179 -0.00724642 -0.10574148] [ 0.00967827 0.00726524 0.99992677 -0.29884973] [ 0. 0. 0. 1. ]] SLAMing on 212.58313336499998 meters Centerline goodness : 0.094249 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:-0.30 [[ 0.99995121 0.00190804 -0.00969237 -0.79119234] [-0.00197832 0.99997179 -0.00724642 -0.10574148] [ 0.00967827 0.00726524 0.99992677 -0.29884973] [ 0. 0. 0. 1. ]] SLAMing on 212.61313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.64313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.67313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.763133365 meters Centerline goodness : 0.196005 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.09, Z:-0.30 [[ 0.99990038 -0.00221307 -0.01394052 -0.76816836] [ 0.00212668 0.99997846 -0.00620881 -0.09305634] [ 0.01395396 0.00617855 0.99988355 -0.29974656] [ 0. 0. 0. 1. ]] SLAMing on 212.793133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.853133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.883133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 212.943133365 meters Centerline goodness : 0.132122 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.04, Z:-0.30 [[ 0.99974112 0.01566299 -0.01650335 -0.76201254] [-0.01571063 0.99987277 -0.00276099 -0.04435267] [ 0.01645801 0.00301955 0.99986 -0.30192962] [ 0. 0. 0. 1. ]] SLAMing on 212.973133365 meters Centerline goodness : 0.132241 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.03, Z:-0.30 [[ 0.99985229 0.0091643 -0.01453985 -0.77780443] [-0.00919887 0.99995502 -0.00231243 -0.03161707] [ 0.014518 0.00244584 0.99989162 -0.30482725] [ 0. 0. 0. 1. ]] SLAMing on 213.003133365 meters Centerline goodness : 0.037963 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.02, Z:-0.30 [[ 0.99987274 0.00264285 -0.01573243 -0.75954169] [-0.0026665 0.99999535 -0.00148211 -0.01821226] [ 0.01572844 0.00152387 0.99987514 -0.30362372] [ 0. 0. 0. 1. ]] SLAMing on 213.033133365 meters Centerline goodness : 0.116083 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.30 [[ 0.99987329 0.00226487 -0.01575664 -0.75935244] [-0.00230437 0.99999425 -0.00248902 -0.0128113 ] [ 0.01575091 0.00252502 0.99987276 -0.30394467] [ 0. 0. 0. 1. ]] SLAMing on 213.063133365 meters Centerline goodness : 0.111522 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.01, Z:-0.30 [[ 0.99987173 0.00185137 -0.01590902 -0.75899171] [-0.00190675 0.99999217 -0.00346692 -0.00806645] [ 0.01590247 0.00349681 0.99986743 -0.3040384 ] [ 0. 0. 0. 1. ]] SLAMing on 213.093133365 meters Centerline goodness : 0.116188 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.30 [[ 9.99869819e-01 1.17706845e-03 -1.60922374e-02 -7.58344440e-01] [-1.25659392e-03 9.99987045e-01 -4.93263489e-03 1.24212264e-04] [ 1.60862228e-02 4.95221416e-03 9.99858344e-01 -3.04492522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.123133365 meters Centerline goodness : 0.128592 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.00, Z:-0.30 [[ 9.99872189e-01 9.40526851e-04 -1.59599925e-02 -7.58575121e-01] [-1.02866137e-03 9.99984264e-01 -5.51490500e-03 3.43792106e-03] [ 1.59545544e-02 5.53061756e-03 9.99857422e-01 -3.04654030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.153133365 meters Centerline goodness : 0.129581 Centerline is valid? [False, False] Translation: X:-0.76, Y:0.01, Z:-0.30 [[ 9.99875440e-01 6.96088999e-04 -1.57676762e-02 -7.59015309e-01] [-7.91787173e-04 9.99981301e-01 -6.06383363e-03 6.25663964e-03] [ 1.57631604e-02 6.07556297e-03 9.99857295e-01 -3.04724795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18313336499997 meters Centerline goodness : 0.115638 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.31 [[ 0.9998485 -0.00822783 -0.01533903 -0.7791931 ] [ 0.00814427 0.9999517 -0.00550209 0.01253616] [ 0.01538356 0.00537633 0.99986721 -0.30648482] [ 0. 0. 0. 1. ]] SLAMing on 213.21313336499998 meters Centerline goodness : 0.131880 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.01, Z:-0.31 [[ 0.99984601 -0.00844425 -0.01538375 -0.77935905] [ 0.00835394 0.99994755 -0.00592582 0.01447043] [ 0.01543298 0.00579639 0.9998641 -0.30609707] [ 0. 0. 0. 1. ]] SLAMing on 213.24313336499998 meters Centerline goodness : 0.119732 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.31 [[ 0.99984668 -0.00875383 -0.015165 -0.78022467] [ 0.00865281 0.99994002 -0.00671422 0.01918459] [ 0.01522287 0.00658197 0.99986246 -0.30571166] [ 0. 0. 0. 1. ]] SLAMing on 213.27313336499998 meters Centerline goodness : 0.133663 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.02, Z:-0.31 [[ 0.99986822 -0.00602671 -0.01507402 -0.78065827] [ 0.00596651 0.99997406 -0.00403496 0.02075421] [ 0.01509794 0.00394449 0.99987824 -0.30547732] [ 0. 0. 0. 1. ]] SLAMing on 213.30313336499998 meters Centerline goodness : 0.110851 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.31 [[ 0.99988561 0.00163442 -0.01503636 -0.80016917] [-0.00171763 0.99998327 -0.00552294 0.01915404] [ 0.01502708 0.00554814 0.99987169 -0.30739263] [ 0. 0. 0. 1. ]] SLAMing on 213.33313336499998 meters Centerline goodness : 0.126543 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.02, Z:-0.31 [[ 0.9998853 0.00143775 -0.01507743 -0.79987743] [-0.00152844 0.9999808 -0.00600528 0.02150852] [ 0.01506851 0.00602763 0.9998683 -0.30776065] [ 0. 0. 0. 1. ]] SLAMing on 213.36313336499998 meters Centerline goodness : 0.116520 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 0.99988224 0.00122686 -0.01529734 -0.79871191] [-0.00133005 0.99997642 -0.00673698 0.02584468] [ 0.01528872 0.00675654 0.99986029 -0.30878812] [ 0. 0. 0. 1. ]] SLAMing on 213.39313336499998 meters Centerline goodness : 0.136110 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 0.99987848 0.00107725 -0.01555177 -0.79773205] [-0.00118931 0.99997339 -0.00719797 0.02828936] [ 0.0155436 0.00721559 0.99985316 -0.30940656] [ 0. 0. 0. 1. ]] SLAMing on 213.42313336499998 meters Centerline goodness : 0.129076 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 9.99873493e-01 8.91567707e-04 -1.58809349e-02 -7.96599995e-01] [-1.01446892e-03 9.99969589e-01 -7.73254160e-03 3.10061074e-02] [ 1.58735579e-02 7.74767410e-03 9.99843990e-01 -3.10018165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45313336499999 meters Centerline goodness : 0.125691 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.03, Z:-0.31 [[ 9.99866333e-01 7.72984041e-04 -1.63315518e-02 -7.95322162e-01] [-9.08395060e-04 9.99965261e-01 -8.28558419e-03 3.41937060e-02] [ 1.63245799e-02 8.29931218e-03 9.99832301e-01 -3.10439514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.483133365 meters Centerline goodness : 0.134564 Centerline is valid? [False, False] Translation: X:-0.79, Y:0.04, Z:-0.31 [[ 9.99864633e-01 6.67191037e-04 -1.64399292e-02 -7.94848356e-01] [-8.12061656e-04 9.99960888e-01 -8.80702010e-03 3.72797806e-02] [ 1.64334103e-02 8.81917815e-03 9.99826067e-01 -3.10840351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.513133365 meters Centerline goodness : 0.134364 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.04, Z:-0.31 [[ 9.99868356e-01 5.87222104e-04 -1.62150143e-02 -7.95241061e-01] [-7.37821183e-04 9.99956638e-01 -9.28321178e-03 4.02641408e-02] [ 1.62088599e-02 9.29395348e-03 9.99825432e-01 -3.11122824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.543133365 meters Centerline goodness : 0.135040 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.05, Z:-0.31 [[ 0.99987445 -0.00418819 -0.01528211 -0.77442199] [ 0.00409454 0.99997268 -0.00615463 0.04823412] [ 0.01530747 0.00609128 0.99986428 -0.31101768] [ 0. 0. 0. 1. ]] SLAMing on 213.573133365 meters Centerline goodness : 0.136917 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.05, Z:-0.31 [[ 0.99987565 -0.00432813 -0.01516442 -0.7746853 ] [ 0.00422947 0.99996972 -0.00653219 0.05029806] [ 0.01519223 0.00646724 0.99986368 -0.31111112] [ 0. 0. 0. 1. ]] SLAMing on 213.603133365 meters Centerline goodness : 0.054602 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.05, Z:-0.31 [[ 0.99987477 -0.00443291 -0.01519185 -0.7744126 ] [ 0.00432902 0.99996707 -0.00686495 0.05223549] [ 0.01522178 0.00679832 0.99986103 -0.31148026] [ 0. 0. 0. 1. ]] SLAMing on 213.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 213.663133365 meters Centerline goodness : 0.140742 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.06, Z:-0.31 [[ 0.99987126 -0.00463881 -0.01536055 -0.77332426] [ 0.00452262 0.99996097 -0.00759 0.05660073] [ 0.01539516 0.00751956 0.99985321 -0.31255133] [ 0. 0. 0. 1. ]] SLAMing on 213.693133365 meters Centerline goodness : 0.133272 Centerline is valid? [False, False] Translation: X:-0.77, Y:0.06, Z:-0.31 [[ 0.99987127 -0.00482688 -0.01530211 -0.77334679] [ 0.00470338 0.99995616 -0.0080966 0.05921169] [ 0.01534052 0.00802359 0.99985013 -0.31280441] [ 0. 0. 0. 1. ]] SLAMing on 213.723133365 meters Centerline goodness : 0.138410 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.06, Z:-0.31 [[ 0.99987144 0.00351441 -0.01564448 -0.7957395 ] [-0.00366329 0.99994818 -0.00949799 0.06160039] [ 0.01561029 0.00955408 0.99983251 -0.31352904] [ 0. 0. 0. 1. ]] SLAMing on 213.753133365 meters Centerline goodness : 0.137960 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.06, Z:-0.31 [[ 0.99987312 0.0033398 -0.01557548 -0.79581465] [-0.00349738 0.99994287 -0.01010093 0.06495239] [ 0.01554085 0.01015412 0.99982767 -0.31372119] [ 0. 0. 0. 1. ]] SLAMing on 213.783133365 meters Centerline goodness : 0.140525 Centerline is valid? [False, False] Translation: X:-0.80, Y:0.07, Z:-0.31 [[ 0.99987555 0.00320061 -0.01544825 -0.79598436] [-0.00336509 0.99993781 -0.01063302 0.06812297] [ 0.01541325 0.01068368 0.99982413 -0.31398989] [ 0. 0. 0. 1. ]] SLAMing on 213.813133365 meters Centerline goodness : 0.109850 Centerline is valid? [False, False] Translation: X:-0.78, Y:0.07, Z:-0.31 [[ 0.99988341 -0.00210686 -0.01512393 -0.77513322] [ 0.00199407 0.99997012 -0.00746908 0.07369348] [ 0.01513922 0.00743805 0.99985773 -0.31351151] [ 0. 0. 0. 1. ]] SLAMing on 213.843133365 meters Centerline goodness : 0.137028 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.07, Z:-0.31 [[ 0.99984448 -0.00211328 -0.01750837 -0.82071989] [ 0.00198887 0.99997267 -0.00712017 0.07376107] [ 0.01752294 0.00708424 0.99982136 -0.31301793] [ 0. 0. 0. 1. ]] SLAMing on 213.873133365 meters Centerline goodness : 0.131401 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99984284 -0.00224506 -0.01758583 -0.82038165] [ 0.00211364 0.99996973 -0.00748806 0.07565689] [ 0.01760211 0.00744971 0.99981732 -0.31331918] [ 0. 0. 0. 1. ]] SLAMing on 213.903133365 meters Centerline goodness : 0.176879 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983301 -0.00259178 -0.01808981 -0.81876601] [ 0.00244218 0.99996268 -0.00828692 0.07934128] [ 0.01811061 0.00824135 0.99980202 -0.31409611] [ 0. 0. 0. 1. ]] SLAMing on 213.93313336499997 meters Centerline goodness : 0.140105 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983205 -0.00268744 -0.01812866 -0.81852193] [ 0.00253178 0.99995978 -0.00860427 0.08128124] [ 0.01815105 0.00855693 0.99979864 -0.31437566] [ 0. 0. 0. 1. ]] SLAMing on 213.96313336499998 meters Centerline goodness : 0.134891 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983287 -0.00271796 -0.01807891 -0.81868051] [ 0.00255982 0.99995831 -0.00876485 0.08260699] [ 0.01810198 0.0087171 0.99979814 -0.31436663] [ 0. 0. 0. 1. ]] SLAMing on 213.99313336499998 meters Centerline goodness : 0.132765 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.08, Z:-0.31 [[ 0.99983132 -0.00278618 -0.01815404 -0.81831386] [ 0.0026233 0.99995615 -0.00898967 0.08401525] [ 0.01817829 0.00894053 0.99979479 -0.3146723 ] [ 0. 0. 0. 1. ]] SLAMing on 214.02313336499998 meters Centerline goodness : 0.130974 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.09, Z:-0.32 [[ 0.99982788 -0.00292116 -0.01832144 -0.81746203] [ 0.00275126 0.99995305 -0.00929153 0.08539987] [ 0.01834772 0.00923952 0.99978897 -0.31538213] [ 0. 0. 0. 1. ]] SLAMing on 214.05313336499998 meters Centerline goodness : 0.135562 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.09, Z:-0.32 [[ 0.99982299 -0.00310874 -0.01855595 -0.81646401] [ 0.00292889 0.99994855 -0.00971166 0.08721226] [ 0.01858518 0.0096556 0.99978066 -0.31610341] [ 0. 0. 0. 1. ]] SLAMing on 214.08313336499998 meters Centerline goodness : 0.137511 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.09, Z:-0.32 [[ 0.99979053 0.00562595 -0.01967857 -0.83737955] [-0.00583795 0.99992536 -0.01073247 0.08790591] [ 0.01961672 0.0108451 0.99974875 -0.31699111] [ 0. 0. 0. 1. ]] SLAMing on 214.11313336499998 meters Centerline goodness : 0.135738 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.09, Z:-0.32 [[ 0.99979633 0.00564574 -0.01937571 -0.83821702] [-0.00586221 0.99992084 -0.01113346 0.09102447] [ 0.01931132 0.01124478 0.99975028 -0.31683477] [ 0. 0. 0. 1. ]] SLAMing on 214.14313336499998 meters Centerline goodness : 0.141390 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.09, Z:-0.32 [[ 0.9998041 0.00560589 -0.01898274 -0.83945408] [-0.005828 0.99991497 -0.01166572 0.09463507] [ 0.01891573 0.01177406 0.99975175 -0.316429 ] [ 0. 0. 0. 1. ]] SLAMing on 214.17313336499998 meters Centerline goodness : 0.137581 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.10, Z:-0.31 [[ 9.99787916e-01 -1.15547448e-04 -2.05939405e-02 -8.25077290e-01] [-1.03617893e-04 9.99943379e-01 -1.06408398e-02 1.03418033e-01] [ 2.05940040e-02 1.06407170e-02 9.99731295e-01 -3.12878511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20313336499999 meters Centerline goodness : 0.135214 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.11, Z:-0.31 [[ 9.99787246e-01 -4.16848493e-04 -2.06225251e-02 -8.25091770e-01] [ 1.80708731e-04 9.99934418e-01 -1.14511132e-02 1.07393368e-01] [ 2.06259460e-02 1.14449503e-02 9.99721753e-01 -3.12843822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.233133365 meters Centerline goodness : 0.130471 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.12, Z:-0.32 [[ 0.99975733 0.00163653 -0.02196824 -0.81980756] [-0.00186634 0.99994371 -0.01044464 0.11619076] [ 0.02194991 0.01048311 0.99970411 -0.31548014] [ 0. 0. 0. 1. ]] SLAMing on 214.263133365 meters Centerline goodness : 0.131623 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.12, Z:-0.32 [[ 0.99975642 0.00147041 -0.02202112 -0.81959985] [-0.00171599 0.99993651 -0.01113712 0.12051064] [ 0.02200334 0.01117219 0.99969547 -0.31565151] [ 0. 0. 0. 1. ]] SLAMing on 214.293133365 meters Centerline goodness : 0.146167 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.12, Z:-0.32 [[ 0.9997633 0.00124586 -0.02172082 -0.82048542] [-0.00150342 0.99992871 -0.0118456 0.12452561] [ 0.02170451 0.01187545 0.9996939 -0.31542858] [ 0. 0. 0. 1. ]] SLAMing on 214.323133365 meters Centerline goodness : 0.134046 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.13, Z:-0.31 [[ 0.99977403 0.00101571 -0.02123357 -0.82219071] [-0.00128256 0.99992033 -0.01255757 0.12835857] [ 0.02121912 0.01258196 0.99969568 -0.31465777] [ 0. 0. 0. 1. ]] SLAMing on 214.353133365 meters Centerline goodness : 0.129846 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.13, Z:-0.31 [[ 9.99784303e-01 7.99556523e-04 -2.07535339e-02 -8.23835151e-01] [-1.07552194e-03 9.99911112e-01 -1.32895199e-02 1.32442335e-01] [ 2.07410634e-02 1.33089743e-02 9.99696294e-01 -3.13971036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.383133365 meters Centerline goodness : 0.136707 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.14, Z:-0.31 [[ 0.99978117 -0.00497626 -0.02031859 -0.84774172] [ 0.00476274 0.99993308 -0.01054328 0.13805818] [ 0.0203697 0.0104442 0.99973796 -0.31383727] [ 0. 0. 0. 1. ]] SLAMing on 214.413133365 meters Centerline goodness : 0.131912 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.14, Z:-0.31 [[ 0.9997807 -0.0016291 -0.02087833 -0.8462439 ] [ 0.00146082 0.99996635 -0.00807268 0.14457237] [ 0.02089078 0.00804041 0.99974943 -0.31430125] [ 0. 0. 0. 1. ]] SLAMing on 214.443133365 meters Centerline goodness : 0.108922 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.15, Z:-0.31 [[ 0.99977265 -0.0017715 -0.02124859 -0.84507351] [ 0.00158816 0.99996139 -0.00864214 0.14804057] [ 0.02126308 0.00860643 0.99973687 -0.31484978] [ 0. 0. 0. 1. ]] SLAMing on 214.473133365 meters Centerline goodness : 0.133247 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.15, Z:-0.32 [[ 0.99976419 -0.00191326 -0.02163116 -0.84387747] [ 0.00171401 0.99995597 -0.00922602 0.15157382] [ 0.02164786 0.00918677 0.99972345 -0.31540063] [ 0. 0. 0. 1. ]] SLAMing on 214.503133365 meters Centerline goodness : 0.133247 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.15, Z:-0.32 [[ 0.99976419 -0.00191326 -0.02163116 -0.84387747] [ 0.00171401 0.99995597 -0.00922602 0.15157382] [ 0.02164786 0.00918677 0.99972345 -0.31540063] [ 0. 0. 0. 1. ]] SLAMing on 214.533133365 meters Centerline goodness : 0.123124 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.16, Z:-0.32 [[ 0.99975492 -0.00204103 -0.02204397 -0.84259904] [ 0.00182518 0.99995024 -0.00980727 0.15511696] [ 0.02206289 0.00976463 0.9997089 -0.3159543 ] [ 0. 0. 0. 1. ]] SLAMing on 214.563133365 meters Centerline goodness : 0.134668 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.16, Z:-0.32 [[ 0.99975359 -0.00225703 -0.02208325 -0.84248246] [ 0.00202746 0.99994373 -0.01041252 0.15828775] [ 0.02210551 0.01036518 0.99970191 -0.3160805 ] [ 0. 0. 0. 1. ]] SLAMing on 214.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.623133365 meters Centerline goodness : 0.138159 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.16, Z:-0.32 [[ 0.99976345 -0.00259287 -0.02159443 -0.84430902] [ 0.00234845 0.99993298 -0.01133626 0.16347949] [ 0.02162238 0.01128286 0.99970254 -0.3151632 ] [ 0. 0. 0. 1. ]] SLAMing on 214.653133365 meters Centerline goodness : 0.163394 Centerline is valid? [False, False] Translation: X:-0.85, Y:0.17, Z:-0.31 [[ 0.99976896 -0.0027286 -0.02132101 -0.84513955] [ 0.00247779 0.99992753 -0.01178074 0.16619235] [ 0.02135161 0.01172519 0.99970327 -0.31492744] [ 0. 0. 0. 1. ]] SLAMing on 214.68313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.71313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.74313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.77313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.80313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 214.83313336499998 meters Centerline goodness : 0.112089 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.32 [[ 0.99977374 0.00530462 -0.02059915 -0.87956892] [-0.00551925 0.99993093 -0.01037683 0.20465599] [ 0.02054268 0.01048817 0.99973396 -0.31564997] [ 0. 0. 0. 1. ]] SLAMing on 214.86313336499998 meters Centerline goodness : 0.115868 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.21, Z:-0.31 [[ 0.99977342 -0.00243249 -0.02114695 -0.86194389] [ 0.00222843 0.99995078 -0.00966795 0.21455407] [ 0.02116943 0.00961863 0.99972963 -0.31334861] [ 0. 0. 0. 1. ]] SLAMing on 214.89313336499998 meters Centerline goodness : 0.190310 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.31 [[ 0.99976307 0.00581958 -0.02097458 -0.88168179] [-0.00605022 0.99992175 -0.01094931 0.21189814] [ 0.02090922 0.01107361 0.99972005 -0.31435892] [ 0. 0. 0. 1. ]] SLAMing on 214.92313336499998 meters Centerline goodness : 0.143463 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.22, Z:-0.31 [[ 0.99978556 -0.0020503 -0.0206068 -0.86336049] [ 0.00185333 0.99995246 -0.00957304 0.219576 ] [ 0.02062545 0.00953279 0.99974183 -0.31225774] [ 0. 0. 0. 1. ]] SLAMing on 214.95313336499999 meters Centerline goodness : 0.099012 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.22, Z:-0.31 [[ 0.99978069 -0.00249374 -0.02079318 -0.86308306] [ 0.00228383 0.99994626 -0.01011282 0.22165344] [ 0.02081728 0.01006312 0.99973265 -0.31187915] [ 0. 0. 0. 1. ]] SLAMing on 214.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.013133365 meters Centerline goodness : 0.093007 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.22, Z:-0.31 [[ 0.99977421 -0.00284091 -0.0210583 -0.86251792] [ 0.00261487 0.99993876 -0.01075374 0.22432064] [ 0.02108756 0.01069625 0.99972041 -0.31178603] [ 0. 0. 0. 1. ]] SLAMing on 215.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.073133365 meters Centerline goodness : 0.092918 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.31 [[ 9.99777202e-01 6.79826637e-04 -2.10970397e-02 -8.62064125e-01] [-8.42386499e-04 9.99970020e-01 -7.69740981e-03 2.27363575e-01] [ 2.10911743e-02 7.71346671e-03 9.99747801e-01 -3.12243672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.103133365 meters Centerline goodness : 0.088747 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.23, Z:-0.31 [[ 9.99777104e-01 5.29330442e-04 -2.11059895e-02 -8.62137340e-01] [-7.03758405e-04 9.99965656e-01 -8.25781122e-03 2.30502105e-01] [ 2.11008936e-02 8.27082410e-03 9.99743140e-01 -3.12226106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.133133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.163133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.223133365 meters Centerline goodness : 0.083125 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99763483e-01 2.30988065e-04 -2.17468519e-02 -8.60908735e-01] [-4.38329076e-04 9.99954492e-01 -9.53001613e-03 2.39783736e-01] [ 2.17436610e-02 9.53729439e-03 9.99718087e-01 -3.12012625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.253133365 meters Centerline goodness : 0.095653 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99766803e-01 2.05671056e-04 -2.15939176e-02 -8.61624298e-01] [-4.13659432e-04 9.99953566e-01 -9.62777879e-03 2.40595329e-01] [ 2.15909348e-02 9.63446615e-03 9.99720465e-01 -3.11459440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.283133365 meters Centerline goodness : 0.083056 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99768101e-01 1.93516230e-04 -2.15338373e-02 -8.62136235e-01] [-4.01228626e-04 9.99953435e-01 -9.64195837e-03 2.40810567e-01] [ 2.15309687e-02 9.64836241e-03 9.99721624e-01 -3.10858350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.313133365 meters Centerline goodness : 0.094582 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99766053e-01 6.54660345e-05 -2.16294715e-02 -8.62002346e-01] [-2.74974401e-04 9.99953077e-01 -9.68341312e-03 2.40600592e-01] [ 2.16278227e-02 9.68709527e-03 9.99719159e-01 -3.10615466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.343133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.373133365 meters Centerline goodness : 0.123424 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99759984e-01 2.22318709e-05 -2.19082949e-02 -8.61174726e-01] [-2.35138868e-04 9.99952775e-01 -9.71557168e-03 2.40575675e-01] [ 2.19070443e-02 9.71839128e-03 9.99712776e-01 -3.10840963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.403133365 meters Centerline goodness : 0.106689 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99758905e-01 3.26415674e-05 -2.19574551e-02 -8.61108908e-01] [-2.45296778e-04 9.99953096e-01 -9.68225145e-03 2.40409395e-01] [ 2.19561092e-02 9.68530320e-03 9.99712021e-01 -3.10755381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43313336499997 meters Centerline goodness : 0.165391 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.25, Z:-0.31 [[ 0.99974158 -0.00817903 -0.02121021 -0.84210883] [ 0.00799863 0.99993123 -0.0085764 0.24537943] [ 0.0212789 0.00840453 0.99973825 -0.30929452] [ 0. 0. 0. 1. ]] SLAMing on 215.46313336499998 meters Centerline goodness : 0.095593 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99773493e-01 5.26152722e-04 -2.12764144e-02 -8.62710091e-01] [-7.24873139e-04 9.99956181e-01 -9.33330588e-03 2.39498831e-01] [ 2.12705713e-02 9.34661452e-03 9.99730065e-01 -3.09963330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49313336499998 meters Centerline goodness : 0.088689 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99771881e-01 5.63636883e-04 -2.13510578e-02 -8.62575079e-01] [-7.62284762e-04 9.99956492e-01 -9.29689348e-03 2.39483919e-01] [ 2.13448888e-02 9.31104827e-03 9.99728813e-01 -3.09924900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52313336499998 meters Centerline goodness : 0.095123 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99767778e-01 6.44543763e-04 -2.15400664e-02 -8.61760435e-01] [-8.43694668e-04 9.99956975e-01 -9.23779477e-03 2.39504522e-01] [ 2.15331854e-02 9.25382279e-03 9.99725307e-01 -3.10505690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.58313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.61313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.64313336499998 meters Centerline goodness : 0.084196 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.24, Z:-0.31 [[ 9.99767403e-01 6.50194185e-04 -2.15572827e-02 -8.62067627e-01] [-8.49308558e-04 9.99957054e-01 -9.22865612e-03 2.39216808e-01] [ 2.15503565e-02 9.24481836e-03 9.99725020e-01 -3.09988835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.763133365 meters Centerline goodness : 0.140105 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.25, Z:-0.31 [[ 0.99972655 0.00550866 -0.02272617 -0.85833872] [-0.00565043 0.99996495 -0.00617865 0.25145373] [ 0.02269133 0.00630538 0.99972263 -0.31173638] [ 0. 0. 0. 1. ]] SLAMing on 215.793133365 meters Centerline goodness : 0.090320 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.26, Z:-0.31 [[ 0.99974408 -0.00154481 -0.02256955 -0.84160001] [ 0.0014417 0.99998845 -0.00458416 0.26081532] [ 0.02257637 0.00455045 0.99973477 -0.30951743] [ 0. 0. 0. 1. ]] SLAMing on 215.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.853133365 meters Centerline goodness : 0.097588 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 0.99973683 0.0019232 -0.02285982 -0.84107412] [-0.0019728 0.99999575 -0.00214746 0.26832792] [ 0.02285559 0.00219199 0.99973637 -0.30952346] [ 0. 0. 0. 1. ]] SLAMing on 215.883133365 meters Centerline goodness : 0.093376 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 0.99973765 0.00177839 -0.02283549 -0.8413325 ] [-0.0018365 0.99999513 -0.00252409 0.27035847] [ 0.02283089 0.00256536 0.99973605 -0.30926819] [ 0. 0. 0. 1. ]] SLAMing on 215.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 215.973133365 meters Centerline goodness : 0.090522 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 0.99973255 0.00141856 -0.02308281 -0.84087583] [-0.00149109 0.999994 -0.00312529 0.27325693] [ 0.02307824 0.00315887 0.99972867 -0.30902429] [ 0. 0. 0. 1. ]] SLAMing on 216.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 216.033133365 meters Centerline goodness : 0.176826 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.31 [[ 0.99965443 -0.00817953 -0.02498222 -0.86158338] [ 0.00810278 0.99996214 -0.00317174 0.27391349] [ 0.02500722 0.00296822 0.99968286 -0.30946608] [ 0. 0. 0. 1. ]] SLAMing on 216.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 216.093133365 meters Centerline goodness : 0.139815 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.31 [[ 0.99965698 -0.00852187 -0.02476481 -0.86228169] [ 0.00844801 0.99995955 -0.00308559 0.27183749] [ 0.02479011 0.00287532 0.99968854 -0.30901527] [ 0. 0. 0. 1. ]] SLAMing on 216.123133365 meters Centerline goodness : 0.150907 Centerline is valid? [False, False] Translation: X:-0.86, Y:0.27, Z:-0.31 [[ 0.99965813 -0.0084776 -0.02473377 -0.86246157] [ 0.00840853 0.99996046 -0.00289537 0.2708242 ] [ 0.02475734 0.00268641 0.99968988 -0.30876526] [ 0. 0. 0. 1. ]] SLAMing on 216.153133365 meters Centerline goodness : 0.154645 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99724261e-01 -6.12533836e-04 -2.34739622e-02 -8.42671880e-01] [ 5.29083332e-04 9.99993519e-01 -3.56107004e-03 2.68120611e-01] [ 2.34759913e-02 3.54766844e-03 9.99718106e-01 -3.07633055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18313336499997 meters Centerline goodness : 0.093985 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99727142e-01 -5.71260415e-04 -2.33519935e-02 -8.43156369e-01] [ 4.85387522e-04 9.99993101e-01 -3.68282878e-03 2.69318969e-01] [ 2.33539363e-02 3.67048913e-03 9.99720522e-01 -3.07375494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21313336499998 meters Centerline goodness : 0.089135 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99727759e-01 -6.28651972e-04 -2.33240913e-02 -8.43277444e-01] [ 5.36723504e-04 9.99992065e-01 -3.94740343e-03 2.70829278e-01] [ 2.33263877e-02 3.93381019e-03 9.99720163e-01 -3.07383565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24313336499998 meters Centerline goodness : 0.153000 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99726420e-01 -6.83779801e-04 -2.33798560e-02 -8.43274674e-01] [ 5.85235510e-04 9.99990918e-01 -4.22150549e-03 2.72452559e-01] [ 2.33825303e-02 4.20666785e-03 9.99717741e-01 -3.07294129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27313336499998 meters Centerline goodness : 0.140182 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.27, Z:-0.31 [[ 9.99724517e-01 -7.51032025e-04 -2.34590299e-02 -8.43048216e-01] [ 6.44812772e-04 9.99989508e-01 -4.53509839e-03 2.74242765e-01] [ 2.34621898e-02 4.51872237e-03 9.99714513e-01 -3.07439223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30313336499998 meters Centerline goodness : 0.142274 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99724751e-01 -7.35275969e-04 -2.34495578e-02 -8.43170808e-01] [ 6.23774890e-04 9.99988468e-01 -4.76189333e-03 2.75989790e-01] [ 2.34527886e-02 4.74595538e-03 9.99713680e-01 -3.07389892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33313336499998 meters Centerline goodness : 0.095429 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99727753e-01 -7.61233721e-04 -2.33203763e-02 -8.43846199e-01] [ 6.45363409e-04 9.99987413e-01 -4.97575279e-03 2.77474182e-01] [ 2.33238705e-02 4.95934804e-03 9.99715661e-01 -3.06924819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36313336499998 meters Centerline goodness : 0.095314 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99726269e-01 -9.62739585e-04 -2.33764948e-02 -8.44196360e-01] [ 8.34462643e-04 9.99984546e-01 -5.49656752e-03 2.79929251e-01] [ 2.33814253e-02 5.47555613e-03 9.99711622e-01 -3.06228089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39313336499998 meters Centerline goodness : 0.095314 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 9.99726269e-01 -9.62739585e-04 -2.33764948e-02 -8.44196360e-01] [ 8.34462643e-04 9.99984546e-01 -5.49656752e-03 2.79929251e-01] [ 2.33814253e-02 5.47555613e-03 9.99711622e-01 -3.06228089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 216.45313336499999 meters Centerline goodness : 0.142788 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.28, Z:-0.31 [[ 0.99971728 -0.00115251 -0.0237492 -0.84316769] [ 0.00100849 0.99998104 -0.00607535 0.28273167] [ 0.02375575 0.00604968 0.99969949 -0.30657012] [ 0. 0. 0. 1. ]] SLAMing on 216.483133365 meters Centerline goodness : 0.150813 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.29, Z:-0.31 [[ 0.99971531 -0.00124644 -0.02382737 -0.84295727] [ 0.00109183 0.99997828 -0.00650048 0.28530663] [ 0.02383496 0.00647262 0.99969495 -0.30671474] [ 0. 0. 0. 1. ]] SLAMing on 216.513133365 meters Centerline goodness : 0.140448 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.29, Z:-0.31 [[ 0.99971521 -0.00135602 -0.02382574 -0.84301215] [ 0.00118886 0.99997459 -0.00702899 0.28844068] [ 0.02383466 0.00699866 0.99969142 -0.30673907] [ 0. 0. 0. 1. ]] SLAMing on 216.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 216.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 216.603133365 meters Centerline goodness : 0.094099 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.30, Z:-0.31 [[ 0.99970687 0.00185628 -0.0241399 -0.84247291] [-0.00198247 0.99998449 -0.00520434 0.30020908] [ 0.02412987 0.00525068 0.99969504 -0.30674118] [ 0. 0. 0. 1. ]] SLAMing on 216.633133365 meters Centerline goodness : 0.178342 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.30, Z:-0.31 [[ 0.99970901 0.00172513 -0.02406056 -0.84303078] [-0.00186132 0.99998237 -0.00563905 0.30278467] [ 0.0240504 0.00568219 0.9996946 -0.30624796] [ 0. 0. 0. 1. ]] SLAMing on 216.663133365 meters Centerline goodness : 0.224095 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.31, Z:-0.31 [[ 0.99971167 0.00159689 -0.02395889 -0.84351855] [-0.00174208 0.99998024 -0.00604051 0.30503737] [ 0.02394877 0.00608051 0.9996947 -0.30591764] [ 0. 0. 0. 1. ]] SLAMing on 216.693133365 meters Centerline goodness : 0.194373 Centerline is valid? [False, False] Translation: X:-0.84, Y:0.31, Z:-0.31 [[ 0.99971343 0.0014132 -0.02389705 -0.84386706] [-0.0015678 0.99997796 -0.006452 0.30695309] [ 0.0238874 0.00648762 0.9996936 -0.30564505] [ 0. 0. 0. 1. ]] SLAMing on 216.723133365 meters Centerline goodness : 0.200234 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99967009 -0.00687025 -0.02474895 -0.82482784] [ 0.00672567 0.99995986 -0.00592032 0.31661305] [ 0.02478863 0.00575192 0.99967617 -0.30356121] [ 0. 0. 0. 1. ]] SLAMing on 216.753133365 meters Centerline goodness : 0.225338 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99966225 -0.006915 -0.02505133 -0.82422048] [ 0.00676394 0.99995846 -0.00610942 0.31787663] [ 0.02509253 0.00593791 0.9996675 -0.30341649] [ 0. 0. 0. 1. ]] SLAMing on 216.783133365 meters Centerline goodness : 0.190108 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.9996579 -0.00693038 -0.02521993 -0.82380672] [ 0.00677627 0.99995788 -0.00619063 0.31856466] [ 0.02526177 0.00601762 0.99966276 -0.30342169] [ 0. 0. 0. 1. ]] SLAMing on 216.813133365 meters Centerline goodness : 0.225640 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99965754 -0.00697473 -0.02522218 -0.8238985 ] [ 0.00681929 0.99995726 -0.00624372 0.31864069] [ 0.02526465 0.00606959 0.99966237 -0.3032369 ] [ 0. 0. 0. 1. ]] SLAMing on 216.843133365 meters Centerline goodness : 0.149495 Centerline is valid? [False, False] Translation: X:-0.82, Y:0.32, Z:-0.30 [[ 0.99966247 -0.00702802 -0.0250111 -0.82466457] [ 0.00687576 0.99995734 -0.00616827 0.3177983 ] [ 0.02505339 0.00599422 0.99966814 -0.30277565] [ 0. 0. 0. 1. ]] SLAMing on 216.873133365 meters Centerline goodness : 0.176899 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.32, Z:-0.30 [[ 0.99967088 -0.00704283 -0.02466836 -0.82577002] [ 0.00689847 0.99995861 -0.00593236 0.31631804] [ 0.02470912 0.00576024 0.99967809 -0.30220622] [ 0. 0. 0. 1. ]] SLAMing on 216.903133365 meters Centerline goodness : 0.097908 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.31, Z:-0.30 [[ 0.99968855 -0.00708844 -0.02392817 -0.82782405] [ 0.00696493 0.99996201 -0.00524101 0.31204846] [ 0.02396441 0.00507272 0.99969994 -0.30147464] [ 0. 0. 0. 1. ]] SLAMing on 216.93313336499997 meters Centerline goodness : 0.177526 Centerline is valid? [False, False] Translation: X:-0.83, Y:0.31, Z:-0.30 [[ 0.99968731 -0.00698646 -0.02400967 -0.82740544] [ 0.00687461 0.99996514 -0.00473804 0.30912619] [ 0.02404193 0.0045715 0.9997005 -0.30167583] [ 0. 0. 0. 1. ]] SLAMing on 216.96313336499998 meters Centerline goodness : 0.154459 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 0.99961867 -0.00721416 -0.02665476 -0.8717576 ] [ 0.00706112 0.99995807 -0.00583102 0.30329742] [ 0.02669571 0.00564059 0.99962769 -0.30149886] [ 0. 0. 0. 1. ]] SLAMing on 216.99313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.02313336499998 meters Centerline goodness : 0.093187 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 0.99961394 -0.00702498 -0.02688149 -0.87095928] [ 0.00689037 0.99996327 -0.00509694 0.29856095] [ 0.02691631 0.00490975 0.99962563 -0.30177165] [ 0. 0. 0. 1. ]] SLAMing on 217.05313336499998 meters Centerline goodness : 0.151645 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.29, Z:-0.30 [[ 0.99963975 0.00186858 -0.02677469 -0.89040678] [-0.00202243 0.99998159 -0.00572038 0.2913085 ] [ 0.02676351 0.00577247 0.99962513 -0.30308679] [ 0. 0. 0. 1. ]] SLAMing on 217.08313336499998 meters Centerline goodness : 0.136446 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.99965867 -0.00412838 -0.02579726 -0.86935558] [ 0.004067 0.99998877 -0.0024315 0.29333533] [ 0.02580701 0.00232575 0.99966424 -0.30320259] [ 0. 0. 0. 1. ]] SLAMing on 217.11313336499998 meters Centerline goodness : 0.139652 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.99967347 -0.00365393 -0.02529054 -0.87056451] [ 0.00360069 0.99999121 -0.00215005 0.2930154 ] [ 0.02529817 0.00205829 0.99967783 -0.30331888] [ 0. 0. 0. 1. ]] SLAMing on 217.14313336499998 meters Centerline goodness : 0.150019 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.999676 -0.00355217 -0.02520466 -0.87072737] [ 0.00349695 0.99999139 -0.00223462 0.29378175] [ 0.02521238 0.00214576 0.99967981 -0.30352614] [ 0. 0. 0. 1. ]] SLAMing on 217.17313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.20313336499999 meters Centerline goodness : 0.225070 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 9.99681864e-01 4.43659289e-04 -2.52185421e-02 -8.70211511e-01] [-4.10488268e-04 9.99999044e-01 1.32050411e-03 2.95303822e-01] [ 2.52191038e-02 -1.30973210e-03 9.99681090e-01 -3.04467211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.233133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.263133365 meters Centerline goodness : 0.096148 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.30, Z:-0.30 [[ 9.99678428e-01 5.44429590e-04 -2.53523828e-02 -8.69761043e-01] [-5.13994092e-04 9.99999139e-01 1.20699958e-03 2.96349481e-01] [ 2.53530181e-02 -1.19358047e-03 9.99677848e-01 -3.04862262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.293133365 meters Centerline goodness : 0.105562 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 9.99683952e-01 5.74909093e-04 -2.51329697e-02 -8.70612028e-01] [-5.36080524e-04 9.99998653e-01 1.55163601e-03 2.94090408e-01] [ 2.51338279e-02 -1.53767233e-03 9.99682913e-01 -3.04287768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.353133365 meters Centerline goodness : 0.144339 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.29, Z:-0.30 [[ 0.99967412 -0.0031195 -0.02533628 -0.87035322] [ 0.00308218 0.99999411 -0.00151209 0.29050657] [ 0.02534085 0.00143351 0.99967784 -0.30385675] [ 0. 0. 0. 1. ]] SLAMing on 217.383133365 meters Centerline goodness : 0.137850 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.30 [[ 0.99965462 -0.00672161 -0.02540603 -0.87017257] [ 0.00661833 0.9999695 -0.00414717 0.28469742] [ 0.02543313 0.00397759 0.99966861 -0.30359109] [ 0. 0. 0. 1. ]] SLAMing on 217.413133365 meters Centerline goodness : 0.227726 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.30 [[ 0.99966353 -0.0068174 -0.02502699 -0.87121483] [ 0.00673002 0.99997097 -0.00357421 0.28079249] [ 0.02505063 0.00340457 0.99968039 -0.30313021] [ 0. 0. 0. 1. ]] SLAMing on 217.443133365 meters Centerline goodness : 0.228224 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.28, Z:-0.30 [[ 0.99967087 -0.00687036 -0.02471752 -0.87193136] [ 0.00679882 0.99997246 -0.00297696 0.27678743] [ 0.02473729 0.00280793 0.99969004 -0.30291671] [ 0. 0. 0. 1. ]] SLAMing on 217.473133365 meters Centerline goodness : 0.142200 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.27, Z:-0.30 [[ 0.99960787 -0.00734288 -0.02702199 -0.91684473] [ 0.00724076 0.99996628 -0.00387478 0.26960415] [ 0.02704953 0.0036776 0.99962733 -0.30266141] [ 0. 0. 0. 1. ]] SLAMing on 217.503133365 meters Centerline goodness : 0.095987 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.27, Z:-0.30 [[ 0.99960302 -0.00717754 -0.02724476 -0.91596808] [ 0.00709253 0.99996968 -0.00321561 0.26588254] [ 0.02726701 0.0030211 0.99962362 -0.30305647] [ 0. 0. 0. 1. ]] SLAMing on 217.533133365 meters Centerline goodness : 0.150383 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.26, Z:-0.30 [[ 0.99959744 -0.00683957 -0.02753491 -0.91454734] [ 0.00678072 0.99997452 -0.00223043 0.26025624] [ 0.02754946 0.00204283 0.99961835 -0.30397516] [ 0. 0. 0. 1. ]] SLAMing on 217.563133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.593133365 meters Centerline goodness : 0.192434 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.26, Z:-0.30 [[ 0.99959229 -0.00655158 -0.02779099 -0.91374037] [ 0.00651118 0.99997761 -0.00154413 0.25643682] [ 0.02780048 0.00136254 0.99961256 -0.30422159] [ 0. 0. 0. 1. ]] SLAMing on 217.623133365 meters Centerline goodness : 0.140102 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.30 [[ 0.99958951 -0.00643089 -0.02791855 -0.91327755] [ 0.00639808 0.99997873 -0.00126453 0.2548223 ] [ 0.02792609 0.00108539 0.9996094 -0.3044848 ] [ 0. 0. 0. 1. ]] SLAMing on 217.653133365 meters Centerline goodness : 0.174579 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.30 [[ 9.99588300e-01 -6.30853829e-03 -2.79898670e-02 -9.13084966e-01] [ 6.28156033e-03 9.99979718e-01 -1.05167084e-03 2.53710321e-01] [ 2.79959338e-02 8.75417831e-04 9.99607654e-01 -3.04602349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68313336499997 meters Centerline goodness : 0.140969 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.30 [[ 9.99585885e-01 -6.09304389e-03 -2.81235349e-02 -9.12698071e-01] [ 6.07454279e-03 9.99981274e-01 -7.43240834e-04 2.52572803e-01] [ 2.81275368e-02 5.72095430e-04 9.99604179e-01 -3.04729546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.74313336499998 meters Centerline goodness : 0.084972 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.24, Z:-0.31 [[ 0.99964101 0.00280862 -0.0266452 -0.93527364] [-0.00283797 0.99999541 -0.00106372 0.2445833 ] [ 0.02664209 0.00113896 0.99964439 -0.30548791] [ 0. 0. 0. 1. ]] SLAMing on 217.77313336499998 meters Centerline goodness : 0.095092 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.25, Z:-0.30 [[ 9.99671237e-01 -5.60749389e-03 -2.50194820e-02 -9.16722351e-01] [ 5.60606954e-03 9.99984278e-01 -1.27071507e-04 2.48574011e-01] [ 2.50198011e-02 -1.32312254e-05 9.99686956e-01 -3.04345372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.83313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.86313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 217.89313336499998 meters Centerline goodness : 0.244601 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.31 [[ 0.99963021 -0.00363362 -0.02694889 -0.9089972 ] [ 0.003681 0.99999176 0.00170887 0.24753452] [ 0.02694246 -0.00180743 0.99963535 -0.30833508] [ 0. 0. 0. 1. ]] SLAMing on 217.92313336499998 meters Centerline goodness : 0.126256 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.31 [[ 0.99962354 -0.00355107 -0.02720596 -0.90834221] [ 0.00360474 0.99999165 0.00192387 0.24649571] [ 0.0271989 -0.00202122 0.999628 -0.30835173] [ 0. 0. 0. 1. ]] SLAMing on 217.95313336499999 meters Centerline goodness : 0.142576 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.25, Z:-0.31 [[ 0.99962192 -0.00351004 -0.02727092 -0.90823485] [ 0.00356964 0.99999135 0.00213693 0.24520279] [ 0.02726318 -0.00223347 0.9996258 -0.30819824] [ 0. 0. 0. 1. ]] SLAMing on 217.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.073133365 meters Centerline goodness : 0.113016 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.24, Z:-0.31 [[ 0.99964763 -0.00495375 -0.02607846 -0.91219713] [ 0.00500324 0.9999858 0.00183281 0.23812312] [ 0.02606901 -0.00196264 0.99965822 -0.30634283] [ 0. 0. 0. 1. ]] SLAMing on 218.103133365 meters Centerline goodness : 0.145689 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.31 [[ 9.99662073e-01 2.65615117e-03 -2.58589423e-02 -8.91862159e-01] [-2.63227958e-03 9.99996077e-01 9.57142264e-04 2.34806212e-01] [ 2.58613832e-02 -8.88750853e-04 9.99665143e-01 -3.05114794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.133133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.163133365 meters Centerline goodness : 0.119832 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965686 0.00261038 -0.0260643 -0.89167638] [-0.00258212 0.99999604 0.00111797 0.23327153] [ 0.02606712 -0.00105029 0.99965964 -0.30462667] [ 0. 0. 0. 1. ]] SLAMing on 218.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.223133365 meters Centerline goodness : 0.103578 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965794 0.00282655 -0.02600012 -0.89186273] [-0.00279348 0.99999524 0.0013082 0.23337145] [ 0.0260037 -0.00123512 0.99966108 -0.30459369] [ 0. 0. 0. 1. ]] SLAMing on 218.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.283133365 meters Centerline goodness : 0.132242 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965491 0.00270173 -0.0261299 -0.89150659] [-0.00267466 0.99999585 0.00107072 0.23378933] [ 0.02613268 -0.00100047 0.99965798 -0.30474837] [ 0. 0. 0. 1. ]] SLAMing on 218.313133365 meters Centerline goodness : 0.132242 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.30 [[ 0.99965491 0.00270173 -0.0261299 -0.89150659] [-0.00267466 0.99999585 0.00107072 0.23378933] [ 0.02613268 -0.00100047 0.99965798 -0.30474837] [ 0. 0. 0. 1. ]] SLAMing on 218.343133365 meters Centerline goodness : 0.125156 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.23, Z:-0.31 [[ 9.99648682e-01 2.70656751e-03 -2.63664179e-02 -8.90838478e-01] [-2.68261366e-03 9.99995956e-01 9.43827984e-04 2.34512867e-01] [ 2.63688658e-02 -8.72765487e-04 9.99651900e-01 -3.05024413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.373133365 meters Centerline goodness : 0.099611 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.24, Z:-0.30 [[ 0.99965225 0.00340171 -0.02614953 -0.89151355] [-0.0033723 0.99999363 0.00116875 0.23605956] [ 0.02615334 -0.00108016 0.99965736 -0.3049616 ] [ 0. 0. 0. 1. ]] SLAMing on 218.403133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.43313336499997 meters Centerline goodness : 0.096434 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.24, Z:-0.31 [[ 9.99664349e-01 3.62464650e-03 -2.56524930e-02 -8.92736002e-01] [-3.60555389e-03 9.99993188e-01 7.90493500e-04 2.38991698e-01] [ 2.56551835e-02 -6.97736724e-04 9.99670608e-01 -3.05126448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.49313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.52313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.55313336499998 meters Centerline goodness : 0.155729 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.24, Z:-0.30 [[ 0.99970472 0.00543938 -0.02368285 -0.90071013] [-0.00538045 0.99998227 0.00255114 0.23862198] [ 0.0236963 -0.00242296 0.99971627 -0.30099998] [ 0. 0. 0. 1. ]] SLAMing on 218.58313336499998 meters Centerline goodness : 0.177477 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.24, Z:-0.30 [[ 0.99971347 0.00551116 -0.02329375 -0.90196586] [-0.00544536 0.99998101 0.00288732 0.23691841] [ 0.02330922 -0.00275965 0.99972449 -0.30036073] [ 0. 0. 0. 1. ]] SLAMing on 218.61313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.64313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.67313336499998 meters Centerline goodness : 0.100336 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 9.99741441e-01 2.10405895e-03 -2.26412232e-02 -9.03626290e-01] [-2.10834753e-03 9.99997764e-01 -1.65545259e-04 2.34775251e-01] [ 2.26408243e-02 2.13238023e-04 9.99743641e-01 -3.00085042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.733133365 meters Centerline goodness : 0.091523 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 9.99746299e-01 2.22093000e-03 -2.24143911e-02 -9.04591858e-01] [-2.21288232e-03 9.99997478e-01 3.83837604e-04 2.31246280e-01] [ 2.24151871e-02 -3.34139814e-04 9.99748692e-01 -2.99433002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.763133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.793133365 meters Centerline goodness : 0.145707 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 9.99743156e-01 2.37164601e-03 -2.25388068e-02 -9.04351311e-01] [-2.35357665e-03 9.99996887e-01 8.28192984e-04 2.28803057e-01] [ 2.25407008e-02 -7.74933458e-04 9.99745626e-01 -2.99330928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.853133365 meters Centerline goodness : 0.097475 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.23, Z:-0.30 [[ 0.99972759 0.00242049 -0.02321391 -0.90240437] [-0.00239153 0.99999633 0.00127538 0.22563266] [ 0.02321691 -0.00121952 0.99972971 -0.29985757] [ 0. 0. 0. 1. ]] SLAMing on 218.883133365 meters Centerline goodness : 0.096255 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.23, Z:-0.30 [[ 0.99974892 -0.0062046 -0.02153141 -0.88292418] [ 0.00625958 0.99997732 0.00248732 0.2255247 ] [ 0.02151549 -0.00262147 0.99976508 -0.29878926] [ 0. 0. 0. 1. ]] SLAMing on 218.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 218.943133365 meters Centerline goodness : 0.110576 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.22, Z:-0.30 [[ 0.99975631 -0.00844273 -0.02039706 -0.88803237] [ 0.00846871 0.99996343 0.00118779 0.21838041] [ 0.02038628 -0.00136023 0.99979125 -0.29568065] [ 0. 0. 0. 1. ]] SLAMing on 218.973133365 meters Centerline goodness : 0.113678 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.22, Z:-0.30 [[ 0.9997574 -0.00831918 -0.02039465 -0.88791145] [ 0.00835629 0.99996358 0.00173521 0.21531764] [ 0.02037947 -0.00190521 0.9997905 -0.29571382] [ 0. 0. 0. 1. ]] SLAMing on 219.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.033133365 meters Centerline goodness : 0.098204 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 9.99700201e-01 -9.88116880e-03 -2.24024868e-02 -8.80309720e-01] [ 9.90235499e-03 9.99950622e-01 8.34968853e-04 2.08611632e-01] [ 2.23931302e-02 -1.05655591e-03 9.99748684e-01 -2.99021001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.063133365 meters Centerline goodness : 0.100879 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99969645 -0.0097628 -0.02262076 -0.8796216 ] [ 0.00978869 0.99995156 0.00103381 0.20757063] [ 0.02260958 -0.00125493 0.99974358 -0.29931954] [ 0. 0. 0. 1. ]] SLAMing on 219.093133365 meters Centerline goodness : 0.104636 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99969764 -0.00968833 -0.02259991 -0.87986971] [ 0.00971628 0.99995216 0.00112731 0.20712719] [ 0.0225879 -0.00134655 0.99974395 -0.29904426] [ 0. 0. 0. 1. ]] SLAMing on 219.123133365 meters Centerline goodness : 0.218047 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99970187 -0.00958179 -0.02245813 -0.88058072] [ 0.00961161 0.99995306 0.00122007 0.20698568] [ 0.02244538 -0.00143556 0.99974704 -0.29853593] [ 0. 0. 0. 1. ]] SLAMing on 219.153133365 meters Centerline goodness : 0.229717 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.21, Z:-0.30 [[ 0.99970539 -0.00943912 -0.02236136 -0.88095757] [ 0.00947072 0.9999543 0.00130767 0.20721988] [ 0.022348 -0.00151906 0.9997491 -0.29836986] [ 0. 0. 0. 1. ]] SLAMing on 219.18313336499997 meters Centerline goodness : 0.095224 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.30 [[ 9.99747892e-01 -5.69591866e-04 -2.24461279e-02 -9.00997463e-01] [ 5.84778208e-04 9.99999605e-01 6.70010427e-04 2.01904431e-01] [ 2.24457374e-02 -6.82967519e-04 9.99747829e-01 -2.99768820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21313336499998 meters Centerline goodness : 0.044491 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.30 [[ 9.99742905e-01 -5.60594606e-04 -2.26673697e-02 -9.00276397e-01] [ 5.71371151e-04 9.99999727e-01 4.68947266e-04 2.02952908e-01] [ 2.26671007e-02 -4.81778183e-04 9.99742952e-01 -3.00197783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24313336499998 meters Centerline goodness : 0.092363 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.30 [[ 9.99743973e-01 -5.93499634e-04 -2.26193741e-02 -9.00499781e-01] [ 6.03627840e-04 9.99999721e-01 4.40941752e-04 2.02838533e-01] [ 2.26191061e-02 -4.54482543e-04 9.99744052e-01 -3.00075997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27313336499998 meters Centerline goodness : 0.096125 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.20, Z:-0.30 [[ 9.99717293e-01 -8.22841291e-04 -2.37624933e-02 -9.48948621e-01] [ 8.31824535e-04 9.99999586e-01 3.68160947e-04 1.97730175e-01] [ 2.37621805e-02 -3.87823090e-04 9.99717564e-01 -2.98629339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30313336499998 meters Centerline goodness : 0.093299 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.20, Z:-0.30 [[ 9.99719006e-01 -8.20225938e-04 -2.36904435e-02 -9.49086715e-01] [ 8.34863623e-04 9.99999467e-01 6.07989058e-04 1.96224324e-01] [ 2.36899321e-02 -6.27596506e-04 9.99719157e-01 -2.98600108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.36313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.39313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.42313336499998 meters Centerline goodness : 0.079847 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.30 [[ 0.99968455 -0.00363004 -0.02485197 -0.94487708] [ 0.00359959 0.99999272 -0.00126975 0.18972672] [ 0.0248564 0.00117989 0.99969034 -0.30018361] [ 0. 0. 0. 1. ]] SLAMing on 219.45313336499999 meters Centerline goodness : 0.118076 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 9.99685514e-01 -3.53598034e-03 -2.48267951e-02 -9.45267220e-01] [ 3.51184289e-03 9.99993318e-01 -1.01576748e-03 1.88404892e-01] [ 2.48302209e-02 9.28260234e-04 9.99691252e-01 -2.99601890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.483133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.513133365 meters Centerline goodness : 0.099374 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.9997008 0.00439015 -0.02406317 -0.92603287] [-0.00444923 0.99998722 -0.0024025 0.18652768] [ 0.02405231 0.00250884 0.99970755 -0.29744211] [ 0. 0. 0. 1. ]] SLAMing on 219.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.573133365 meters Centerline goodness : 0.096212 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99969601 -0.00302661 -0.0244689 -0.94547538] [ 0.00299766 0.99999476 -0.00121959 0.19194882] [ 0.02447246 0.00114587 0.99969985 -0.29926179] [ 0. 0. 0. 1. ]] SLAMing on 219.603133365 meters Centerline goodness : 0.408955 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99969719 -0.00305315 -0.02441731 -0.94544597] [ 0.00301983 0.99999446 -0.00140158 0.19311321] [ 0.02442146 0.00132742 0.99970087 -0.29958322] [ 0. 0. 0. 1. ]] SLAMing on 219.633133365 meters Centerline goodness : 0.189374 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99971674 0.00534706 -0.02319174 -0.92574371] [-0.00540066 0.99998289 -0.0022492 0.19278433] [ 0.02317931 0.00237382 0.99972851 -0.29791104] [ 0. 0. 0. 1. ]] SLAMing on 219.663133365 meters Centerline goodness : 0.146195 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99971832 0.0053194 -0.02312953 -0.92616534] [-0.00537308 0.99998301 -0.00225948 0.19267878] [ 0.02311711 0.00238312 0.99972992 -0.2975091 ] [ 0. 0. 0. 1. ]] SLAMing on 219.693133365 meters Centerline goodness : 0.188688 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99971242 -0.00304477 -0.02378675 -0.94644667] [ 0.00301215 0.99999447 -0.00140733 0.19485231] [ 0.0237909 0.00133527 0.99971606 -0.29878451] [ 0. 0. 0. 1. ]] SLAMing on 219.723133365 meters Centerline goodness : 0.099594 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.19, Z:-0.30 [[ 0.99970835 -0.00306863 -0.02395391 -0.9459801 ] [ 0.0030382 0.99999453 -0.00130656 0.19396295] [ 0.02395779 0.0012334 0.99971221 -0.29886635] [ 0. 0. 0. 1. ]] SLAMing on 219.753133365 meters Centerline goodness : 0.095329 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.19, Z:-0.30 [[ 0.99971464 0.00286696 -0.02371538 -0.92295308] [-0.00295721 0.99998852 -0.00377112 0.19263981] [ 0.02370429 0.00384017 0.99971164 -0.29876553] [ 0. 0. 0. 1. ]] SLAMing on 219.783133365 meters Centerline goodness : 0.104310 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.19, Z:-0.30 [[ 0.99971533 0.00291167 -0.02368067 -0.9230405 ] [-0.00299533 0.9999894 -0.00349795 0.19105343] [ 0.02367024 0.00356788 0.99971345 -0.29868809] [ 0. 0. 0. 1. ]] SLAMing on 219.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 219.843133365 meters Centerline goodness : 0.101115 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975511 0.00132945 -0.02208965 -0.92907954] [-0.00142795 0.99998911 -0.00444374 0.18686009] [ 0.0220835 0.0044742 0.99974612 -0.29587098] [ 0. 0. 0. 1. ]] SLAMing on 219.873133365 meters Centerline goodness : 0.095770 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975392 0.00135065 -0.02214233 -0.92888672] [-0.00144654 0.99998964 -0.00431529 0.1858962 ] [ 0.02213627 0.00434626 0.99974552 -0.29595593] [ 0. 0. 0. 1. ]] SLAMing on 219.903133365 meters Centerline goodness : 0.094874 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975071 0.00136774 -0.02228556 -0.92833976] [-0.00146242 0.99998997 -0.00423263 0.18528883] [ 0.02227954 0.00426416 0.99974269 -0.29628882] [ 0. 0. 0. 1. ]] SLAMing on 219.93313336499997 meters Centerline goodness : 0.139622 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99974846 0.00135024 -0.02238732 -0.92778339] [-0.00144656 0.99998976 -0.00428716 0.18547707] [ 0.0223813 0.00431847 0.99974018 -0.29681589] [ 0. 0. 0. 1. ]] SLAMing on 219.96313336499998 meters Centerline goodness : 0.116424 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99974827 0.00136869 -0.02239468 -0.92764229] [-0.00146489 0.99998977 -0.00428014 0.18546597] [ 0.0223886 0.00431186 0.99974005 -0.29704992] [ 0. 0. 0. 1. ]] SLAMing on 219.99313336499998 meters Centerline goodness : 0.250627 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975025 0.00147226 -0.02229949 -0.9281506 ] [-0.00156577 0.99999005 -0.00417668 0.18533092] [ 0.02229312 0.00421056 0.99974261 -0.29661839] [ 0. 0. 0. 1. ]] SLAMing on 220.02313336499998 meters Centerline goodness : 0.111237 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.19, Z:-0.30 [[ 0.99975318 0.00153416 -0.02216353 -0.92869616] [-0.0016253 0.9999903 -0.00409483 0.18517515] [ 0.02215703 0.00412985 0.99974597 -0.29628334] [ 0. 0. 0. 1. ]] SLAMing on 220.05313336499998 meters Centerline goodness : 0.243701 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.19, Z:-0.30 [[ 0.9997529 -0.00641888 -0.02128253 -0.90971523] [ 0.00635931 0.99997567 -0.00286567 0.18957075] [ 0.02130041 0.00272962 0.99976939 -0.29516582] [ 0. 0. 0. 1. ]] SLAMing on 220.08313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.11313336499998 meters Centerline goodness : 0.135788 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.19, Z:-0.30 [[ 0.99975565 -0.00638754 -0.02116228 -0.90951425] [ 0.00633674 0.99997688 -0.0024669 0.18617551] [ 0.02117755 0.0023322 0.99977301 -0.29582307] [ 0. 0. 0. 1. ]] SLAMing on 220.14313336499998 meters Centerline goodness : 0.087821 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.18, Z:-0.30 [[ 0.99975477 -0.00628643 -0.02123419 -0.90932838] [ 0.0062424 0.99997823 -0.00213926 0.18431867] [ 0.02124717 0.00200619 0.99977224 -0.29581705] [ 0. 0. 0. 1. ]] SLAMing on 220.17313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.20313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.233133365 meters Centerline goodness : 0.430910 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.18, Z:-0.30 [[ 0.99975429 -0.00605952 -0.02132234 -0.90918017] [ 0.00603064 0.99998081 -0.00141836 0.18053744] [ 0.02133052 0.00128943 0.99977165 -0.29556301] [ 0. 0. 0. 1. ]] SLAMing on 220.263133365 meters Centerline goodness : 0.106810 Centerline is valid? [False, False] Translation: X:-0.91, Y:0.18, Z:-0.30 [[ 0.99975404 -0.00598539 -0.02135484 -0.9091011 ] [ 0.00596107 0.99998151 -0.00120226 0.17938702] [ 0.02136164 0.00107467 0.99977124 -0.29551833] [ 0. 0. 0. 1. ]] SLAMing on 220.293133365 meters Centerline goodness : 0.100561 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.9997685 0.00187618 -0.0214342 -0.88956901] [-0.00192477 0.99999562 -0.00224623 0.17509296] [ 0.02142989 0.00228697 0.99976774 -0.29378108] [ 0. 0. 0. 1. ]] SLAMing on 220.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 220.353133365 meters Centerline goodness : 0.296411 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.17, Z:-0.29 [[ 0.99977719 0.00203325 -0.0210103 -0.89069092] [-0.00207815 0.9999956 -0.0021153 0.17497153] [ 0.02100591 0.00215849 0.99977702 -0.29366225] [ 0. 0. 0. 1. ]] SLAMing on 220.383133365 meters Centerline goodness : 0.144464 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.17, Z:-0.29 [[ 0.99978051 0.00207641 -0.02084736 -0.89112112] [-0.00211995 0.99999562 -0.00206676 0.17485611] [ 0.02084298 0.0021105 0.99978053 -0.29362233] [ 0. 0. 0. 1. ]] SLAMing on 220.413133365 meters Centerline goodness : 0.096532 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.17, Z:-0.29 [[ 0.99978002 0.00209469 -0.02086917 -0.89097119] [-0.00213843 0.99999556 -0.00207384 0.17498781] [ 0.02086473 0.00211801 0.99978006 -0.29380485] [ 0. 0. 0. 1. ]] SLAMing on 220.443133365 meters Centerline goodness : 0.097754 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.99977301 0.00210973 -0.02120108 -0.88981013] [-0.0021564 0.9999953 -0.00217838 0.17566007] [ 0.02119638 0.0022236 0.99977286 -0.29447545] [ 0. 0. 0. 1. ]] SLAMing on 220.473133365 meters Centerline goodness : 0.097193 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.99977174 0.00208284 -0.02126343 -0.88958171] [-0.00213123 0.99999519 -0.00225326 0.17601084] [ 0.02125864 0.00229806 0.99977137 -0.29462737] [ 0. 0. 0. 1. ]] SLAMing on 220.503133365 meters Centerline goodness : 0.097764 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.18, Z:-0.29 [[ 0.99977377 0.00206648 -0.02116927 -0.88982555] [-0.00211686 0.99999498 -0.00235771 0.17673077] [ 0.02116429 0.00240199 0.99977313 -0.2946609 ] [ 0. 0. 0. 1. ]] SLAMing on 220.533133365 meters Centerline goodness : 0.093774 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.18, Z:-0.29 [[ 9.99777669e-01 -5.31137130e-03 -2.04059463e-02 -8.71882771e-01] [ 5.29827060e-03 9.99985722e-01 -6.96014540e-04 1.83406887e-01] [ 2.04093518e-02 5.87743569e-04 9.99791535e-01 -2.92804167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.563133365 meters Centerline goodness : 0.229837 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.18, Z:-0.29 [[ 9.99781579e-01 -5.34860531e-03 -2.02036417e-02 -8.72595941e-01] [ 5.33173740e-03 9.99985391e-01 -8.88668589e-04 1.84730302e-01] [ 2.02080996e-02 7.80753973e-04 9.99795491e-01 -2.92502636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.593133365 meters Centerline goodness : 0.097820 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99978735 -0.00555621 -0.01985894 -0.87380097] [ 0.00552821 0.99998365 -0.0014648 0.18765651] [ 0.01986675 0.0013547 0.99980172 -0.29206075] [ 0. 0. 0. 1. ]] SLAMing on 220.623133365 meters Centerline goodness : 0.368933 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99978832 -0.00568277 -0.01977451 -0.87418889] [ 0.00564782 0.99998239 -0.0018229 0.18948476] [ 0.01978452 0.00171083 0.9998028 -0.29186841] [ 0. 0. 0. 1. ]] SLAMing on 220.653133365 meters Centerline goodness : 0.094033 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99979005 -0.00581286 -0.0196486 -0.87458208] [ 0.00577064 0.99998092 -0.00220445 0.1915577 ] [ 0.01966104 0.0020906 0.99980452 -0.29181605] [ 0. 0. 0. 1. ]] SLAMing on 220.68313336499997 meters Centerline goodness : 0.226583 Centerline is valid? [False, False] Translation: X:-0.87, Y:0.19, Z:-0.29 [[ 0.99979021 -0.00592539 -0.01960657 -0.87482331] [ 0.00587516 0.99997931 -0.0026185 0.19399754] [ 0.01962168 0.00250275 0.99980434 -0.29167167] [ 0. 0. 0. 1. ]] SLAMing on 220.71313336499998 meters Centerline goodness : 0.317649 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.99979175 -0.00611477 -0.01946957 -0.87523952] [ 0.00605475 0.99997674 -0.00314028 0.19675737] [ 0.01948832 0.00302174 0.99980552 -0.29163796] [ 0. 0. 0. 1. ]] SLAMing on 220.74313336499998 meters Centerline goodness : 0.113450 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.99979137 -0.00631917 -0.01942373 -0.87526448] [ 0.0062491 0.99997376 -0.00366572 0.19940271] [ 0.01944639 0.00354357 0.99980462 -0.29186397] [ 0. 0. 0. 1. ]] SLAMing on 220.77313336499998 meters Centerline goodness : 0.104457 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.9997923 -0.00664002 -0.01926804 -0.87588273] [ 0.00655587 0.99996871 -0.00442727 0.20333132] [ 0.01929683 0.00430003 0.99980455 -0.29161767] [ 0. 0. 0. 1. ]] SLAMing on 220.80313336499998 meters Centerline goodness : 0.108533 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.29 [[ 0.99980988 0.00159751 -0.01943347 -0.89525656] [-0.00170675 0.99998283 -0.005606 0.19897106] [ 0.01942418 0.00563811 0.99979544 -0.29263739] [ 0. 0. 0. 1. ]] SLAMing on 220.83313336499998 meters Centerline goodness : 0.112980 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.20, Z:-0.29 [[ 0.99980495 0.00148463 -0.01969425 -0.89483016] [-0.00159899 0.99998195 -0.00579229 0.19983762] [ 0.0196853 0.00582266 0.99978927 -0.29235212] [ 0. 0. 0. 1. ]] SLAMing on 220.86313336499998 meters Centerline goodness : 0.109909 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.20, Z:-0.29 [[ 0.99980009 0.00140362 -0.01994514 -0.89431579] [-0.00152045 0.99998177 -0.00584368 0.1997278 ] [ 0.01993657 0.00587284 0.999784 -0.29217547] [ 0. 0. 0. 1. ]] SLAMing on 220.89313336499998 meters Centerline goodness : 0.113834 Centerline is valid? [False, False] Translation: X:-0.89, Y:0.20, Z:-0.29 [[ 0.99979807 0.00135572 -0.02004953 -0.89411172] [-0.00147267 0.99998198 -0.00581981 0.19924643] [ 0.02004128 0.00584817 0.99978205 -0.29208518] [ 0. 0. 0. 1. ]] SLAMing on 220.92313336499998 meters Centerline goodness : 0.104921 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.20, Z:-0.29 [[ 0.99981109 0.00115555 -0.01940247 -0.89608555] [-0.0012679 0.9999825 -0.00577917 0.19801776] [ 0.01939545 0.00580268 0.99979505 -0.29127404] [ 0. 0. 0. 1. ]] SLAMing on 220.95313336499999 meters Centerline goodness : 0.113189 Centerline is valid? [False, False] Translation: X:-0.88, Y:0.20, Z:-0.29 [[ 0.99981245 -0.00694197 -0.01807945 -0.87727525] [ 0.00685976 0.99996587 -0.00460523 0.20200326] [ 0.0181108 0.00448034 0.99982595 -0.29002354] [ 0. 0. 0. 1. ]] SLAMing on 220.983133365 meters Centerline goodness : 0.182222 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99978293 -0.00636339 -0.01983957 -0.92398722] [ 0.00627408 0.99996992 -0.00456038 0.1982068 ] [ 0.019868 0.00443491 0.99979278 -0.2892568 ] [ 0. 0. 0. 1. ]] SLAMing on 221.013133365 meters Centerline goodness : 0.113999 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.9997815 -0.00624209 -0.01994975 -0.92379126] [ 0.00615518 0.99997131 -0.00441511 0.19790736] [ 0.01997674 0.00429135 0.99979124 -0.28917506] [ 0. 0. 0. 1. ]] SLAMing on 221.043133365 meters Centerline goodness : 0.108108 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977872 -0.00613809 -0.02012052 -0.92318354] [ 0.00605216 0.99997232 -0.00432865 0.1977521 ] [ 0.02014653 0.00420592 0.99978819 -0.28955918] [ 0. 0. 0. 1. ]] SLAMing on 221.073133365 meters Centerline goodness : 0.106002 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977647 -0.00606611 -0.02025368 -0.92269883] [ 0.00598145 0.99997313 -0.00423825 0.19725626] [ 0.02027885 0.00411615 0.99978589 -0.28982839] [ 0. 0. 0. 1. ]] SLAMing on 221.103133365 meters Centerline goodness : 0.112203 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977588 -0.00589781 -0.0203322 -0.92223695] [ 0.00581539 0.99997464 -0.00411038 0.19658156] [ 0.02035593 0.00399121 0.99978483 -0.29039236] [ 0. 0. 0. 1. ]] SLAMing on 221.133133365 meters Centerline goodness : 0.388706 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99977684 -0.00582867 -0.02030516 -0.92224636] [ 0.00574677 0.99997512 -0.00408957 0.19674565] [ 0.02032849 0.00397197 0.99978546 -0.29056317] [ 0. 0. 0. 1. ]] SLAMing on 221.163133365 meters Centerline goodness : 0.181069 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.20, Z:-0.29 [[ 0.99978124 -0.00573348 -0.02011453 -0.9228646 ] [ 0.0056532 0.99997584 -0.00404576 0.19701373] [ 0.02013724 0.00393117 0.9997895 -0.29035261] [ 0. 0. 0. 1. ]] SLAMing on 221.193133365 meters Centerline goodness : 0.179151 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.20, Z:-0.29 [[ 0.99979707 -0.00550255 -0.01937862 -0.92526149] [ 0.00542872 0.99997781 -0.00386059 0.19715549] [ 0.01939943 0.00375461 0.99980476 -0.28942268] [ 0. 0. 0. 1. ]] SLAMing on 221.223133365 meters Centerline goodness : 0.094369 Centerline is valid? [False, False] Translation: X:-0.93, Y:0.20, Z:-0.29 [[ 0.9997975 -0.00551041 -0.01935443 -0.92521364] [ 0.00543631 0.9999777 -0.00387937 0.19712982] [ 0.01937538 0.00377336 0.99980516 -0.28963006] [ 0. 0. 0. 1. ]] SLAMing on 221.253133365 meters Centerline goodness : 0.192309 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99978328 0.00235971 -0.02068383 -0.94335412] [-0.00247223 0.99998228 -0.00541613 0.19104473] [ 0.02067068 0.00546609 0.9997714 -0.29137949] [ 0. 0. 0. 1. ]] SLAMing on 221.283133365 meters Centerline goodness : 0.100911 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977738 0.0023061 -0.02097321 -0.94228766] [-0.0024197 0.99998253 -0.00539286 0.19041803] [ 0.0209604 0.00544241 0.99976549 -0.29198352] [ 0. 0. 0. 1. ]] SLAMing on 221.313133365 meters Centerline goodness : 0.212328 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977408 0.00234628 -0.0211253 -0.94183038] [-0.00245723 0.99998332 -0.00522762 0.18940638] [ 0.02111268 0.00527835 0.99976317 -0.29211266] [ 0. 0. 0. 1. ]] SLAMing on 221.343133365 meters Centerline goodness : 0.432729 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977335 0.00243923 -0.02114966 -0.9419134 ] [-0.00254486 0.99998442 -0.00496877 0.18816985] [ 0.02113721 0.00502146 0.99976397 -0.29185031] [ 0. 0. 0. 1. ]] SLAMing on 221.373133365 meters Centerline goodness : 0.101295 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.19, Z:-0.29 [[ 0.99977253 0.0024936 -0.0211819 -0.94202569] [-0.00258986 0.99998644 -0.00451835 0.18556675] [ 0.02117035 0.00457218 0.99976543 -0.29143267] [ 0. 0. 0. 1. ]] SLAMing on 221.403133365 meters Centerline goodness : 0.125371 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976863 0.00250226 -0.02136406 -0.94151444] [-0.00259396 0.99998754 -0.00426548 0.18377336] [ 0.02135312 0.00431991 0.99976266 -0.29148911] [ 0. 0. 0. 1. ]] SLAMing on 221.43313336499997 meters Centerline goodness : 0.122842 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976667 0.00250213 -0.02145543 -0.9411367 ] [-0.00258898 0.99998856 -0.00402136 0.18200525] [ 0.02144513 0.00407597 0.99976172 -0.29168665] [ 0. 0. 0. 1. ]] SLAMing on 221.46313336499998 meters Centerline goodness : 0.094445 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976286 0.0025427 -0.02162754 -0.94054841] [-0.00262368 0.99998965 -0.00371691 0.180083 ] [ 0.02161787 0.00377277 0.99975919 -0.29191914] [ 0. 0. 0. 1. ]] SLAMing on 221.49313336499998 meters Centerline goodness : 0.114291 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.9997617 0.00260257 -0.02167432 -0.94023236] [-0.00267579 0.99999081 -0.00335001 0.17788329] [ 0.0216654 0.00340721 0.99975947 -0.29213638] [ 0. 0. 0. 1. ]] SLAMing on 221.52313336499998 meters Centerline goodness : 0.119589 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.18, Z:-0.29 [[ 0.99976139 0.00267401 -0.02167988 -0.94013698] [-0.00273895 0.99999185 -0.00296623 0.17564614] [ 0.02167177 0.0030249 0.99976056 -0.29218942] [ 0. 0. 0. 1. ]] SLAMing on 221.55313336499998 meters Centerline goodness : 0.112791 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99976041 0.00255255 -0.02173962 -0.93980402] [-0.00260668 0.99999357 -0.00246166 0.1714504 ] [ 0.0217332 0.00251774 0.99976064 -0.29233398] [ 0. 0. 0. 1. ]] SLAMing on 221.58313336499998 meters Centerline goodness : 0.298190 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99975358 0.00265004 -0.02204009 -0.93899696] [-0.00269848 0.99999401 -0.00216865 0.16983439] [ 0.02203421 0.00222759 0.99975474 -0.29243945] [ 0. 0. 0. 1. ]] SLAMing on 221.61313336499998 meters Centerline goodness : 0.178391 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99974936 0.0027757 -0.02221494 -0.93854922] [-0.00281811 0.99999427 -0.00187794 0.16843723] [ 0.0222096 0.00194007 0.99975145 -0.29246092] [ 0. 0. 0. 1. ]] SLAMing on 221.64313336499998 meters Centerline goodness : 0.171022 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99974966 0.00283029 -0.0221948 -0.93875267] [-0.00287004 0.99999433 -0.00175892 0.16777911] [ 0.02218969 0.00182218 0.99975212 -0.29223001] [ 0. 0. 0. 1. ]] SLAMing on 221.67313336499998 meters Centerline goodness : 0.104087 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.9997549 0.00284178 -0.02195576 -0.93962163] [-0.00288033 0.99999437 -0.00172441 0.16734485] [ 0.02195074 0.00178723 0.99975746 -0.29179735] [ 0. 0. 0. 1. ]] SLAMing on 221.70313336499999 meters Centerline goodness : 0.091947 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99976521 0.00282802 -0.02148309 -0.94102706] [-0.00286808 0.9999942 -0.00183424 0.16773526] [ 0.02147777 0.00189543 0.99976753 -0.29142109] [ 0. 0. 0. 1. ]] SLAMing on 221.733133365 meters Centerline goodness : 0.430074 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99978711 0.00359163 -0.0203185 -0.94421645] [-0.00362184 0.99999239 -0.00144996 0.16853341] [ 0.02031314 0.00152324 0.99979251 -0.29084861] [ 0. 0. 0. 1. ]] SLAMing on 221.763133365 meters Centerline goodness : 0.096011 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.9997876 0.00382151 -0.02025207 -0.94425655] [-0.00385381 0.99999136 -0.00155576 0.17018759] [ 0.02024595 0.00163347 0.9997937 -0.29116763] [ 0. 0. 0. 1. ]] SLAMing on 221.793133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 221.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 221.853133365 meters Centerline goodness : 0.118929 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99977677 0.00487147 -0.02055895 -0.94349816] [-0.00490378 0.99998682 -0.0015215 0.17476261] [ 0.02055127 0.00162198 0.99978748 -0.29172631] [ 0. 0. 0. 1. ]] SLAMing on 221.883133365 meters Centerline goodness : 0.191431 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99977586 0.00494689 -0.02058542 -0.94340575] [-0.00497745 0.99998659 -0.00143319 0.17474136] [ 0.02057805 0.00153533 0.99978707 -0.2918284 ] [ 0. 0. 0. 1. ]] SLAMing on 221.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 221.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 221.973133365 meters Centerline goodness : 0.098651 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.17, Z:-0.29 [[ 0.99978601 0.00125445 -0.02064837 -0.94405759] [-0.00134817 0.99998885 -0.00452543 0.17149381] [ 0.02064247 0.0045523 0.99977656 -0.29068583] [ 0. 0. 0. 1. ]] SLAMing on 222.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.093133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.18313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.21313336499998 meters Centerline goodness : 0.086380 Centerline is valid? [False, False] Translation: X:-0.95, Y:0.16, Z:-0.29 [[ 0.99978812 -0.00451806 -0.02008246 -0.94685127] [ 0.00435746 0.99995824 -0.00803349 0.15863667] [ 0.02011791 0.00794428 0.99976605 -0.28814204] [ 0. 0. 0. 1. ]] SLAMing on 222.24313336499998 meters Centerline goodness : 0.101156 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.15, Z:-0.29 [[ 0.99978872 0.00366963 -0.02022474 -0.9662896 ] [-0.00385087 0.99995271 -0.00892981 0.15258062] [ 0.02019101 0.00900581 0.99975558 -0.28939967] [ 0. 0. 0. 1. ]] SLAMing on 222.27313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.30313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 222.36313336499998 meters Centerline goodness : 0.085949 Centerline is valid? [False, False] Translation: X:-0.97, Y:0.15, Z:-0.29 [[ 9.99787787e-01 2.88879653e-05 -2.06004848e-02 -9.65269571e-01] [-2.64708868e-04 9.99934472e-01 -1.14447123e-02 1.46624907e-01] [ 2.05988043e-02 1.14477367e-02 9.99722281e-01 -2.89422826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39313336499998 meters Centerline goodness : 0.087173 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.14, Z:-0.29 [[ 9.99780805e-01 -2.78894422e-05 -2.09366137e-02 -9.64400551e-01] [-2.02770452e-04 9.99939314e-01 -1.10148546e-02 1.43774114e-01] [ 2.09356504e-02 1.10166855e-02 9.99720126e-01 -2.89506710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42313336499998 meters Centerline goodness : 0.090737 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.14, Z:-0.29 [[ 9.99779040e-01 -3.33211343e-04 -2.10180881e-02 -9.64237740e-01] [ 1.08155555e-04 9.99942662e-01 -1.07079474e-02 1.40380252e-01] [ 2.10204510e-02 1.07033081e-02 9.99721751e-01 -2.89392131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45313336499999 meters Centerline goodness : 0.090007 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.14, Z:-0.29 [[ 9.99781752e-01 -8.85425021e-04 -2.08725661e-02 -9.64771573e-01] [ 6.65308574e-04 9.99944123e-01 -1.05503163e-02 1.36239660e-01] [ 2.08807413e-02 1.05341270e-02 9.99726476e-01 -2.89064230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.483133365 meters Centerline goodness : 0.101613 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.13, Z:-0.29 [[ 0.99976889 -0.00403065 -0.02111661 -0.96435514] [ 0.00377121 0.99991709 -0.01231184 0.12634472] [ 0.02116448 0.01222936 0.99970121 -0.28884758] [ 0. 0. 0. 1. ]] SLAMing on 222.513133365 meters Centerline goodness : 0.256336 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.29 [[ 0.99976527 -0.0038337 -0.02132403 -0.96368382] [ 0.00358953 0.9999277 -0.0114769 0.12190471] [ 0.02136649 0.01139766 0.99970674 -0.28908825] [ 0. 0. 0. 1. ]] SLAMing on 222.543133365 meters Centerline goodness : 0.156884 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.29 [[ 0.99976516 -0.00359961 -0.02136995 -0.96343387] [ 0.00336964 0.99993613 -0.01078771 0.11832986] [ 0.02140742 0.01071317 0.99971343 -0.28926733] [ 0. 0. 0. 1. ]] SLAMing on 222.573133365 meters Centerline goodness : 0.434996 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.12, Z:-0.29 [[ 0.9997663 -0.00348181 -0.02133594 -0.96367052] [ 0.00326061 0.99994067 -0.01039351 0.11585599] [ 0.02137086 0.01032151 0.99971834 -0.28901863] [ 0. 0. 0. 1. ]] SLAMing on 222.603133365 meters Centerline goodness : 0.248162 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.29 [[ 0.99976832 -0.00340372 -0.02125353 -0.96421295] [ 0.00318868 0.99994347 -0.0101436 0.11422001] [ 0.02128686 0.01007348 0.99972266 -0.28849416] [ 0. 0. 0. 1. ]] SLAMing on 222.633133365 meters Centerline goodness : 0.092410 Centerline is valid? [False, False] Translation: X:-0.96, Y:0.11, Z:-0.29 [[ 0.99977039 -0.0032413 -0.0211817 -0.96474446] [ 0.00303136 0.99994604 -0.00993575 0.11348516] [ 0.02121276 0.00986926 0.99972627 -0.28797696] [ 0. 0. 0. 1. ]] SLAMing on 222.663133365 meters Centerline goodness : 0.434065 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99721395e-01 -9.65220462e-04 -2.35839133e-02 -1.01045151e+00] [ 7.76811142e-04 9.99967724e-01 -7.99674706e-03 1.10942535e-01] [ 2.35908708e-02 7.97619888e-03 9.99689877e-01 -2.86801612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.693133365 meters Centerline goodness : 0.294739 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99720071e-01 -9.37431592e-04 -2.36410771e-02 -1.01020083e+00] [ 7.48193786e-04 9.99967622e-01 -8.01219394e-03 1.11100891e-01] [ 2.36478225e-02 7.99226299e-03 9.99688404e-01 -2.87026421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.723133365 meters Centerline goodness : 0.127744 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99720356e-01 -9.82448259e-04 -2.36272134e-02 -1.01025689e+00] [ 7.92073844e-04 9.99967160e-01 -8.06543067e-03 1.11059530e-01] [ 2.36343613e-02 8.04446072e-03 9.99688303e-01 -2.86991620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.753133365 meters Centerline goodness : 0.427110 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99722734e-01 -1.03057690e-03 -2.35242892e-02 -1.01060169e+00] [ 8.41109493e-04 9.99967143e-01 -8.06259233e-03 1.10609741e-01] [ 2.35318253e-02 8.04057035e-03 9.99690753e-01 -2.86881468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.783133365 meters Centerline goodness : 0.092205 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99721893e-01 -1.10080829e-03 -2.35568555e-02 -1.01074963e+00] [ 9.12616125e-04 9.99967598e-01 -7.99810904e-03 1.09885182e-01] [ 2.35648966e-02 7.97438634e-03 9.99690505e-01 -2.86572151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.813133365 meters Centerline goodness : 0.042247 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 9.99721975e-01 -1.16956170e-03 -2.35500362e-02 -1.01096271e+00] [ 9.85119977e-04 9.99968766e-01 -7.84198725e-03 1.08637650e-01] [ 2.35584723e-02 7.81660738e-03 9.99691902e-01 -2.86279610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.843133365 meters Centerline goodness : 0.130449 Centerline is valid? [False, False] Translation: X:-1.01, Y:0.11, Z:-0.29 [[ 0.99972788 -0.0021225 -0.02323068 -1.01242228] [ 0.0019334 0.99996484 -0.00815954 0.10669477] [ 0.02324718 0.00811241 0.99969683 -0.28528241] [ 0. 0. 0. 1. ]] SLAMing on 222.873133365 meters Centerline goodness : 0.166126 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.28 [[ 0.99967852 -0.00357649 -0.02510095 -1.0580825 ] [ 0.00334766 0.99995251 -0.00915257 0.10451264] [ 0.02513249 0.00906559 0.99964302 -0.28495259] [ 0. 0. 0. 1. ]] SLAMing on 222.903133365 meters Centerline goodness : 0.043492 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.28 [[ 0.99967459 -0.00378439 -0.02522675 -1.05789241] [ 0.00355754 0.99995289 -0.00903126 0.10297917] [ 0.02525974 0.00893858 0.99964096 -0.28480428] [ 0. 0. 0. 1. ]] SLAMing on 222.93313336499997 meters Centerline goodness : 0.121019 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99966962 -0.00396784 -0.02539495 -1.05730998] [ 0.00374343 0.99995358 -0.00887848 0.10146165] [ 0.025429 0.00878048 0.99963807 -0.28511326] [ 0. 0. 0. 1. ]] SLAMing on 222.96313336499998 meters Centerline goodness : 0.120854 Centerline is valid? [False, False] Translation: X:-1.04, Y:0.10, Z:-0.28 [[ 0.9996101 -0.01352739 -0.02442656 -1.03650406] [ 0.01332376 0.99987528 -0.0084799 0.10201852] [ 0.02453823 0.00815114 0.99966566 -0.28444371] [ 0. 0. 0. 1. ]] SLAMing on 222.99313336499998 meters Centerline goodness : 0.124187 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.9997376 -0.00651302 -0.02196177 -1.05617946] [ 0.00630635 0.9999353 -0.00946667 0.09589908] [ 0.02202201 0.00932569 0.99971399 -0.28691414] [ 0. 0. 0. 1. ]] SLAMing on 223.02313336499998 meters Centerline goodness : 0.117239 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99974057 -0.00656128 -0.02181169 -1.05666169] [ 0.00635684 0.99993534 -0.00942919 0.09536049] [ 0.02187214 0.00928809 0.99971763 -0.28669957] [ 0. 0. 0. 1. ]] SLAMing on 223.05313336499998 meters Centerline goodness : 0.111375 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99973888 -0.00662326 -0.02187008 -1.05651055] [ 0.00641564 0.99993382 -0.00954955 0.0959209 ] [ 0.02193188 0.00940674 0.99971521 -0.28673439] [ 0. 0. 0. 1. ]] SLAMing on 223.08313336499998 meters Centerline goodness : 0.106813 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.10, Z:-0.29 [[ 0.99973232 -0.0066686 -0.02215446 -1.05559416] [ 0.00645364 0.99993154 -0.00976036 0.09731997] [ 0.02221803 0.00961477 0.99970691 -0.28709688] [ 0. 0. 0. 1. ]] SLAMing on 223.11313336499998 meters Centerline goodness : 0.116140 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973646 -0.0030679 -0.0227508 -1.05359686] [ 0.00292191 0.99997495 -0.00644729 0.09895491] [ 0.02277001 0.00637911 0.99972038 -0.2880038 ] [ 0. 0. 0. 1. ]] SLAMing on 223.14313336499998 meters Centerline goodness : 0.122504 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973509 -0.00314388 -0.0228007 -1.05341699] [ 0.0029905 0.99997269 -0.00675807 0.10079486] [ 0.02282133 0.00668809 0.99971719 -0.28812068] [ 0. 0. 0. 1. ]] SLAMing on 223.17313336499998 meters Centerline goodness : 0.123498 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973668 -0.00320199 -0.02272269 -1.05370992] [ 0.00304366 0.99997088 -0.00699887 0.10226693] [ 0.02274444 0.00692786 0.99971731 -0.28795848] [ 0. 0. 0. 1. ]] SLAMing on 223.20313336499999 meters Centerline goodness : 0.114930 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99973665 -0.00328268 -0.02271252 -1.05384469] [ 0.00311959 0.99996913 -0.00721219 0.10348056] [ 0.02273549 0.00713944 0.99971602 -0.28782274] [ 0. 0. 0. 1. ]] SLAMing on 223.233133365 meters Centerline goodness : 0.123352 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972935 -0.00340336 -0.02301387 -1.0528606 ] [ 0.00323822 0.99996877 -0.00720891 0.10311387] [ 0.02303769 0.00713243 0.99970915 -0.28829521] [ 0. 0. 0. 1. ]] SLAMing on 223.263133365 meters Centerline goodness : 0.125397 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972176 -0.00340614 -0.02334105 -1.05185614] [ 0.00324252 0.99996993 -0.00704407 0.10198498] [ 0.02336434 0.00696642 0.99970274 -0.28867852] [ 0. 0. 0. 1. ]] SLAMing on 223.293133365 meters Centerline goodness : 0.139125 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971645 -0.00334109 -0.02357658 -1.05122499] [ 0.00318316 0.99997227 -0.0067329 0.10032732] [ 0.02359842 0.00665595 0.99969936 -0.288847 ] [ 0. 0. 0. 1. ]] SLAMing on 223.323133365 meters Centerline goodness : 0.127157 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971516 -0.00330519 -0.0236364 -1.05105153] [ 0.00315285 0.99997404 -0.00647976 0.09880159] [ 0.02365721 0.00640339 0.99969962 -0.28892351] [ 0. 0. 0. 1. ]] SLAMing on 223.353133365 meters Centerline goodness : 0.127138 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971807 -0.00327569 -0.02351681 -1.0513767 ] [ 0.0031294 0.99997554 -0.00625446 0.09742562] [ 0.02353673 0.0061791 0.99970388 -0.28892214] [ 0. 0. 0. 1. ]] SLAMing on 223.383133365 meters Centerline goodness : 0.114862 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972136 -0.0032451 -0.0233809 -1.05176005] [ 0.00310269 0.99997643 -0.00612422 0.0966726 ] [ 0.02340022 0.00604997 0.99970787 -0.28882829] [ 0. 0. 0. 1. ]] SLAMing on 223.413133365 meters Centerline goodness : 0.128349 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99972236 -0.00325646 -0.02333651 -1.05194374] [ 0.00311193 0.99997577 -0.00622693 0.0972884 ] [ 0.02335623 0.00615258 0.99970827 -0.28868033] [ 0. 0. 0. 1. ]] SLAMing on 223.443133365 meters Centerline goodness : 0.196214 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971823 -0.00330255 -0.02350627 -1.05155191] [ 0.00315184 0.99997426 -0.00644573 0.09864032] [ 0.02352695 0.00636982 0.99970291 -0.28864445] [ 0. 0. 0. 1. ]] SLAMing on 223.473133365 meters Centerline goodness : 0.137437 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 0.99971082 -0.00332046 -0.02381715 -1.0506786 ] [ 0.00316241 0.99997275 -0.00667041 0.10011113] [ 0.02383865 0.00659316 0.99969408 -0.28886283] [ 0. 0. 0. 1. ]] SLAMing on 223.503133365 meters Centerline goodness : 0.105774 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 9.99705948e-01 -1.46977573e-04 -2.42486213e-02 -1.04945114e+00] [ 6.00008898e-05 9.99993563e-01 -3.58755984e-03 1.00636249e-01] [ 2.42489925e-02 3.58504998e-03 9.99699522e-01 -2.89216314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.533133365 meters Centerline goodness : 0.140739 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 9.99706125e-01 -2.09562745e-04 -2.42408594e-02 -1.04945871e+00] [ 1.15319210e-04 9.99992431e-01 -3.88912936e-03 1.02576448e-01] [ 2.42414910e-02 3.88519101e-03 9.99698582e-01 -2.89227659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.563133365 meters Centerline goodness : 0.192137 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.10, Z:-0.29 [[ 9.99708429e-01 -3.45093645e-04 -2.41440883e-02 -1.04981249e+00] [ 2.41461948e-04 9.99990747e-01 -4.29500201e-03 1.04687604e-01] [ 2.41453470e-02 4.28791983e-03 9.99699263e-01 -2.88980294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.593133365 meters Centerline goodness : 0.125903 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.11, Z:-0.29 [[ 9.99714094e-01 -6.09154561e-04 -2.39031116e-02 -1.05076677e+00] [ 4.91004196e-04 9.99987636e-01 -4.94844418e-03 1.07976267e-01] [ 2.39058304e-02 4.93529286e-03 9.99702033e-01 -2.88418717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.623133365 meters Centerline goodness : 0.126172 Centerline is valid? [False, False] Translation: X:-1.05, Y:0.11, Z:-0.29 [[ 9.99714702e-01 -6.46733231e-04 -2.38766916e-02 -1.05072786e+00] [ 5.26191824e-04 9.99987088e-01 -5.05443469e-03 1.08836941e-01] [ 2.38796522e-02 5.04042895e-03 9.99702134e-01 -2.88581238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.653133365 meters Centerline goodness : 0.115351 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.11, Z:-0.29 [[ 9.99656271e-01 -5.35153933e-04 -2.62116861e-02 -1.09533548e+00] [ 3.97238865e-04 9.99986053e-01 -5.26651148e-03 1.11051917e-01] [ 2.62141390e-02 5.25428893e-03 9.99642542e-01 -2.88973453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68313336499997 meters Centerline goodness : 0.128449 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.12, Z:-0.29 [[ 0.99963447 -0.0096135 -0.02526874 -1.07509913] [ 0.00948912 0.99994229 -0.00503773 0.11632275] [ 0.02531571 0.00479611 0.999668 -0.2875788 ] [ 0. 0. 0. 1. ]] SLAMing on 223.71313336499998 meters Centerline goodness : 0.127876 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.11, Z:-0.29 [[ 0.99972054 -0.00192 -0.02356176 -1.05758047] [ 0.0017724 0.99997869 -0.00628337 0.11358713] [ 0.02357332 0.00623985 0.99970264 -0.28572898] [ 0. 0. 0. 1. ]] SLAMing on 223.74313336499998 meters Centerline goodness : 0.147922 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.11, Z:-0.29 [[ 0.99972624 -0.00197493 -0.02331414 -1.0585764 ] [ 0.00182525 0.9999776 -0.00643948 0.11466225] [ 0.02332634 0.00639516 0.99970745 -0.28506604] [ 0. 0. 0. 1. ]] SLAMing on 223.77313336499998 meters Centerline goodness : 0.128963 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972924 -0.00206323 -0.02317751 -1.05912142] [ 0.00190924 0.99997597 -0.00666394 0.11597658] [ 0.0231907 0.00661789 0.99970916 -0.28471141] [ 0. 0. 0. 1. ]] SLAMing on 223.80313336499998 meters Centerline goodness : 0.131087 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972895 -0.0021638 -0.02318078 -1.0591148 ] [ 0.00200451 0.99997424 -0.00689235 0.11722593] [ 0.0231951 0.00684402 0.99970753 -0.28468054] [ 0. 0. 0. 1. ]] SLAMing on 223.83313336499998 meters Centerline goodness : 0.120489 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972768 -0.00231396 -0.02322086 -1.05893412] [ 0.00214752 0.99997184 -0.00719017 0.1185502 ] [ 0.02323685 0.00713834 0.9997045 -0.28481579] [ 0. 0. 0. 1. ]] SLAMing on 223.86313336499998 meters Centerline goodness : 0.130020 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971585 -0.00253382 -0.02370246 -1.05745875] [ 0.0023535 0.9999681 -0.00763251 0.12097155] [ 0.02372105 0.00757455 0.99968992 -0.28534868] [ 0. 0. 0. 1. ]] SLAMing on 223.89313336499998 meters Centerline goodness : 0.132705 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971253 -0.00255531 -0.02383944 -1.0569434 ] [ 0.00237151 0.99996727 -0.00773521 0.12194869] [ 0.02385842 0.00767646 0.99968587 -0.28565262] [ 0. 0. 0. 1. ]] SLAMing on 223.92313336499998 meters Centerline goodness : 0.124683 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971278 -0.00257211 -0.02382747 -1.0569726 ] [ 0.00238632 0.99996656 -0.00782231 0.12280459] [ 0.02384679 0.0077632 0.99968548 -0.28564147] [ 0. 0. 0. 1. ]] SLAMing on 223.95313336499999 meters Centerline goodness : 0.126021 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.29 [[ 0.99971651 -0.00263242 -0.02366348 -1.05750497] [ 0.00244456 0.9999653 -0.00796408 0.12362989] [ 0.02368362 0.00790398 0.99968826 -0.28543559] [ 0. 0. 0. 1. ]] SLAMing on 223.983133365 meters Centerline goodness : 0.127270 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972183 -0.0027564 -0.02342348 -1.05845773] [ 0.00256622 0.99996353 -0.00814555 0.12429613] [ 0.02344508 0.00808317 0.99969245 -0.28487347] [ 0. 0. 0. 1. ]] SLAMing on 224.013133365 meters Centerline goodness : 0.127270 Centerline is valid? [False, False] Translation: X:-1.06, Y:0.12, Z:-0.28 [[ 0.99972183 -0.0027564 -0.02342348 -1.05845773] [ 0.00256622 0.99996353 -0.00814555 0.12429613] [ 0.02344508 0.00808317 0.99969245 -0.28487347] [ 0. 0. 0. 1. ]] SLAMing on 224.043133365 meters Centerline goodness : 0.130378 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.13, Z:-0.28 [[ 0.99967466 -0.0028911 -0.02534195 -1.10562861] [ 0.00266473 0.99995629 -0.00896171 0.12774321] [ 0.02536675 0.00889126 0.99963867 -0.28392057] [ 0. 0. 0. 1. ]] SLAMing on 224.073133365 meters Centerline goodness : 0.131765 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.13, Z:-0.28 [[ 0.99967201 -0.0030541 -0.02542709 -1.1053416 ] [ 0.00281949 0.99995317 -0.00925752 0.12930844] [ 0.02545417 0.00918279 0.99963381 -0.28405878] [ 0. 0. 0. 1. ]] SLAMing on 224.103133365 meters Centerline goodness : 0.126928 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.13, Z:-0.28 [[ 0.99966578 -0.00309795 -0.02566565 -1.10430565] [ 0.00285778 0.99995184 -0.00938907 0.1303645 ] [ 0.0256935 0.00931258 0.99962649 -0.28474955] [ 0. 0. 0. 1. ]] SLAMing on 224.133133365 meters Centerline goodness : 0.110105 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.13, Z:-0.29 [[ 0.99958613 -0.00260257 -0.02864957 -1.14776873] [ 0.00232379 0.99994967 -0.00975954 0.13457961] [ 0.02867352 0.00968892 0.99954187 -0.28550756] [ 0. 0. 0. 1. ]] SLAMing on 224.163133365 meters Centerline goodness : 0.134754 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99958398 -0.00268312 -0.02871687 -1.14742815] [ 0.00239814 0.99994759 -0.00995368 0.13562707] [ 0.02874207 0.00988067 0.99953803 -0.28578672] [ 0. 0. 0. 1. ]] SLAMing on 224.193133365 meters Centerline goodness : 0.132251 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99957222 -0.00287664 -0.02910493 -1.14609838] [ 0.00257534 0.99994276 -0.01038433 0.13783544] [ 0.02913314 0.01030494 0.99952242 -0.2863733 ] [ 0. 0. 0. 1. ]] SLAMing on 224.223133365 meters Centerline goodness : 0.131607 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99956385 -0.00292935 -0.02938589 -1.1451903 ] [ 0.0026203 0.99994091 -0.01054992 0.13896545] [ 0.02941506 0.01046832 0.99951247 -0.28671501] [ 0. 0. 0. 1. ]] SLAMing on 224.253133365 meters Centerline goodness : 0.135185 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.14, Z:-0.29 [[ 0.99955903 -0.00298091 -0.02954424 -1.14474534] [ 0.00266562 0.99993914 -0.01070552 0.14000675] [ 0.02957435 0.01062204 0.99950614 -0.28678656] [ 0. 0. 0. 1. ]] SLAMing on 224.283133365 meters Centerline goodness : 0.136042 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.14, Z:-0.29 [[ 0.99955865 -0.00302453 -0.02955252 -1.14475303] [ 0.00270648 0.99993805 -0.01079643 0.14055605] [ 0.02958334 0.01071168 0.99950492 -0.28676674] [ 0. 0. 0. 1. ]] SLAMing on 224.313133365 meters Centerline goodness : 0.119573 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99956265 -0.00304357 -0.02941509 -1.1452183 ] [ 0.00272781 0.99993829 -0.01076882 0.1402411 ] [ 0.02944605 0.01068388 0.99950927 -0.2865852 ] [ 0. 0. 0. 1. ]] SLAMing on 224.343133365 meters Centerline goodness : 0.137978 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99956712 -0.00303943 -0.02926325 -1.14568792] [ 0.00272958 0.99993985 -0.01062266 0.13914633] [ 0.02929378 0.01053819 0.99951529 -0.28649932] [ 0. 0. 0. 1. ]] SLAMing on 224.373133365 meters Centerline goodness : 0.138927 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.14, Z:-0.29 [[ 0.99957832 -0.00344295 -0.02883261 -1.14669405] [ 0.00314275 0.99994045 -0.01045081 0.13601395] [ 0.02886688 0.01035579 0.99952962 -0.28670925] [ 0. 0. 0. 1. ]] SLAMing on 224.403133365 meters Centerline goodness : 0.128920 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.14, Z:-0.29 [[ 0.99950143 -0.00379107 -0.03134506 -1.19139438] [ 0.00343984 0.99993078 -0.01125164 0.13666116] [ 0.03138555 0.01113821 0.99944529 -0.28717529] [ 0. 0. 0. 1. ]] SLAMing on 224.43313336499997 meters Centerline goodness : 0.129692 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99949671 -0.00372629 -0.03150311 -1.19088133] [ 0.00338286 0.99993435 -0.01094769 0.1348537 ] [ 0.03154184 0.01083561 0.9994437 -0.28747411] [ 0. 0. 0. 1. ]] SLAMing on 224.46313336499998 meters Centerline goodness : 0.130052 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99949492 -0.00364561 -0.03156931 -1.19072041] [ 0.00330769 0.99993675 -0.01074975 0.13377768] [ 0.0316065 0.0106399 0.99944376 -0.28751378] [ 0. 0. 0. 1. ]] SLAMing on 224.49313336499998 meters Centerline goodness : 0.129066 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99949228 -0.00354942 -0.03166363 -1.19057764] [ 0.00321444 0.9999384 -0.01062384 0.13341955] [ 0.03169939 0.01051666 0.99944212 -0.28737124] [ 0. 0. 0. 1. ]] SLAMing on 224.52313336499998 meters Centerline goodness : 0.130195 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511395e-01 4.48179117e-04 -3.12533288e-02 -1.19232194e+00] [-6.60970345e-04 9.99976671e-01 -6.79859517e-03 1.32821604e-01] [ 3.12495527e-02 6.81593086e-03 9.99488373e-01 -2.86407409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55313336499998 meters Centerline goodness : 0.134778 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99517995e-01 5.27431860e-04 -3.10403024e-02 -1.19302725e+00] [-7.41499236e-04 9.99976021e-01 -6.88532648e-03 1.33606976e-01] [ 3.10359266e-02 6.90502408e-03 9.99494418e-01 -2.86051096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58313336499998 meters Centerline goodness : 0.133124 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99518128e-01 5.01268399e-04 -3.10364523e-02 -1.19286529e+00] [-7.20055429e-04 9.99974970e-01 -7.03858159e-03 1.34260335e-01] [ 3.10321473e-02 7.05753786e-03 9.99493470e-01 -2.86320128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61313336499998 meters Centerline goodness : 0.130894 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99513097e-01 5.16931214e-04 -3.11977901e-02 -1.19216854e+00] [-7.37026890e-04 9.99974921e-01 -7.04376109e-03 1.34225973e-01] [ 3.11933665e-02 7.06332507e-03 9.99488411e-01 -2.86799210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64313336499998 meters Centerline goodness : 0.130479 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99507619e-01 6.41482769e-04 -3.13704888e-02 -1.19149409e+00] [-8.56506013e-04 9.99976231e-01 -6.84135864e-03 1.33517227e-01] [ 3.13653545e-02 6.86485910e-03 9.99484411e-01 -2.87231736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67313336499998 meters Centerline goodness : 0.133287 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99505745e-01 7.52612675e-04 -3.14276882e-02 -1.19139444e+00] [-9.61947058e-04 9.99977451e-01 -6.64623835e-03 1.32898441e-01] [ 3.14219775e-02 6.67318519e-03 9.99483931e-01 -2.87212966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70313336499999 meters Centerline goodness : 0.138594 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511998e-01 7.83472123e-04 -3.12274352e-02 -1.19231902e+00] [-9.87120889e-04 9.99978345e-01 -6.50658671e-03 1.31988928e-01] [ 3.12216612e-02 6.53423674e-03 9.99491126e-01 -2.86572877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.733133365 meters Centerline goodness : 0.134391 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511887e-01 7.45511866e-04 -3.12319208e-02 -1.19241909e+00] [-9.49736568e-04 9.99978263e-01 -6.52464923e-03 1.31877590e-01] [ 3.12263777e-02 6.55112656e-03 9.99490868e-01 -2.86445923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.763133365 meters Centerline goodness : 0.138064 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99510288e-01 7.50175860e-04 -3.12829277e-02 -1.19212782e+00] [-9.54502412e-04 9.99978308e-01 -6.51714556e-03 1.32047883e-01] [ 3.12773601e-02 6.54381366e-03 9.99489322e-01 -2.86769224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.793133365 meters Centerline goodness : 0.135672 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99508706e-01 7.63936268e-04 -3.13331044e-02 -1.19170760e+00] [-9.68783310e-04 9.99978255e-01 -6.52305922e-03 1.32419020e-01] [ 3.13274399e-02 6.55020947e-03 9.99487712e-01 -2.87210896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.823133365 meters Centerline goodness : 0.139755 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99516485e-01 7.22807438e-04 -3.10849384e-02 -1.19249693e+00] [-9.26554473e-04 9.99978181e-01 -6.54062109e-03 1.32515136e-01] [ 3.10795325e-02 6.56626049e-03 9.99495346e-01 -2.86926951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.853133365 meters Centerline goodness : 0.136098 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99522700e-01 6.82522523e-04 -3.08853736e-02 -1.19319657e+00] [-8.82131350e-04 9.99978811e-01 -6.44972761e-03 1.31720037e-01] [ 3.08803171e-02 6.47389411e-03 9.99502123e-01 -2.86672247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.883133365 meters Centerline goodness : 0.140529 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99526621e-01 6.55059905e-04 -3.07588270e-02 -1.19380555e+00] [-8.50092568e-04 9.99979616e-01 -6.32805664e-03 1.30776605e-01] [ 3.07540547e-02 6.35120892e-03 9.99506804e-01 -2.86290735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.913133365 meters Centerline goodness : 0.138163 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99526358e-01 6.76342157e-04 -3.07669152e-02 -1.19376430e+00] [-8.64741985e-04 9.99980956e-01 -6.11056159e-03 1.29475750e-01] [ 3.07621964e-02 6.13427281e-03 9.99507908e-01 -2.86400029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.943133365 meters Centerline goodness : 0.139911 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99519379e-01 7.16119562e-04 -3.09919056e-02 -1.19301610e+00] [-8.97248456e-04 9.99982598e-01 -5.83088120e-03 1.27958947e-01] [ 3.09871906e-02 5.85588619e-03 9.99502628e-01 -2.86798912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.973133365 meters Centerline goodness : 0.141905 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 9.99511360e-01 7.35365311e-04 -3.12489976e-02 -1.19204786e+00] [-9.09134335e-04 9.99984202e-01 -5.54694278e-03 1.26119615e-01] [ 3.12444249e-02 5.57264186e-03 9.99496239e-01 -2.87446142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.003133365 meters Centerline goodness : 0.162304 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99495909e-01 5.05835493e-04 -3.17438552e-02 -1.19055936e+00] [-6.77271750e-04 9.99985244e-01 -5.39009245e-03 1.23620558e-01] [ 3.17406603e-02 5.40887456e-03 9.99481503e-01 -2.88064244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.033133365 meters Centerline goodness : 0.125068 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99497921e-01 5.62446434e-04 -3.16794849e-02 -1.19096708e+00] [-7.30288175e-04 9.99985758e-01 -5.28679964e-03 1.23198189e-01] [ 3.16760602e-02 5.30728040e-03 9.99484097e-01 -2.87722270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.063133365 meters Centerline goodness : 0.129080 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99504164e-01 6.57191349e-04 -3.14800600e-02 -1.19181276e+00] [-8.23193839e-04 9.99985824e-01 -5.26058836e-03 1.23685714e-01] [ 3.14761565e-02 5.28389416e-03 9.99490536e-01 -2.87140349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.093133365 meters Centerline goodness : 0.129151 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.29 [[ 9.99508644e-01 6.84165978e-04 -3.13369035e-02 -1.19233980e+00] [-8.53527467e-04 9.99985102e-01 -5.39148025e-03 1.24797522e-01] [ 3.13327480e-02 5.41557802e-03 9.99494337e-01 -2.86773222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.123133365 meters Centerline goodness : 0.200606 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.13, Z:-0.29 [[ 0.99950889 -0.00717617 -0.0305039 -1.17293535] [ 0.00704783 0.99996586 -0.00431266 0.12900588] [ 0.03053381 0.00409555 0.99952534 -0.28516574] [ 0. 0. 0. 1. ]] SLAMing on 225.153133365 meters Centerline goodness : 0.136731 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.13, Z:-0.29 [[ 0.99952599 0.001645 -0.03074232 -1.19475269] [-0.00181982 0.99998233 -0.00565959 0.12974153] [ 0.03073247 0.00571286 0.99951132 -0.28663169] [ 0. 0. 0. 1. ]] SLAMing on 225.18313336499997 meters Centerline goodness : 0.131782 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.14, Z:-0.29 [[ 0.99954398 -0.00397803 -0.02993328 -1.21626251] [ 0.00389415 0.99998833 -0.0028601 0.13546568] [ 0.0299443 0.00274223 0.99954781 -0.28769828] [ 0. 0. 0. 1. ]] SLAMing on 225.21313336499998 meters Centerline goodness : 0.137493 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.29 [[ 0.99956862 0.00400214 -0.0290955 -1.1967661 ] [-0.00410725 0.99998525 -0.0035539 0.13188895] [ 0.02908085 0.00367187 0.99957032 -0.28633326] [ 0. 0. 0. 1. ]] SLAMing on 225.24313336499998 meters Centerline goodness : 0.137923 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.29 [[ 0.99957135 0.00377262 -0.02903242 -1.19688388] [-0.00387958 0.99998589 -0.00362886 0.13120027] [ 0.02901832 0.00373994 0.99957188 -0.28646903] [ 0. 0. 0. 1. ]] SLAMing on 225.27313336499998 meters Centerline goodness : 0.128927 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.29 [[ 0.99957196 0.00369934 -0.02902073 -1.19694405] [-0.00380353 0.99998652 -0.0035358 0.13004115] [ 0.02900726 0.00364467 0.99957256 -0.28654818] [ 0. 0. 0. 1. ]] SLAMing on 225.30313336499998 meters Centerline goodness : 0.119822 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.13, Z:-0.28 [[ 0.99957136 -0.00487635 -0.0288673 -1.17662199] [ 0.00480895 0.99998555 -0.00240367 0.13148889] [ 0.0288786 0.00226381 0.99958036 -0.28497624] [ 0. 0. 0. 1. ]] SLAMing on 225.33313336499998 meters Centerline goodness : 0.130438 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99950458 -0.00414157 -0.03120003 -1.22212815] [ 0.00407692 0.99998941 -0.00213565 0.13361104] [ 0.03120854 0.00200739 0.99951088 -0.28506858] [ 0. 0. 0. 1. ]] SLAMing on 225.36313336499998 meters Centerline goodness : 0.129311 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.9994995 -0.0040886 -0.03136928 -1.22161491] [ 0.00402897 0.99998996 -0.00196373 0.13292324] [ 0.031377 0.00183636 0.99950593 -0.28527107] [ 0. 0. 0. 1. ]] SLAMing on 225.39313336499998 meters Centerline goodness : 0.131444 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99949292 -0.00401273 -0.03158803 -1.22091001] [ 0.00395683 0.99999049 -0.00183202 0.13258343] [ 0.03159508 0.0017061 0.99949929 -0.28556613] [ 0. 0. 0. 1. ]] SLAMing on 225.42313336499998 meters Centerline goodness : 0.130437 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.9994795 -0.00394697 -0.03201784 -1.21946692] [ 0.00389228 0.99999086 -0.0017704 0.13266454] [ 0.03202454 0.00164486 0.99948573 -0.28623406] [ 0. 0. 0. 1. ]] SLAMing on 225.45313336499999 meters Centerline goodness : 0.119501 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99948198 -0.00385054 -0.03195214 -1.21967009] [ 0.00379803 0.99999134 -0.00170392 0.13276456] [ 0.03195842 0.00158169 0.99948795 -0.28612878] [ 0. 0. 0. 1. ]] SLAMing on 225.483133365 meters Centerline goodness : 0.136942 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99948979 -0.00379889 -0.03171312 -1.22047796] [ 0.00374713 0.99999155 -0.0016914 0.13295855] [ 0.03171927 0.00157171 0.99949558 -0.28574466] [ 0. 0. 0. 1. ]] SLAMing on 225.513133365 meters Centerline goodness : 0.131420 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.13, Z:-0.29 [[ 0.99949854 -0.00381788 -0.03143392 -1.22150155] [ 0.0037651 0.9999914 -0.001738 0.13299499] [ 0.03144028 0.00161878 0.99950432 -0.28520727] [ 0. 0. 0. 1. ]] SLAMing on 225.543133365 meters Centerline goodness : 0.102376 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.28 [[ 0.99950684 0.00334259 -0.03122357 -1.20382096] [-0.0034452 0.99998884 -0.00323307 0.12697959] [ 0.03121241 0.00333904 0.9995072 -0.28273077] [ 0. 0. 0. 1. ]] SLAMing on 225.573133365 meters Centerline goodness : 0.138105 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.13, Z:-0.28 [[ 0.99951099 0.00335011 -0.03108965 -1.20423567] [-0.00344885 0.99998918 -0.00312278 0.12605193] [ 0.03107885 0.00322848 0.99951172 -0.28266036] [ 0. 0. 0. 1. ]] SLAMing on 225.603133365 meters Centerline goodness : 0.138505 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99951192 0.00351344 -0.03104153 -1.20429599] [-0.00359553 0.99999018 -0.00258906 0.12320979] [ 0.03103213 0.00269941 0.99951474 -0.28291781] [ 0. 0. 0. 1. ]] SLAMing on 225.633133365 meters Centerline goodness : 0.138043 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99950953 0.00363891 -0.03110413 -1.20393171] [-0.00371034 0.99999061 -0.00223907 0.12141299] [ 0.03109569 0.00235338 0.99951364 -0.28331938] [ 0. 0. 0. 1. ]] SLAMing on 225.663133365 meters Centerline goodness : 0.135057 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99950881 0.00375086 -0.03111377 -1.20386494] [-0.00381193 0.99999092 -0.00190392 0.11954172] [ 0.03110635 0.00202159 0.99951404 -0.28349291] [ 0. 0. 0. 1. ]] SLAMing on 225.693133365 meters Centerline goodness : 0.129118 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.12, Z:-0.28 [[ 0.99951128 0.00381491 -0.03102642 -1.20426965] [-0.00386888 0.99999111 -0.00167946 0.11808709] [ 0.03101974 0.00179867 0.99951715 -0.28326183] [ 0. 0. 0. 1. ]] SLAMing on 225.723133365 meters Centerline goodness : 0.132485 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.28 [[ 0.99952341 0.00392104 -0.03061993 -1.20589226] [-0.00396747 0.99999107 -0.00145562 0.11694004] [ 0.03061395 0.00157641 0.99953004 -0.28231294] [ 0. 0. 0. 1. ]] SLAMing on 225.753133365 meters Centerline goodness : 0.129727 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.12, Z:-0.28 [[ 0.99952655 0.00396615 -0.03051133 -1.20622282] [-0.00401057 0.99999098 -0.00139492 0.11678743] [ 0.03050553 0.00151663 0.99953345 -0.28216939] [ 0. 0. 0. 1. ]] SLAMing on 225.783133365 meters Centerline goodness : 0.136942 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99544270e-01 -4.20564233e-03 -2.98925481e-02 -1.18596200e+00] [ 4.19970772e-03 9.99991147e-01 -2.61312766e-04 1.18930529e-01] [ 2.98933825e-02 1.35653713e-04 9.99553084e-01 -2.80802289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.813133365 meters Centerline goodness : 0.137056 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99545272e-01 -4.24908595e-03 -2.98528664e-02 -1.18585199e+00] [ 4.24162876e-03 9.99990955e-01 -3.13120476e-04 1.18835192e-01] [ 2.98539269e-02 1.86353315e-04 9.99554255e-01 -2.81104293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.843133365 meters Centerline goodness : 0.134196 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99544389e-01 -4.26598115e-03 -2.98800324e-02 -1.18571316e+00] [ 4.25792380e-03 9.99990879e-01 -3.33279356e-04 1.18702125e-01] [ 2.98811816e-02 2.05900609e-04 9.99553437e-01 -2.81222276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.873133365 meters Centerline goodness : 0.127079 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.12, Z:-0.28 [[ 9.99544641e-01 -4.23379423e-03 -2.98761693e-02 -1.18560595e+00] [ 4.22627338e-03 9.99991020e-01 -3.14876447e-04 1.18786810e-01] [ 2.98772341e-02 1.88468206e-04 9.99553558e-01 -2.81418386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.903133365 meters Centerline goodness : 0.127669 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99538980e-01 -4.04497384e-03 -3.00909599e-02 -1.18482861e+00] [ 4.04172534e-03 9.99991818e-01 -1.68778748e-04 1.19006939e-01] [ 3.00913964e-02 4.70815424e-05 9.99547150e-01 -2.81813407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93313336499997 meters Centerline goodness : 0.127669 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99538980e-01 -4.04497384e-03 -3.00909599e-02 -1.18482861e+00] [ 4.04172534e-03 9.99991818e-01 -1.68778748e-04 1.19006939e-01] [ 3.00913964e-02 4.70815424e-05 9.99547150e-01 -2.81813407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96313336499998 meters Centerline goodness : 0.132261 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99552976e-01 3.72340132e-03 -2.96645424e-02 -1.16521712e+00] [-3.75760673e-03 9.99992338e-01 -1.09741113e-03 1.13859730e-01] [ 2.96602290e-02 1.20838824e-03 9.99559308e-01 -2.80413961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99313336499998 meters Centerline goodness : 0.130730 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99555237e-01 3.71157398e-03 -2.95897195e-02 -1.16538868e+00] [-3.74708042e-03 9.99992325e-01 -1.14459935e-03 1.14016471e-01] [ 2.95852441e-02 1.25496533e-03 9.99561473e-01 -2.80438640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02313336499998 meters Centerline goodness : 0.130861 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99552785e-01 3.75171157e-03 -2.96674020e-02 -1.16514535e+00] [-3.78561233e-03 9.99992244e-01 -1.08660936e-03 1.13877400e-01] [ 2.96630953e-02 1.19843269e-03 9.99559235e-01 -2.80537690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05313336499998 meters Centerline goodness : 0.129924 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.28 [[ 9.99546991e-01 3.79003132e-03 -2.98571209e-02 -1.16455273e+00] [-3.82281896e-03 9.99992151e-01 -1.04114590e-03 1.13863124e-01] [ 2.98529405e-02 1.15481262e-03 9.99553635e-01 -2.80755546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08313336499998 meters Centerline goodness : 0.131293 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.28 [[ 9.99541327e-01 3.85633144e-03 -3.00377161e-02 -1.16384729e+00] [-3.88571573e-03 9.99992027e-01 -9.19935661e-04 1.13380738e-01] [ 3.00339291e-02 1.03623174e-03 9.99548343e-01 -2.81192592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11313336499998 meters Centerline goodness : 0.127338 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99529796e-01 -4.34443928e-03 -3.03531304e-02 -1.18399348e+00] [ 4.34736429e-03 9.99990550e-01 3.03730536e-05 1.16569651e-01] [ 3.03527116e-02 -1.62314887e-04 9.99539237e-01 -2.82504966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14313336499998 meters Centerline goodness : 0.126727 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.12, Z:-0.28 [[ 9.99534509e-01 -4.34664695e-03 -3.01972137e-02 -1.18473499e+00] [ 4.35215041e-03 9.99990523e-01 1.16526390e-04 1.15862992e-01] [ 3.01964210e-02 -2.47894964e-04 9.99543953e-01 -2.82007025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17313336499998 meters Centerline goodness : 0.127462 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99546345e-01 3.00149092e-03 -2.99682369e-02 -1.16659906e+00] [-3.03279552e-03 9.99994902e-01 -9.99193292e-04 1.10217667e-01] [ 2.99650850e-02 1.08962754e-03 9.99550352e-01 -2.79784791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20313336499999 meters Centerline goodness : 0.131685 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99542233e-01 3.15445300e-03 -3.00894475e-02 -1.16603579e+00] [-3.17860291e-03 9.99994663e-01 -7.54805695e-04 1.09710428e-01] [ 3.00869060e-02 8.50102575e-04 9.99546925e-01 -2.80221254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.233133365 meters Centerline goodness : 0.136673 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 9.99524095e-01 -4.52116370e-03 -3.05146295e-02 -1.18491678e+00] [ 4.54240463e-03 9.99989487e-01 6.26804522e-04 1.14383411e-01] [ 3.05114748e-02 -7.65116018e-04 9.99534124e-01 -2.82514200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.263133365 meters Centerline goodness : 0.127383 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 9.99526554e-01 -4.51496483e-03 -3.04349074e-02 -1.18494006e+00] [ 4.54113995e-03 9.99989376e-01 7.90969907e-04 1.13237466e-01] [ 3.04310129e-02 -9.28804599e-04 9.99536438e-01 -2.82833308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.293133365 meters Centerline goodness : 0.126880 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 9.99539846e-01 2.52265766e-03 -3.02280170e-02 -1.16611595e+00] [-2.53812049e-03 9.99996667e-01 -4.73180659e-04 1.06061315e-01] [ 3.02267226e-02 5.49685273e-04 9.99542917e-01 -2.81558950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.323133365 meters Centerline goodness : 0.137727 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.10, Z:-0.28 [[ 9.99539118e-01 2.52073159e-03 -3.02522446e-02 -1.16607830e+00] [-2.53141056e-03 9.99996746e-01 -3.14703806e-04 1.04817738e-01] [ 3.02513529e-02 3.91139616e-04 9.99542247e-01 -2.81598175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.353133365 meters Centerline goodness : 0.132414 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 9.99484388e-01 -5.62011402e-03 -3.16128657e-02 -1.18612090e+00] [ 5.63997368e-03 9.99983950e-01 5.39078646e-04 1.08738572e-01] [ 3.16093286e-02 -7.17096421e-04 9.99500043e-01 -2.82791982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.383133365 meters Centerline goodness : 0.133692 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 9.99483240e-01 -5.49037839e-03 -3.16718925e-02 -1.18578091e+00] [ 5.52584589e-03 9.99984199e-01 1.03242071e-03 1.05973501e-01] [ 3.16657236e-02 -1.20690119e-03 9.99497787e-01 -2.83204568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.413133365 meters Centerline goodness : 0.125261 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 0.99949602 -0.00541251 -0.03127961 -1.18702415] [ 0.00545265 0.99998442 0.00119811 0.10509906] [ 0.03127264 -0.00136806 0.99950996 -0.28276186] [ 0. 0. 0. 1. ]] SLAMing on 226.443133365 meters Centerline goodness : 0.131012 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99950822 -0.00538603 -0.03089199 -1.18833431] [ 0.0054274 0.99998448 0.00125557 0.10471368] [ 0.03088475 -0.00142262 0.99952194 -0.28215835] [ 0. 0. 0. 1. ]] SLAMing on 226.473133365 meters Centerline goodness : 0.126890 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99951428 -0.00537797 -0.03069646 -1.1890737 ] [ 0.00541779 0.99998459 0.00121404 0.10499312] [ 0.03068946 -0.00137976 0.99952802 -0.28168243] [ 0. 0. 0. 1. ]] SLAMing on 226.503133365 meters Centerline goodness : 0.123342 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 9.99516190e-01 -5.34780807e-03 -3.06396263e-02 -1.18924453e+00] [ 5.38664223e-03 9.99984790e-01 1.18504700e-03 1.05359526e-01] [ 3.06328228e-02 -1.34951837e-03 9.99529794e-01 -2.81616647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.533133365 meters Centerline goodness : 0.138593 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.10, Z:-0.28 [[ 9.99542453e-01 2.76702080e-03 -3.01202303e-02 -1.16914037e+00] [-2.75318214e-03 9.99996085e-01 5.00910303e-04 1.00556425e-01] [ 3.01214984e-02 -4.17754633e-04 9.99546157e-01 -2.80447648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.563133365 meters Centerline goodness : 0.134837 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.10, Z:-0.28 [[ 9.99475727e-01 4.16166622e-03 -3.21084394e-02 -1.21427150e+00] [-4.13543413e-03 9.99991059e-01 8.83349349e-04 1.04294800e-01] [ 3.21118285e-02 -7.50103896e-04 9.99484001e-01 -2.81090314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.593133365 meters Centerline goodness : 0.116863 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 0.99947308 -0.00399066 -0.03221228 -1.19341778] [ 0.00405137 0.99999014 0.00181969 0.1063513 ] [ 0.0322047 -0.00194923 0.99947939 -0.2797728 ] [ 0. 0. 0. 1. ]] SLAMing on 226.623133365 meters Centerline goodness : 0.135088 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.11, Z:-0.28 [[ 0.99947379 -0.00393661 -0.0321969 -1.19321478] [ 0.00400364 0.99998995 0.00201766 0.10515181] [ 0.03218864 -0.0021455 0.99947951 -0.28018147] [ 0. 0. 0. 1. ]] SLAMing on 226.653133365 meters Centerline goodness : 0.131438 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99947536 -0.00390359 -0.03215215 -1.1932448 ] [ 0.00397863 0.99998951 0.00227024 0.10346812] [ 0.03214295 -0.00239697 0.99948041 -0.28039707] [ 0. 0. 0. 1. ]] SLAMing on 226.68313336499997 meters Centerline goodness : 0.135510 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99947611 -0.00387827 -0.03213203 -1.19326004] [ 0.00396386 0.99998876 0.00260043 0.10132453] [ 0.03212158 -0.00272644 0.99948025 -0.28054814] [ 0. 0. 0. 1. ]] SLAMing on 226.71313336499998 meters Centerline goodness : 0.127341 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.10, Z:-0.28 [[ 0.99947442 -0.00378625 -0.03219537 -1.19306131] [ 0.0038863 0.99998781 0.00304569 0.09883254] [ 0.03218345 -0.00316921 0.99947695 -0.28076137] [ 0. 0. 0. 1. ]] SLAMing on 226.74313336499998 meters Centerline goodness : 0.131544 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.09, Z:-0.28 [[ 0.99945107 -0.00382189 -0.03290831 -1.19099178] [ 0.00394665 0.99998527 0.00372701 0.09417167] [ 0.03289358 -0.00385485 0.99945143 -0.2814974 ] [ 0. 0. 0. 1. ]] SLAMing on 226.77313336499998 meters Centerline goodness : 0.112951 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.09, Z:-0.28 [[ 0.99945007 -0.00370484 -0.03295182 -1.19066727] [ 0.00384192 0.99998422 0.00409769 0.09212024] [ 0.03293612 -0.00422204 0.99944854 -0.28188987] [ 0. 0. 0. 1. ]] SLAMing on 226.80313336499998 meters Centerline goodness : 0.131681 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.09, Z:-0.28 [[ 0.99945685 -0.00361907 -0.03275541 -1.19108756] [ 0.00376392 0.99998341 0.00436146 0.0905532 ] [ 0.03273909 -0.00448238 0.99945388 -0.28195924] [ 0. 0. 0. 1. ]] SLAMing on 226.83313336499998 meters Centerline goodness : 0.134745 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.08, Z:-0.28 [[ 0.99947961 0.004056 -0.03200086 -1.17279796] [-0.0039549 0.99998699 0.00322178 0.08413089] [ 0.03201352 -0.00309355 0.99948265 -0.28000082] [ 0. 0. 0. 1. ]] SLAMing on 226.86313336499998 meters Centerline goodness : 0.134536 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.08, Z:-0.28 [[ 0.99948544 0.00413436 -0.03180821 -1.17347268] [-0.00403199 0.99998649 0.00328169 0.0839293 ] [ 0.03182135 -0.00315175 0.9994886 -0.27965258] [ 0. 0. 0. 1. ]] SLAMing on 226.89313336499998 meters Centerline goodness : 0.138943 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.08, Z:-0.28 [[ 0.99949243 0.00421641 -0.03157685 -1.17407767] [-0.00411399 0.99998607 0.0033077 0.08406371] [ 0.03159035 -0.00317611 0.99949585 -0.27951284] [ 0. 0. 0. 1. ]] SLAMing on 226.92313336499998 meters Centerline goodness : 0.144411 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.08, Z:-0.28 [[ 0.99951133 0.00447943 -0.03093589 -1.17548549] [-0.00437991 0.99998502 0.00328389 0.08470577] [ 0.03095014 -0.00314679 0.99951598 -0.27957711] [ 0. 0. 0. 1. ]] SLAMing on 226.95313336499999 meters Centerline goodness : 0.129595 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.09, Z:-0.28 [[ 0.99951845 0.00449345 -0.03070302 -1.17609772] [-0.00439746 0.99998523 0.0031932 0.08510855] [ 0.03071691 -0.00305665 0.99952345 -0.27945076] [ 0. 0. 0. 1. ]] SLAMing on 226.983133365 meters Centerline goodness : 0.131639 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.09, Z:-0.28 [[ 0.99952303 0.00449841 -0.03055284 -1.17656179] [-0.00440454 0.99998537 0.00313898 0.08540937] [ 0.03056651 -0.00300291 0.99952822 -0.27930971] [ 0. 0. 0. 1. ]] SLAMing on 227.013133365 meters Centerline goodness : 0.139800 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.08, Z:-0.28 [[ 0.99956103 0.00433664 -0.0293078 -1.13229392] [-0.00424432 0.99998584 0.00321134 0.08325911] [ 0.02932131 -0.00308554 0.99956528 -0.27802818] [ 0. 0. 0. 1. ]] SLAMing on 227.043133365 meters Centerline goodness : 0.133211 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.08, Z:-0.28 [[ 0.99955484 0.00437982 -0.02951154 -1.1316645 ] [-0.00428809 0.99998578 0.00317093 0.08381005] [ 0.02952501 -0.00304297 0.99955941 -0.27822822] [ 0. 0. 0. 1. ]] SLAMing on 227.073133365 meters Centerline goodness : 0.137415 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.9995625 0.00445155 -0.02924032 -1.13222204] [-0.00437039 0.99998642 0.00283883 0.08592922] [ 0.02925256 -0.0027098 0.99956838 -0.27824819] [ 0. 0. 0. 1. ]] SLAMing on 227.103133365 meters Centerline goodness : 0.104996 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99956928 0.00444118 -0.02900907 -1.13295427] [-0.00436679 0.99998701 0.0026273 0.08723398] [ 0.02902037 -0.00249949 0.9995757 -0.27793996] [ 0. 0. 0. 1. ]] SLAMing on 227.133133365 meters Centerline goodness : 0.111008 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99957618 0.00450923 -0.02875995 -1.13378193] [-0.00444076 0.99998715 0.00244416 0.08888608] [ 0.0287706 -0.00231541 0.99958336 -0.27753133] [ 0. 0. 0. 1. ]] SLAMing on 227.163133365 meters Centerline goodness : 0.144757 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958186 0.0046167 -0.02854463 -1.13434622] [-0.00455183 0.99998691 0.00233706 0.09040917] [ 0.02855504 -0.00220616 0.99958979 -0.27740768] [ 0. 0. 0. 1. ]] SLAMing on 227.193133365 meters Centerline goodness : 0.138254 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958201 0.00464139 -0.02853532 -1.1341511 ] [-0.00458092 0.99998712 0.00218431 0.09168597] [ 0.02854509 -0.00205268 0.9995904 -0.27772726] [ 0. 0. 0. 1. ]] SLAMing on 227.223133365 meters Centerline goodness : 0.133054 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958151 0.00456588 -0.02856502 -1.13387262] [-0.00451092 0.99998785 0.00198805 0.09255382] [ 0.02857375 -0.00185837 0.99958996 -0.27807962] [ 0. 0. 0. 1. ]] SLAMing on 227.253133365 meters Centerline goodness : 0.145809 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958022 0.00443064 -0.02863139 -1.13342132] [-0.00438207 0.99998885 0.00175889 0.0931797 ] [ 0.02863886 -0.00163269 0.99958849 -0.27853935] [ 0. 0. 0. 1. ]] SLAMing on 227.283133365 meters Centerline goodness : 0.092750 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958134 0.0044151 -0.02859457 -1.13358697] [-0.0043686 0.99998903 0.00168843 0.09363539] [ 0.02860171 -0.0015628 0.99958967 -0.27841681] [ 0. 0. 0. 1. ]] SLAMing on 227.313133365 meters Centerline goodness : 0.156917 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958425 0.00442723 -0.02849072 -1.13387318] [-0.00438203 0.99998904 0.00164849 0.09409821] [ 0.0284977 -0.00152296 0.9995927 -0.27840178] [ 0. 0. 0. 1. ]] SLAMing on 227.343133365 meters Centerline goodness : 0.144314 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.09, Z:-0.28 [[ 0.99958608 0.00442548 -0.02842675 -1.13402869] [-0.00438317 0.99998919 0.00155044 0.09483831] [ 0.0284333 -0.0014252 0.99959468 -0.27840629] [ 0. 0. 0. 1. ]] SLAMing on 227.373133365 meters Centerline goodness : 0.144892 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.10, Z:-0.28 [[ 0.9996044 -0.00307368 -0.02795692 -1.15269322] [ 0.00315368 0.99999106 0.00281789 0.10134156] [ 0.02794801 -0.00290495 0.99960516 -0.28088785] [ 0. 0. 0. 1. ]] SLAMing on 227.403133365 meters Centerline goodness : 0.139016 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 0.9995467 -0.00175224 -0.03005533 -1.19716738] [ 0.0018582 0.99999216 0.00349806 0.10394246] [ 0.03004896 -0.00355232 0.99954212 -0.28211707] [ 0. 0. 0. 1. ]] SLAMing on 227.43313336499997 meters Centerline goodness : 0.092025 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.10, Z:-0.28 [[ 0.99954619 0.0073301 -0.02921795 -1.17550371] [-0.00724193 0.9999689 0.00312229 0.10387494] [ 0.02923992 -0.00290928 0.99956819 -0.28157259] [ 0. 0. 0. 1. ]] SLAMing on 227.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.49313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.52313336499998 meters Centerline goodness : 0.094558 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 0.99952321 0.01095528 -0.02886764 -1.17686948] [-0.01079158 0.99992483 0.00582026 0.10914312] [ 0.02892923 -0.00550596 0.9995663 -0.28087736] [ 0. 0. 0. 1. ]] SLAMing on 227.55313336499998 meters Centerline goodness : 0.091220 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.11, Z:-0.28 [[ 0.99952196 0.01092626 -0.02892189 -1.17658478] [-0.01076993 0.99992657 0.00555537 0.11075334] [ 0.02898046 -0.00524123 0.99956624 -0.28116911] [ 0. 0. 0. 1. ]] SLAMing on 227.58313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.61313336499998 meters Centerline goodness : 0.041565 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.11, Z:-0.28 [[ 0.99950345 0.01113244 -0.02947747 -1.17455833] [-0.01098009 0.99992554 0.00532486 0.11250936] [ 0.02953455 -0.00499855 0.99955126 -0.28247422] [ 0. 0. 0. 1. ]] SLAMing on 227.64313336499998 meters Centerline goodness : 0.094146 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955324 0.0035228 -0.02968005 -1.15642523] [-0.00333857 0.99997487 0.00625461 0.11718456] [ 0.02970134 -0.00615273 0.99953988 -0.28065102] [ 0. 0. 0. 1. ]] SLAMing on 227.67313336499998 meters Centerline goodness : 0.227541 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955823 0.00358383 -0.02950425 -1.15698003] [-0.00339931 0.99997437 0.00630178 0.11711644] [ 0.02952608 -0.0061987 0.99954479 -0.28053736] [ 0. 0. 0. 1. ]] SLAMing on 227.70313336499999 meters Centerline goodness : 0.227789 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956314 0.00361101 -0.02933406 -1.15742058] [-0.00342748 0.99997425 0.00630438 0.11697171] [ 0.02935607 -0.00620108 0.99954978 -0.28057109] [ 0. 0. 0. 1. ]] SLAMing on 227.733133365 meters Centerline goodness : 0.114131 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956302 0.00359068 -0.02934057 -1.15732221] [-0.00340839 0.99997459 0.00626037 0.1166897 ] [ 0.0293623 -0.00615763 0.99954987 -0.28075913] [ 0. 0. 0. 1. ]] SLAMing on 227.763133365 meters Centerline goodness : 0.098443 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955017 0.00399401 -0.02972398 -1.15610632] [-0.00379875 0.99997085 0.00662279 0.11561416] [ 0.02974956 -0.0065069 0.9995362 -0.28140497] [ 0. 0. 0. 1. ]] SLAMing on 227.793133365 meters Centerline goodness : 0.042346 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955038 0.00420921 -0.02968715 -1.15618324] [-0.00400909 0.99996886 0.00679718 0.11542007] [ 0.02971484 -0.00667511 0.99953613 -0.28151048] [ 0. 0. 0. 1. ]] SLAMing on 227.823133365 meters Centerline goodness : 0.042346 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955038 0.00420921 -0.02968715 -1.15618324] [-0.00400909 0.99996886 0.00679718 0.11542007] [ 0.02971484 -0.00667511 0.99953613 -0.28151048] [ 0. 0. 0. 1. ]] SLAMing on 227.853133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 227.883133365 meters Centerline goodness : 0.351076 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956907 0.00464362 -0.02898472 -1.15809077] [-0.00444466 0.99996615 0.00692472 0.11588525] [ 0.02901589 -0.00679291 0.99955587 -0.28132838] [ 0. 0. 0. 1. ]] SLAMing on 227.913133365 meters Centerline goodness : 0.097468 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99957237 0.00464516 -0.02887056 -1.15847158] [-0.00445111 0.9999671 0.00678204 0.11656425] [ 0.02890112 -0.00665064 0.99956015 -0.28124444] [ 0. 0. 0. 1. ]] SLAMing on 227.943133365 meters Centerline goodness : 0.041775 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99957559 0.00467799 -0.02875344 -1.15874793] [-0.00448813 0.99996772 0.00666408 0.11740983] [ 0.02878369 -0.0065322 0.99956432 -0.28131023] [ 0. 0. 0. 1. ]] SLAMing on 227.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.003133365 meters Centerline goodness : 0.424198 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956671 0.00548084 -0.02891983 -1.15826864] [-0.00528 0.99996144 0.00701681 0.1190432 ] [ 0.02895717 -0.00686108 0.99955711 -0.28158617] [ 0. 0. 0. 1. ]] SLAMing on 228.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.063133365 meters Centerline goodness : 0.095591 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956484 0.00534026 -0.0290107 -1.15783673] [-0.00514702 0.9999641 0.0067317 0.11988517] [ 0.0290456 -0.00657945 0.99955643 -0.28195092] [ 0. 0. 0. 1. ]] SLAMing on 228.093133365 meters Centerline goodness : 0.104258 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956417 0.00523282 -0.02905313 -1.15781533] [-0.00504363 0.99996562 0.00658133 0.12013068] [ 0.02908657 -0.00643193 0.9995562 -0.28185883] [ 0. 0. 0. 1. ]] SLAMing on 228.123133365 meters Centerline goodness : 0.104318 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99956218 0.00520802 -0.02912606 -1.1576292 ] [-0.00502003 0.99996612 0.00652364 0.12037803] [ 0.02915905 -0.00637457 0.99955446 -0.28195854] [ 0. 0. 0. 1. ]] SLAMing on 228.153133365 meters Centerline goodness : 0.279421 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955923 0.00520545 -0.02922744 -1.15726433] [-0.00501832 0.99996646 0.00647224 0.12080061] [ 0.02926015 -0.00632271 0.99955183 -0.28218609] [ 0. 0. 0. 1. ]] SLAMing on 228.18313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.21313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.24313336499998 meters Centerline goodness : 0.171616 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.12, Z:-0.28 [[ 0.99955007 0.00502738 -0.02956981 -1.1560075 ] [-0.00484607 0.99996904 0.00620007 0.12154267] [ 0.02960006 -0.00605399 0.99954349 -0.28291338] [ 0. 0. 0. 1. ]] SLAMing on 228.27313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.30313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.36313336499998 meters Centerline goodness : 0.099110 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.12, Z:-0.28 [[ 0.99954312 0.0020402 -0.03015621 -1.15413959] [-0.00193182 0.99999157 0.00362238 0.11947967] [ 0.03016335 -0.00356247 0.99953863 -0.28355144] [ 0. 0. 0. 1. ]] SLAMing on 228.39313336499998 meters Centerline goodness : 0.097892 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.28 [[ 0.9995622 -0.00594759 -0.0289834 -1.13538352] [ 0.00609622 0.9999687 0.00504237 0.12184744] [ 0.02895251 -0.00521685 0.99956717 -0.2813961 ] [ 0. 0. 0. 1. ]] SLAMing on 228.42313336499998 meters Centerline goodness : 0.343134 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.28 [[ 0.99956858 -0.00607742 -0.02873544 -1.13637847] [ 0.00624101 0.99996481 0.00560687 0.11791327] [ 0.02870035 -0.00578379 0.99957133 -0.28069899] [ 0. 0. 0. 1. ]] SLAMing on 228.45313336499999 meters Centerline goodness : 0.148619 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.12, Z:-0.28 [[ 0.99956467 -0.00615028 -0.02885558 -1.13603377] [ 0.00632261 0.9999627 0.00588491 0.11561114] [ 0.02881831 -0.00606479 0.99956627 -0.28073863] [ 0. 0. 0. 1. ]] SLAMing on 228.483133365 meters Centerline goodness : 0.235967 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.11, Z:-0.28 [[ 9.99594727e-01 -6.97481504e-04 -2.84586612e-02 -1.15888482e+00] [ 7.80444352e-04 9.99995478e-01 2.90420231e-03 1.09800615e-01] [ 2.84565069e-02 -2.92523571e-03 9.99590751e-01 -2.81132155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.513133365 meters Centerline goodness : 0.041898 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-0.28 [[ 9.99592674e-01 4.71144667e-03 -2.81476174e-02 -1.13859666e+00] [-4.71145793e-03 9.99988899e-01 6.59215934e-05 1.04970321e-01] [ 2.81476155e-02 6.67215735e-05 9.99603775e-01 -2.80033728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.543133365 meters Centerline goodness : 0.100403 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.10, Z:-0.28 [[ 9.99596199e-01 4.79876179e-03 -2.80073338e-02 -1.13912786e+00] [-4.78756110e-03 9.99988431e-01 4.66963265e-04 1.02803787e-01] [ 2.80092507e-02 -3.32687883e-04 9.99607609e-01 -2.79728339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.573133365 meters Centerline goodness : 0.317512 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 0.99960399 -0.00363939 -0.02790381 -1.16022272] [ 0.00368816 0.99999176 0.0016964 0.1049385 ] [ 0.02789741 -0.00179864 0.99960917 -0.28090114] [ 0. 0. 0. 1. ]] SLAMing on 228.603133365 meters Centerline goodness : 0.232442 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 9.99612671e-01 -6.29477430e-03 -2.71087237e-02 -1.16375842e+00] [ 6.28648424e-03 9.99980163e-01 -3.91022539e-04 1.00507474e-01] [ 2.71106474e-02 2.20452520e-04 9.99632415e-01 -2.78886624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.633133365 meters Centerline goodness : 0.229165 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 9.99611832e-01 -6.29736166e-03 -2.71390445e-02 -1.16382444e+00] [ 6.29697371e-03 9.99980169e-01 -9.97583502e-05 9.83205377e-02] [ 2.71391346e-02 -7.11742228e-05 9.99631663e-01 -2.78679390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.663133365 meters Centerline goodness : 0.105284 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.10, Z:-0.28 [[ 9.99610873e-01 -6.19666576e-03 -2.71975029e-02 -1.16361642e+00] [ 6.20529249e-03 9.99980720e-01 2.32799217e-04 9.65651108e-02] [ 2.71955359e-02 -4.01477088e-04 9.99630052e-01 -2.78792966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.693133365 meters Centerline goodness : 0.096794 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.09, Z:-0.28 [[ 9.99609435e-01 -6.08949064e-03 -2.72744410e-02 -1.16335928e+00] [ 6.10683668e-03 9.99981200e-01 5.52729921e-04 9.49578636e-02] [ 2.72705624e-02 -7.19074601e-04 9.99627830e-01 -2.78876957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.723133365 meters Centerline goodness : 0.094666 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.09, Z:-0.28 [[ 9.99607564e-01 -6.03412853e-03 -2.73552236e-02 -1.16313241e+00] [ 6.05880474e-03 9.99981310e-01 8.19269144e-04 9.30971737e-02] [ 2.73497688e-02 -9.84687592e-04 9.99625440e-01 -2.78939006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.753133365 meters Centerline goodness : 0.089205 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.28 [[ 9.99536056e-01 -6.81268404e-03 -2.96860137e-02 -1.20787740e+00] [ 6.81949538e-03 9.99976739e-01 1.28206782e-04 9.12911600e-02] [ 2.96844497e-02 -3.30590934e-04 9.99559265e-01 -2.79321578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.813133365 meters Centerline goodness : 0.182093 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.09, Z:-0.28 [[ 9.99529581e-01 -6.63943574e-03 -2.99421904e-02 -1.20683906e+00] [ 6.67111905e-03 9.99977289e-01 9.58376108e-04 8.64529148e-02] [ 2.99351473e-02 -1.15767319e-03 9.99551173e-01 -2.79994119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.843133365 meters Centerline goodness : 0.104577 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.08, Z:-0.28 [[ 0.99952606 -0.0065168 -0.03008631 -1.20633987] [ 0.00656197 0.99997749 0.00140272 0.08406341] [ 0.03007649 -0.00159948 0.99954632 -0.28024159] [ 0. 0. 0. 1. ]] SLAMing on 228.873133365 meters Centerline goodness : 0.100349 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.08, Z:-0.28 [[ 9.99513389e-01 -1.03526187e-03 -3.11755138e-02 -1.18331085e+00] [ 9.98635835e-04 9.99998793e-01 -1.19038093e-03 7.85855654e-02] [ 3.11767085e-02 1.15866870e-03 9.99513217e-01 -2.79916273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.903133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 228.93313336499997 meters Centerline goodness : 0.101215 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.07, Z:-0.28 [[ 9.99462975e-01 -1.29668572e-03 -3.27426280e-02 -1.17875607e+00] [ 1.27070738e-03 9.99998861e-01 -8.14206641e-04 7.47585482e-02] [ 3.27436465e-02 7.72163093e-04 9.99463485e-01 -2.81244679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96313336499998 meters Centerline goodness : 0.102767 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99342228e-01 -5.44674772e-05 -3.62644239e-02 -1.22011945e+00] [ 9.10092422e-05 9.99999490e-01 1.00599776e-03 7.10689020e-02] [ 3.62643506e-02 -1.00863644e-03 9.99341723e-01 -2.82998389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99313336499998 meters Centerline goodness : 0.260564 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99337599e-01 -2.47212342e-05 -3.63917816e-02 -1.21977656e+00] [ 6.77644186e-05 9.99999300e-01 1.18153914e-03 7.03006420e-02] [ 3.63917270e-02 -1.18322256e-03 9.99336901e-01 -2.83061401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02313336499998 meters Centerline goodness : 0.233864 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99334809e-01 -4.79587254e-05 -3.64682921e-02 -1.21967506e+00] [ 9.25798194e-05 9.99999249e-01 1.22187095e-03 6.97791718e-02] [ 3.64682061e-02 -1.22443440e-03 9.99334064e-01 -2.82919101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05313336499998 meters Centerline goodness : 0.228836 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99334369e-01 -8.73288108e-05 -3.64802973e-02 -1.21971979e+00] [ 1.32134135e-04 9.99999240e-01 1.22579697e-03 6.94470318e-02] [ 3.64801625e-02 -1.22980134e-03 9.99333621e-01 -2.82879891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08313336499998 meters Centerline goodness : 0.122967 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99330287e-01 -1.24738794e-06 -3.65920378e-02 -1.21955276e+00] [ 5.10254063e-05 9.99999075e-01 1.35941724e-03 6.92323671e-02] [ 3.65920023e-02 -1.36037395e-03 9.99329362e-01 -2.82776331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11313336499998 meters Centerline goodness : 0.100151 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99330895e-01 9.65302714e-05 -3.65752926e-02 -1.21958187e+00] [-4.21682468e-05 9.99998893e-01 1.48707307e-03 6.92919058e-02] [ 3.65753957e-02 -1.48453575e-03 9.99329794e-01 -2.82837809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14313336499998 meters Centerline goodness : 0.335251 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99325327e-01 -2.48638448e-04 -3.67264002e-02 -1.21914647e+00] [ 2.94526041e-04 9.99999183e-01 1.24403936e-03 6.92628125e-02] [ 3.67260608e-02 -1.25401692e-03 9.99324584e-01 -2.82951603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17313336499998 meters Centerline goodness : 0.096477 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99327567e-01 -4.57802338e-04 -3.66634014e-02 -1.21948385e+00] [ 4.99149682e-04 9.99999250e-01 1.11860986e-03 6.89742799e-02] [ 3.66628618e-02 -1.13615819e-03 9.99327045e-01 -2.82740156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20313336499999 meters Centerline goodness : 0.179510 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99330991e-01 -5.00444968e-04 -3.65693869e-02 -1.22003593e+00] [ 5.43136433e-04 9.99999183e-01 1.15748484e-03 6.87796268e-02] [ 3.65687777e-02 -1.17657264e-03 9.99330446e-01 -2.82307273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.233133365 meters Centerline goodness : 0.099520 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99333420e-01 -3.97134728e-04 -3.65042231e-02 -1.22050274e+00] [ 4.45573207e-04 9.99999031e-01 1.31880230e-03 6.87247411e-02] [ 3.65036639e-02 -1.33418852e-03 9.99332629e-01 -2.81890661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.263133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 229.293133365 meters Centerline goodness : 0.092521 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.07, Z:-0.28 [[ 9.99336263e-01 -6.25018789e-04 -3.64231144e-02 -1.22062395e+00] [ 6.61076045e-04 9.99999303e-01 9.77920510e-04 7.02378934e-02] [ 3.64224778e-02 -1.00134988e-03 9.99335980e-01 -2.81971769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 229.353133365 meters Centerline goodness : 0.120124 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.28 [[ 9.99347024e-01 -1.19240458e-03 -3.61123878e-02 -1.22221974e+00] [ 1.18232788e-03 9.99999256e-01 -3.00391073e-04 7.72158551e-02] [ 3.61127191e-02 2.57498241e-04 9.99347690e-01 -2.80676259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.383133365 meters Centerline goodness : 0.213339 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.08, Z:-0.28 [[ 9.99346554e-01 -1.21981267e-03 -3.61244732e-02 -1.22252804e+00] [ 1.19547507e-03 9.99999044e-01 -6.95307424e-04 8.05658449e-02] [ 3.61252868e-02 6.51667171e-04 9.99347056e-01 -2.80160488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.413133365 meters Centerline goodness : 0.095615 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 9.99257056e-01 -8.20474991e-05 -3.85399587e-02 -1.26723344e+00] [ 7.94055168e-05 9.99999994e-01 -7.00824731e-05 8.60468505e-02] [ 3.85399643e-02 6.69701204e-05 9.99257057e-01 -2.80923936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.443133365 meters Centerline goodness : 0.109601 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99305875e-01 -8.19170310e-06 -3.72527519e-02 -1.22257878e+00] [ 6.70220018e-07 9.99999980e-01 -2.01916577e-04 8.78720358e-02] [ 3.72527528e-02 2.01751454e-04 9.99305855e-01 -2.79874853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.473133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 229.503133365 meters Centerline goodness : 0.110168 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99300384e-01 -6.89176853e-04 -3.73934244e-02 -1.22184632e+00] [ 6.44050466e-04 9.99999050e-01 -1.21883248e-03 9.15861581e-02] [ 3.73942289e-02 1.19389651e-03 9.99299878e-01 -2.80462365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.533133365 meters Centerline goodness : 0.113943 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99304485e-01 -7.18700068e-04 -3.72830986e-02 -1.22229921e+00] [ 6.71230107e-04 9.99998948e-01 -1.28573153e-03 9.21527648e-02] [ 3.72839834e-02 1.25981175e-03 9.99303916e-01 -2.80185384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.563133365 meters Centerline goodness : 0.116827 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99307979e-01 -7.50084930e-04 -3.71887144e-02 -1.22272820e+00] [ 7.00970391e-04 9.99998865e-01 -1.33370498e-03 9.24825608e-02] [ 3.71896725e-02 1.30671384e-03 9.99307371e-01 -2.79870592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.593133365 meters Centerline goodness : 0.114719 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99309640e-01 -8.25903108e-04 -3.71424523e-02 -1.22293244e+00] [ 7.73465373e-04 9.99998684e-01 -1.42614758e-03 9.28054478e-02] [ 3.71435813e-02 1.39643462e-03 9.99308963e-01 -2.79731351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.623133365 meters Centerline goodness : 0.106375 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99305683e-01 -8.81802039e-04 -3.72474615e-02 -1.22257890e+00] [ 8.26371553e-04 9.99998528e-01 -1.50353741e-03 9.30990548e-02] [ 3.72487325e-02 1.47171324e-03 9.99304941e-01 -2.79885214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.653133365 meters Centerline goodness : 0.120194 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99282690e-01 -8.84616366e-04 -3.78592506e-02 -1.22054680e+00] [ 8.25250275e-04 9.99998405e-01 -1.58367217e-03 9.39925479e-02] [ 3.78605912e-02 1.55129282e-03 9.99281827e-01 -2.80708226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68313336499997 meters Centerline goodness : 0.116153 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99274616e-01 -8.79073043e-04 -3.80718804e-02 -1.21973533e+00] [ 8.17655933e-04 9.99998339e-01 -1.62872870e-03 9.45100364e-02] [ 3.80732490e-02 1.59641755e-03 9.99273676e-01 -2.81160129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71313336499998 meters Centerline goodness : 0.120562 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99267002e-01 -8.83721125e-04 -3.82711026e-02 -1.21913717e+00] [ 8.19960990e-04 9.99998250e-01 -1.68167660e-03 9.49261662e-02] [ 3.82725218e-02 1.64906313e-03 9.99265978e-01 -2.81327744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74313336499998 meters Centerline goodness : 0.120562 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99267002e-01 -8.83721125e-04 -3.82711026e-02 -1.21913717e+00] [ 8.19960990e-04 9.99998250e-01 -1.68167660e-03 9.49261662e-02] [ 3.82725218e-02 1.64906313e-03 9.99265978e-01 -2.81327744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77313336499998 meters Centerline goodness : 0.122478 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99262938e-01 -9.05993081e-04 -3.83765529e-02 -1.21893937e+00] [ 8.41552830e-04 9.99998209e-01 -1.69527745e-03 9.48176623e-02] [ 3.83780201e-02 1.66173203e-03 9.99261911e-01 -2.81271392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80313336499998 meters Centerline goodness : 0.125321 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99259524e-01 -8.77725283e-04 -3.84659917e-02 -1.21875417e+00] [ 8.15175074e-04 9.99998320e-01 -1.64177106e-03 9.45277547e-02] [ 3.84673681e-02 1.60919886e-03 9.99258561e-01 -2.81258361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83313336499998 meters Centerline goodness : 0.118272 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99252661e-01 -8.21848644e-04 -3.86451088e-02 -1.21844377e+00] [ 7.62590337e-04 9.99998511e-01 -1.54811304e-03 9.41801625e-02] [ 3.86463236e-02 1.51748568e-03 9.99251800e-01 -2.81102315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86313336499998 meters Centerline goodness : 0.121688 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99241798e-01 -7.83059519e-04 -3.89257869e-02 -1.21785296e+00] [ 7.26825290e-04 9.99998672e-01 -1.45878283e-03 9.37643654e-02] [ 3.89268775e-02 1.42938453e-03 9.99241040e-01 -2.80973246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89313336499998 meters Centerline goodness : 0.126424 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99242326e-01 -7.85016958e-04 -3.89121732e-02 -1.21788443e+00] [ 7.28168418e-04 9.99998647e-01 -1.47509602e-03 9.37642084e-02] [ 3.89132786e-02 1.44564377e-03 9.99241546e-01 -2.81006843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92313336499998 meters Centerline goodness : 0.120907 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99240680e-01 -7.78196118e-04 -3.89545703e-02 -1.21789800e+00] [ 7.20391204e-04 9.99998619e-01 -1.49792043e-03 9.39914205e-02] [ 3.89556822e-02 1.46872050e-03 9.99239860e-01 -2.80849947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95313336499999 meters Centerline goodness : 0.128267 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.09, Z:-0.28 [[ 9.99237319e-01 -7.70075748e-04 -3.90408497e-02 -1.21779068e+00] [ 7.10678764e-04 9.99998569e-01 -1.53526126e-03 9.44830937e-02] [ 3.90419761e-02 1.50634484e-03 9.99236436e-01 -2.80729939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.983133365 meters Centerline goodness : 0.124144 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 9.99232094e-01 -8.25179824e-04 -3.91732354e-02 -1.21753079e+00] [ 7.57851005e-04 9.99998210e-01 -1.73356375e-03 9.56867392e-02] [ 3.91745958e-02 1.70254506e-03 9.99230930e-01 -2.80643664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.013133365 meters Centerline goodness : 0.129757 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99174449e-01 -8.64173177e-03 -3.96955988e-02 -1.19734054e+00] [ 8.61815176e-03 9.99962570e-01 -7.65104396e-04 1.01137214e-01] [ 3.97007248e-02 4.22370069e-04 9.99211526e-01 -2.78552842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.043133365 meters Centerline goodness : 0.133585 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99166081e-01 -8.83359301e-03 -3.98636336e-02 -1.19673060e+00] [ 8.78974981e-03 9.99960557e-01 -1.27496424e-03 1.04099854e-01] [ 3.98733238e-02 9.23509657e-04 9.99204316e-01 -2.78821032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.073133365 meters Centerline goodness : 0.131086 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99171273e-01 -8.90532911e-03 -3.97172867e-02 -1.19719425e+00] [ 8.85750080e-03 9.99959819e-01 -1.38002731e-03 1.04603775e-01] [ 3.97279805e-02 1.02708775e-03 9.99210004e-01 -2.78676456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.103133365 meters Centerline goodness : 0.131627 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99184268e-01 -8.96604619e-03 -3.93752327e-02 -1.19823044e+00] [ 8.91885265e-03 9.99959282e-01 -1.37405822e-03 1.04431815e-01] [ 3.93859493e-02 1.02175546e-03 9.99223550e-01 -2.78414003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.133133365 meters Centerline goodness : 0.123581 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99195729e-01 -9.07682183e-03 -3.90577393e-02 -1.19928988e+00] [ 9.03032789e-03 9.99958292e-01 -1.36664833e-03 1.03933049e-01] [ 3.90685151e-02 1.01284498e-03 9.99236021e-01 -2.78013259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.163133365 meters Centerline goodness : 0.135265 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.10, Z:-0.28 [[ 9.99198909e-01 -9.18522492e-03 -3.89508999e-02 -1.19963117e+00] [ 9.14082866e-03 9.99957353e-01 -1.31774070e-03 1.03216933e-01] [ 3.89613425e-02 9.60641571e-04 9.99240257e-01 -2.77938543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.193133365 meters Centerline goodness : 0.149666 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99920355 -0.00190804 -0.03985744 -1.21937458] [ 0.00178986 0.9999939 -0.00300071 0.09890629] [ 0.03986292 0.00292698 0.99920087 -0.27983922] [ 0. 0. 0. 1. ]] SLAMing on 230.223133365 meters Centerline goodness : 0.122348 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99919745 -0.00189737 -0.0400107 -1.21894226] [ 0.00178377 0.99999428 -0.00287475 0.09817517] [ 0.04001593 0.00280107 0.99919512 -0.27999516] [ 0. 0. 0. 1. ]] SLAMing on 230.253133365 meters Centerline goodness : 0.127374 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99919953 -0.00186858 -0.03996008 -1.21917083] [ 0.00175808 0.99999453 -0.00280022 0.09781752] [ 0.03996509 0.00272772 0.99919735 -0.27984639] [ 0. 0. 0. 1. ]] SLAMing on 230.283133365 meters Centerline goodness : 0.126081 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99920534 -0.00184559 -0.03981569 -1.21973406] [ 0.00173492 0.99999454 -0.00281403 0.09808896] [ 0.03982067 0.00274272 0.99920308 -0.2795043 ] [ 0. 0. 0. 1. ]] SLAMing on 230.313133365 meters Centerline goodness : 0.121101 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 0.99921219 -0.00181877 -0.03964459 -1.2204611 ] [ 0.00170534 0.99999436 -0.00289471 0.09883701] [ 0.03964964 0.00282482 0.99920965 -0.27900284] [ 0. 0. 0. 1. ]] SLAMing on 230.343133365 meters Centerline goodness : 0.126541 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.28 [[ 0.99920857 0.00685194 -0.0391828 -1.24256176] [-0.0070046 0.9999684 -0.00376016 0.09692737] [ 0.0391558 0.00403165 0.99922498 -0.28035656] [ 0. 0. 0. 1. ]] SLAMing on 230.373133365 meters Centerline goodness : 0.122858 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.10, Z:-0.28 [[ 9.99337463e-01 1.21981149e-03 -3.63750856e-02 -1.22028487e+00] [-1.26640088e-03 9.99998407e-01 -1.25779223e-03 9.80708424e-02] [ 3.63734934e-02 1.30302433e-03 9.99337416e-01 -2.80724742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40313336499997 meters Centerline goodness : 0.122972 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.10, Z:-0.28 [[ 9.99307633e-01 -6.15407939e-03 -3.66930758e-02 -1.23757679e+00] [ 6.16129021e-03 9.99981016e-01 8.34429566e-05 1.04993056e-01] [ 3.66918657e-02 -3.09461872e-04 9.99326579e-01 -2.83518459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43313336499997 meters Centerline goodness : 0.124195 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-0.28 [[ 9.99289311e-01 -6.10860364e-03 -3.71962108e-02 -1.23580676e+00] [ 6.11355623e-03 9.99981312e-01 1.94082423e-05 1.05723569e-01] [ 3.71953971e-02 -2.46795575e-04 9.99307981e-01 -2.84357697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 230.49313336499998 meters Centerline goodness : 0.125359 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.29 [[ 9.99264827e-01 -6.06547281e-03 -3.78551802e-02 -1.23363845e+00] [ 6.06482776e-03 9.99981600e-01 -1.31874655e-04 1.07028782e-01] [ 3.78552836e-02 -9.78074441e-05 9.99283227e-01 -2.85246583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52313336499998 meters Centerline goodness : 0.133349 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.29 [[ 9.99260847e-01 -6.04101417e-03 -3.79640179e-02 -1.23351754e+00] [ 6.03721569e-03 9.99981753e-01 -2.14695015e-04 1.07837264e-01] [ 3.79646221e-02 -1.46606417e-05 9.99279084e-01 -2.85058709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55313336499998 meters Centerline goodness : 0.127712 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99927422 -0.0023766 -0.0380183 -1.23367948] [ 0.0025008 0.99999169 0.00321955 0.10849675] [ 0.03801033 -0.00331229 0.99927186 -0.28475001] [ 0. 0. 0. 1. ]] SLAMing on 230.58313336499998 meters Centerline goodness : 0.123139 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99927282 -0.0024453 -0.03805063 -1.23370648] [ 0.00256044 0.99999229 0.00297756 0.10986726] [ 0.03804306 -0.00307282 0.99927138 -0.28458449] [ 0. 0. 0. 1. ]] SLAMing on 230.61313336499998 meters Centerline goodness : 0.134651 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.9992756 -0.00250018 -0.03797389 -1.23393177] [ 0.00260798 0.99999271 0.00278938 0.11098894] [ 0.03796664 -0.0028864 0.99927484 -0.28454254] [ 0. 0. 0. 1. ]] SLAMing on 230.64313336499998 meters Centerline goodness : 0.134411 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.9992785 -0.00251662 -0.03789643 -1.23408819] [ 0.00262112 0.9999929 0.00270811 0.11163893] [ 0.03788934 -0.00280549 0.999278 -0.2845972 ] [ 0. 0. 0. 1. ]] SLAMing on 230.67313336499998 meters Centerline goodness : 0.115450 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99928078 -0.00251301 -0.03783649 -1.23423305] [ 0.00261649 0.99999297 0.00268561 0.11191049] [ 0.03782948 -0.00278267 0.99928033 -0.28463187] [ 0. 0. 0. 1. ]] SLAMing on 230.70313336499999 meters Centerline goodness : 0.108731 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99927763 -0.00249367 -0.0379209 -1.23407088] [ 0.00259878 0.99999292 0.00272279 0.11187796] [ 0.03791385 -0.00281937 0.99927703 -0.28458799] [ 0. 0. 0. 1. ]] SLAMing on 230.733133365 meters Centerline goodness : 0.125145 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.99926306 -0.00252593 -0.03830084 -1.23348347] [ 0.00262942 0.99999303 0.00265191 0.11233692] [ 0.03829388 -0.00275067 0.99926273 -0.28414158] [ 0. 0. 0. 1. ]] SLAMing on 230.763133365 meters Centerline goodness : 0.124682 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.11, Z:-0.28 [[ 0.9992546 -0.00255054 -0.03851921 -1.23305744] [ 0.00264968 0.99999331 0.00252294 0.11323751] [ 0.03851252 -0.00262312 0.99925467 -0.2839636 ] [ 0. 0. 0. 1. ]] SLAMing on 230.793133365 meters Centerline goodness : 0.188115 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.28 [[ 0.99925192 -0.00262876 -0.03858361 -1.23296866] [ 0.00271608 0.99999387 0.00221084 0.11502407] [ 0.03857756 -0.00231398 0.99925293 -0.28382278] [ 0. 0. 0. 1. ]] SLAMing on 230.823133365 meters Centerline goodness : 0.100639 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.28 [[ 0.99925755 -0.00273947 -0.03842982 -1.23352692] [ 0.00281112 0.99999441 0.00181055 0.11718297] [ 0.03842464 -0.00191724 0.99925966 -0.28350945] [ 0. 0. 0. 1. ]] SLAMing on 230.853133365 meters Centerline goodness : 0.130741 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.12, Z:-0.28 [[ 0.9992711 -0.00286448 -0.03806655 -1.23472254] [ 0.00291877 0.9999948 0.00137077 0.11948957] [ 0.03806243 -0.00148087 0.99927427 -0.28299324] [ 0. 0. 0. 1. ]] SLAMing on 230.883133365 meters Centerline goodness : 0.132572 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.12, Z:-0.28 [[ 9.99283823e-01 -2.99523959e-03 -3.77209358e-02 -1.23589283e+00] [ 3.03153961e-03 9.99994995e-01 9.05170918e-04 1.21937131e-01] [ 3.77180358e-02 -1.01887517e-03 9.99287902e-01 -2.82439142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.913133365 meters Centerline goodness : 0.130630 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.28 [[ 9.99291405e-01 -3.18207153e-03 -3.75041650e-02 -1.23676355e+00] [ 3.19223143e-03 9.99994883e-01 2.11021560e-04 1.25954102e-01] [ 3.75033016e-02 -3.30594006e-04 9.99296449e-01 -2.81909730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.943133365 meters Centerline goodness : 0.127165 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99210211e-01 -2.94249065e-03 -3.96269627e-02 -1.28213196e+00] [ 2.92804924e-03 9.99995624e-01 -4.22466987e-04 1.30318472e-01] [ 3.96280324e-02 3.06103629e-04 9.99214454e-01 -2.82449392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.973133365 meters Centerline goodness : 0.180720 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99210508e-01 -3.08481861e-03 -3.96086402e-02 -1.28219121e+00] [ 3.06129855e-03 9.99995100e-01 -6.54448629e-04 1.31258884e-01] [ 3.96104650e-02 5.32678075e-04 9.99215056e-01 -2.82451524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.003133365 meters Centerline goodness : 0.132999 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99219791e-01 -3.15756721e-03 -3.93679901e-02 -1.28289671e+00] [ 3.13024206e-03 9.99994815e-01 -7.55715996e-04 1.31672078e-01] [ 3.93701722e-02 6.31895041e-04 9.99224494e-01 -2.82312924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.033133365 meters Centerline goodness : 0.123473 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99230403e-01 -3.13188117e-03 -3.90997776e-02 -1.28379505e+00] [ 3.10595230e-03 9.99994915e-01 -7.23873118e-04 1.31846009e-01] [ 3.91018458e-02 6.01873984e-04 9.99235049e-01 -2.81956179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.063133365 meters Centerline goodness : 0.121993 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99240382e-01 -3.10832070e-03 -3.88458089e-02 -1.28457388e+00] [ 3.08307557e-03 9.99994995e-01 -7.09768706e-04 1.32223239e-01] [ 3.88478207e-02 5.89464989e-04 9.99244965e-01 -2.81715628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.093133365 meters Centerline goodness : 0.129230 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99240410e-01 -3.53962817e-03 -3.88081759e-02 -1.28444744e+00] [ 3.50070927e-03 9.99993299e-01 -1.07076103e-03 1.32592042e-01] [ 3.88117060e-02 9.34091548e-04 9.99246105e-01 -2.82047338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.123133365 meters Centerline goodness : 0.123303 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99229152e-01 -3.64029542e-03 -3.90877226e-02 -1.28358682e+00] [ 3.59837849e-03 9.99992873e-01 -1.14268085e-03 1.32638661e-01] [ 3.90916037e-02 1.00114759e-03 9.99235130e-01 -2.82393165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15313336499997 meters Centerline goodness : 0.121924 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99216943e-01 -3.64637590e-03 -3.93980174e-02 -1.28265876e+00] [ 3.60306031e-03 9.99992824e-01 -1.17038433e-03 1.33028093e-01] [ 3.94020024e-02 1.02751442e-03 9.99222911e-01 -2.82704906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18313336499997 meters Centerline goodness : 0.126016 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.28 [[ 9.99208342e-01 -3.64063591e-03 -3.96161013e-02 -1.28204362e+00] [ 3.59415228e-03 9.99992767e-01 -1.24451026e-03 1.33998008e-01] [ 3.96203456e-02 1.10113873e-03 9.99214199e-01 -2.82845754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21313336499998 meters Centerline goodness : 0.125610 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 9.99202311e-01 -3.67159288e-03 -3.97650684e-02 -1.28146100e+00] [ 3.61851874e-03 9.99992464e-01 -1.40658432e-03 1.35288134e-01] [ 3.97699331e-02 1.26157166e-03 9.99208067e-01 -2.83153971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24313336499998 meters Centerline goodness : 0.122570 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99919864 -0.00377049 -0.0398479 -1.28116289] [ 0.00370596 0.9999917 -0.00169322 0.13687588] [ 0.03985395 0.00154419 0.99920432 -0.2832637 ] [ 0. 0. 0. 1. ]] SLAMing on 231.27313336499998 meters Centerline goodness : 0.064928 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99919835 -0.00405487 -0.03982727 -1.28130126] [ 0.00396305 0.9999893 -0.00238419 0.14040194] [ 0.03983651 0.00222444 0.99920374 -0.28311276] [ 0. 0. 0. 1. ]] SLAMing on 231.30313336499998 meters Centerline goodness : 0.120813 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99919547 -0.00415379 -0.03988937 -1.2811622 ] [ 0.00405002 0.9999882 -0.00268193 0.14221814] [ 0.03990004 0.00251822 0.9992005 -0.28309339] [ 0. 0. 0. 1. ]] SLAMing on 231.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 231.36313336499998 meters Centerline goodness : 0.217693 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99918013 -0.00430816 -0.04025541 -1.27989896] [ 0.00418808 0.99998653 -0.00306691 0.14471104] [ 0.04026808 0.0028958 0.99918472 -0.28360779] [ 0. 0. 0. 1. ]] SLAMing on 231.39313336499998 meters Centerline goodness : 0.124425 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.9991762 -0.00442271 -0.04034058 -1.27933295] [ 0.00429899 0.99998579 -0.00315312 0.14478921] [ 0.04035395 0.0029771 0.99918101 -0.28416264] [ 0. 0. 0. 1. ]] SLAMing on 231.42313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 231.45313336499999 meters Centerline goodness : 0.129277 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.28 [[ 0.99913351 -0.008699 -0.04070089 -1.27798935] [ 0.00843481 0.99994226 -0.00665838 0.14160882] [ 0.04075646 0.0063093 0.99914919 -0.28498459] [ 0. 0. 0. 1. ]] SLAMing on 231.483133365 meters Centerline goodness : 0.146012 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.29 [[ 0.99912919 -0.00865453 -0.04081622 -1.27764905] [ 0.00840789 0.99994537 -0.00621038 0.13905051] [ 0.04086774 0.00586179 0.99914737 -0.28522489] [ 0. 0. 0. 1. ]] SLAMing on 231.513133365 meters Centerline goodness : 0.152506 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.14, Z:-0.29 [[ 0.99912616 -0.00858494 -0.04090495 -1.27732996] [ 0.0083564 0.99994853 -0.00575482 0.13651249] [ 0.04095225 0.00540797 0.99914647 -0.28549295] [ 0. 0. 0. 1. ]] SLAMing on 231.543133365 meters Centerline goodness : 0.130366 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99912011 -0.00849598 -0.04107092 -1.27685723] [ 0.00828378 0.99995146 -0.005334 0.13407793] [ 0.04111424 0.00498909 0.999142 -0.28570235] [ 0. 0. 0. 1. ]] SLAMing on 231.573133365 meters Centerline goodness : 0.127199 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99911496 -0.00834249 -0.04122741 -1.27636825] [ 0.00814756 0.99995483 -0.00489396 0.13171845] [ 0.04126638 0.00455372 0.9991378 -0.28595228] [ 0. 0. 0. 1. ]] SLAMing on 231.603133365 meters Centerline goodness : 0.158336 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99912051 -0.00800825 -0.04115919 -1.27675855] [ 0.00784472 0.99996069 -0.00413298 0.12788756] [ 0.04119067 0.00380646 0.99914405 -0.28573218] [ 0. 0. 0. 1. ]] SLAMing on 231.633133365 meters Centerline goodness : 0.158336 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.99912051 -0.00800825 -0.04115919 -1.27675855] [ 0.00784472 0.99996069 -0.00413298 0.12788756] [ 0.04119067 0.00380646 0.99914405 -0.28573218] [ 0. 0. 0. 1. ]] SLAMing on 231.663133365 meters Centerline goodness : 0.115953 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.13, Z:-0.29 [[ 0.999133 -0.00784048 -0.04088735 -1.27766468] [ 0.0076924 0.99996328 -0.00377757 0.12614974] [ 0.04091547 0.00345977 0.99915662 -0.28539822] [ 0. 0. 0. 1. ]] SLAMing on 231.693133365 meters Centerline goodness : 0.130082 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99914117 -0.00765639 -0.0407222 -1.27817748] [ 0.00752612 0.99996606 -0.00335131 0.12402938] [ 0.04074648 0.00304196 0.99916489 -0.28526794] [ 0. 0. 0. 1. ]] SLAMing on 231.723133365 meters Centerline goodness : 0.124093 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915143 -0.00731758 -0.04053249 -1.27865711] [ 0.00721833 0.99997058 -0.00259454 0.12007303] [ 0.04055028 0.00229976 0.99917485 -0.28534983] [ 0. 0. 0. 1. ]] SLAMing on 231.753133365 meters Centerline goodness : 0.122178 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915168 -0.00714717 -0.04055663 -1.27863637] [ 0.00706203 0.99997255 -0.00224203 0.11831606] [ 0.04057155 0.00195371 0.99917473 -0.28532212] [ 0. 0. 0. 1. ]] SLAMing on 231.783133365 meters Centerline goodness : 0.112549 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915045 -0.00701244 -0.04061037 -1.2785726 ] [ 0.00693695 0.99997394 -0.00199941 0.11714856] [ 0.04062333 0.001716 0.99917306 -0.28526262] [ 0. 0. 0. 1. ]] SLAMing on 231.813133365 meters Centerline goodness : 0.113653 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.29 [[ 0.99915001 -0.00681558 -0.04065473 -1.27862318] [ 0.00675012 0.99997569 -0.00174712 0.1162038 ] [ 0.04066565 0.00147121 0.99917173 -0.28502705] [ 0. 0. 0. 1. ]] SLAMing on 231.843133365 meters Centerline goodness : 0.124394 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 9.99191058e-01 1.06962458e-03 -4.02005596e-02 -1.26014097e+00] [-1.17720053e-03 9.99995789e-01 -2.65240492e-03 1.09867785e-01] [ 4.01975533e-02 2.69758340e-03 9.99188110e-01 -2.82624066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.873133365 meters Centerline goodness : 0.124798 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.12, Z:-0.28 [[ 0.99919187 -0.0065128 -0.03966344 -1.28023233] [ 0.00644574 0.99997757 -0.00181841 0.11501291] [ 0.03967439 0.00156128 0.99921144 -0.28377883] [ 0. 0. 0. 1. ]] SLAMing on 231.90313336499997 meters Centerline goodness : 0.112712 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 0.99921951 0.00165601 -0.03946671 -1.26112009] [-0.00175499 0.9999954 -0.00247328 0.10752453] [ 0.03946244 0.00254061 0.99921782 -0.28149479] [ 0. 0. 0. 1. ]] SLAMing on 231.93313336499997 meters Centerline goodness : 0.124579 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 0.99922067 0.00184256 -0.03942906 -1.26125985] [-0.00193147 0.99999568 -0.00221692 0.10668174] [ 0.03942481 0.00229135 0.99921991 -0.28143323] [ 0. 0. 0. 1. ]] SLAMing on 231.96313336499998 meters Centerline goodness : 0.123964 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.11, Z:-0.28 [[ 0.99922327 0.00195288 -0.03935783 -1.26147055] [-0.00203401 0.99999589 -0.0020214 0.1057844 ] [ 0.03935372 0.00209988 0.99922314 -0.28141038] [ 0. 0. 0. 1. ]] SLAMing on 231.99313336499998 meters Centerline goodness : 0.124164 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 0.99922747 0.00205611 -0.03924581 -1.2617802 ] [-0.00212703 0.99999618 -0.00176535 0.10435949] [ 0.03924203 0.00184747 0.99922803 -0.28140953] [ 0. 0. 0. 1. ]] SLAMing on 232.02313336499998 meters Centerline goodness : 0.107357 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 0.99922957 0.00216155 -0.03918656 -1.26205096] [-0.00221983 0.99999649 -0.00144364 0.10242628] [ 0.0391833 0.00152951 0.99923087 -0.2813194 ] [ 0. 0. 0. 1. ]] SLAMing on 232.05313336499998 meters Centerline goodness : 0.124018 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 9.99231306e-01 2.24062350e-03 -3.91379259e-02 -1.26227426e+00] [-2.28655450e-03 9.99996749e-01 -1.12884433e-03 1.00583035e-01] [ 3.91352694e-02 1.21746760e-03 9.99233180e-01 -2.81225812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08313336499998 meters Centerline goodness : 0.122566 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 9.99230653e-01 2.40582700e-03 -3.91447849e-02 -1.26229474e+00] [-2.43528956e-03 9.99996786e-01 -7.04990741e-04 9.85231702e-02] [ 3.91429630e-02 7.99777245e-04 9.99233300e-01 -2.81268073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11313336499998 meters Centerline goodness : 0.173375 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.10, Z:-0.28 [[ 9.99222740e-01 2.60858183e-03 -3.93333438e-02 -1.26168415e+00] [-2.61571507e-03 9.99996571e-01 -1.29892083e-04 9.56138801e-02] [ 3.93328701e-02 2.32675943e-04 9.99226136e-01 -2.81644585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14313336499998 meters Centerline goodness : 0.189939 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99222597e-01 2.70559279e-03 -3.93304069e-02 -1.26174914e+00] [-2.70289758e-03 9.99996340e-01 1.21701082e-04 9.43451557e-02] [ 3.93305922e-02 -1.53004103e-05 9.99226253e-01 -2.81600419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17313336499998 meters Centerline goodness : 0.126241 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99223167e-01 2.80083724e-03 -3.93092693e-02 -1.26182491e+00] [-2.78986509e-03 9.99996053e-01 3.33976203e-04 9.33758974e-02] [ 3.93100496e-02 -2.24049201e-04 9.99227036e-01 -2.81627508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20313336499999 meters Centerline goodness : 0.125394 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99222947e-01 2.87863565e-03 -3.93092344e-02 -1.26174275e+00] [-2.86244294e-03 9.99995794e-01 4.68207526e-04 9.29333172e-02] [ 3.93104169e-02 -3.55323264e-04 9.99226984e-01 -2.81775744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.233133365 meters Centerline goodness : 0.111114 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99920783 -0.00474981 -0.0395113 -1.28050958] [ 0.00482425 0.99998676 0.0017887 0.09818575] [ 0.03950228 -0.00197789 0.99921752 -0.28389609] [ 0. 0. 0. 1. ]] SLAMing on 232.263133365 meters Centerline goodness : 0.139639 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99920334 -0.00468497 -0.03963256 -1.28007707] [ 0.00476344 0.99998688 0.00188554 0.09786828] [ 0.0396232 -0.00207283 0.99921254 -0.28410434] [ 0. 0. 0. 1. ]] SLAMing on 232.293133365 meters Centerline goodness : 0.108764 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99919932 -0.00466193 -0.03973646 -1.27978401] [ 0.00474237 0.99998689 0.0019305 0.09771424] [ 0.03972693 -0.0021174 0.99920833 -0.28421378] [ 0. 0. 0. 1. ]] SLAMing on 232.323133365 meters Centerline goodness : 0.122019 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.10, Z:-0.28 [[ 0.99919858 -0.00454636 -0.03976846 -1.27988471] [ 0.00463656 0.99998688 0.0021761 0.09664003] [ 0.03975804 -0.00235874 0.99920655 -0.28399346] [ 0. 0. 0. 1. ]] SLAMing on 232.353133365 meters Centerline goodness : 0.124559 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.09, Z:-0.28 [[ 9.99231135e-01 2.88406378e-03 -3.91001354e-02 -1.26173870e+00] [-2.84391853e-03 9.99995370e-01 1.08231053e-03 8.98739817e-02] [ 3.91030758e-02 -9.70280777e-04 9.99234711e-01 -2.82004732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.383133365 meters Centerline goodness : 0.125172 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99923008 -0.00518585 -0.0388889 -1.28191666] [ 0.00527048 0.99998396 0.00207399 0.09386182] [ 0.03887752 -0.00227735 0.99924139 -0.28358494] [ 0. 0. 0. 1. ]] SLAMing on 232.413133365 meters Centerline goodness : 0.124078 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99923254 -0.00516733 -0.03882818 -1.28218356] [ 0.0052605 0.99998352 0.00229771 0.0923048 ] [ 0.03881567 -0.0025002 0.99924326 -0.28346516] [ 0. 0. 0. 1. ]] SLAMing on 232.443133365 meters Centerline goodness : 0.115798 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99923241 -0.00507245 -0.03884414 -1.28211412] [ 0.00518019 0.99998301 0.00267358 0.09010086] [ 0.03882992 -0.00287275 0.9992417 -0.28360119] [ 0. 0. 0. 1. ]] SLAMing on 232.473133365 meters Centerline goodness : 0.122802 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.09, Z:-0.28 [[ 0.99922865 -0.00495237 -0.03895623 -1.28159509] [ 0.00507759 0.99998225 0.00311604 0.0876052 ] [ 0.03894011 -0.00331144 0.99923606 -0.28406587] [ 0. 0. 0. 1. ]] SLAMing on 232.503133365 meters Centerline goodness : 0.122233 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.08, Z:-0.28 [[ 0.99921072 -0.0046432 -0.03945096 -1.28018293] [ 0.00480957 0.99997993 0.00412314 0.08236836] [ 0.03943102 -0.00430963 0.999213 -0.28461869] [ 0. 0. 0. 1. ]] SLAMing on 232.533133365 meters Centerline goodness : 0.124027 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.08, Z:-0.28 [[ 0.99921014 -0.00447274 -0.0394852 -1.28011772] [ 0.00465716 0.99997867 0.0045799 0.07999382] [ 0.03946388 -0.00476017 0.99920966 -0.28466576] [ 0. 0. 0. 1. ]] SLAMing on 232.563133365 meters Centerline goodness : 0.126811 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.28 [[ 0.99922404 0.00298355 -0.03927363 -1.26248608] [-0.00284899 0.99998988 0.00348192 0.0718698 ] [ 0.03928362 -0.00336733 0.99922243 -0.28199506] [ 0. 0. 0. 1. ]] SLAMing on 232.593133365 meters Centerline goodness : 0.123511 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.28 [[ 0.99923231 0.00312334 -0.03905182 -1.26354998] [-0.00297946 0.99998856 0.00374185 0.07061336] [ 0.03906306 -0.00362262 0.99923018 -0.28120883] [ 0. 0. 0. 1. ]] SLAMing on 232.623133365 meters Centerline goodness : 0.135239 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:-0.28 [[ 0.99924763 0.00349359 -0.03862613 -1.26532893] [-0.00334138 0.9999864 0.00400457 0.06995833] [ 0.0386396 -0.00387249 0.99924571 -0.27997808] [ 0. 0. 0. 1. ]] SLAMing on 232.65313336499997 meters Centerline goodness : 0.117921 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:-0.28 [[ 0.99924285 0.00356144 -0.03874325 -1.26501673] [-0.00341368 0.99998665 0.00387938 0.07087929] [ 0.03875655 -0.00374419 0.99924167 -0.27995705] [ 0. 0. 0. 1. ]] SLAMing on 232.68313336499997 meters Centerline goodness : 0.123413 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.07, Z:-0.28 [[ 0.99923931 0.00366884 -0.0388245 -1.26482426] [-0.00352582 0.99998675 0.00375158 0.07209304] [ 0.03883775 -0.00361184 0.999239 -0.2799 ] [ 0. 0. 0. 1. ]] SLAMing on 232.71313336499998 meters Centerline goodness : 0.118810 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.07, Z:-0.28 [[ 0.99924485 0.00378672 -0.03867025 -1.26538711] [-0.00365147 0.99998697 0.00356751 0.07375149] [ 0.03868325 -0.00342361 0.99924566 -0.27955649] [ 0. 0. 0. 1. ]] SLAMing on 232.74313336499998 meters Centerline goodness : 0.135253 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.99927476 0.00402185 -0.0378652 -1.26761354] [-0.00389369 0.99998644 0.00345784 0.07541329] [ 0.03787859 -0.0033079 0.99927687 -0.27896248] [ 0. 0. 0. 1. ]] SLAMing on 232.77313336499998 meters Centerline goodness : 0.117031 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.99932673 0.0047897 -0.03637496 -1.27214744] [-0.00466522 0.99998297 0.00350626 0.07906949] [ 0.03639113 -0.0033342 0.99933206 -0.27738685] [ 0. 0. 0. 1. ]] SLAMing on 232.80313336499998 meters Centerline goodness : 0.117418 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.9993191 0.00473371 -0.03659146 -1.27171145] [-0.00462328 0.9999845 0.00310207 0.0814371 ] [ 0.03660558 -0.00293078 0.99932549 -0.27723887] [ 0. 0. 0. 1. ]] SLAMing on 232.83313336499998 meters Centerline goodness : 0.048786 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.08, Z:-0.28 [[ 0.99930656 0.00471676 -0.03693442 -1.27081822] [-0.0046188 0.99998559 0.0027372 0.08388662] [ 0.0369468 -0.00256471 0.99931394 -0.27733475] [ 0. 0. 0. 1. ]] SLAMing on 232.86313336499998 meters Centerline goodness : 0.115231 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 0.99929815 0.00470034 -0.03716334 -1.27017217] [-0.00461641 0.9999866 0.00234384 0.08658164] [ 0.03717386 -0.00217063 0.99930646 -0.2774404 ] [ 0. 0. 0. 1. ]] SLAMing on 232.89313336499998 meters Centerline goodness : 0.111706 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 0.99929916 0.00465333 -0.03714209 -1.27020329] [-0.00458454 0.99998762 0.00193681 0.08909501] [ 0.03715064 -0.00176518 0.99930812 -0.2774147 ] [ 0. 0. 0. 1. ]] SLAMing on 232.92313336499998 meters Centerline goodness : 0.116786 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.09, Z:-0.28 [[ 0.9993033 0.00450683 -0.03704879 -1.270532 ] [-0.00445596 0.99998901 0.00145554 0.09157901] [ 0.03705494 -0.00128944 0.9993124 -0.27720022] [ 0. 0. 0. 1. ]] SLAMing on 232.95313336499999 meters Centerline goodness : 0.113628 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99321195e-01 4.44707818e-03 -3.65701074e-02 -1.27156579e+00] [-4.42290192e-03 9.99989944e-01 7.41967135e-04 9.59936699e-02] [ 3.65730392e-02 -5.79717485e-04 9.99330814e-01 -2.77246853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.983133365 meters Centerline goodness : 0.118806 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99321409e-01 4.40716229e-03 -3.65691047e-02 -1.27144440e+00] [-4.39565447e-03 9.99990261e-01 3.95080892e-04 9.83562674e-02] [ 3.65704897e-02 -2.34067646e-04 9.99331048e-01 -2.77418515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.013133365 meters Centerline goodness : 0.111523 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99314413e-01 4.40177158e-03 -3.67604322e-02 -1.27079749e+00] [-4.40093586e-03 9.99990310e-01 1.03652194e-04 1.00571064e-01] [ 3.67605322e-02 5.81991725e-05 9.99324102e-01 -2.77677611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.043133365 meters Centerline goodness : 0.112122 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99307200e-01 4.32370654e-03 -3.69651896e-02 -1.27006841e+00] [-4.33424188e-03 9.99990586e-01 -2.04876128e-04 1.02485021e-01] [ 3.69639558e-02 3.64950263e-04 9.99316533e-01 -2.78014038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.073133365 meters Centerline goodness : 0.112027 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99302139e-01 4.23120654e-03 -3.71124307e-02 -1.26966458e+00] [-4.25059607e-03 9.99990868e-01 -4.43566972e-04 1.03651948e-01] [ 3.71102150e-02 6.01007376e-04 9.99310998e-01 -2.78105856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.103133365 meters Centerline goodness : 0.113070 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.10, Z:-0.28 [[ 9.99297118e-01 4.13984886e-03 -3.72576356e-02 -1.26928943e+00] [-4.16735794e-03 9.99991098e-01 -6.60717485e-04 1.04675259e-01] [ 3.72545687e-02 8.15518982e-04 9.99305475e-01 -2.78195124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.133133365 meters Centerline goodness : 0.114306 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.11, Z:-0.28 [[ 9.99287443e-01 4.03827120e-03 -3.75273179e-02 -1.26862985e+00] [-4.08218787e-03 9.99991070e-01 -1.09370830e-03 1.07247199e-01] [ 3.75225660e-02 1.24612253e-03 9.99295004e-01 -2.78186898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.163133365 meters Centerline goodness : 0.167755 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.11, Z:-0.28 [[ 0.99928481 0.00399876 -0.03760149 -1.26852307] [-0.00405327 0.99999084 -0.00137377 0.10908313] [ 0.03759566 0.00152519 0.99929187 -0.27805042] [ 0. 0. 0. 1. ]] SLAMing on 233.193133365 meters Centerline goodness : 0.115596 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.12, Z:-0.28 [[ 9.99284169e-01 -3.02153383e-03 -3.77096729e-02 -1.25129500e+00] [ 3.02975792e-03 9.99995397e-01 1.60945489e-04 1.15512982e-01] [ 3.77090131e-02 -2.75081459e-04 9.99288724e-01 -2.75218203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.223133365 meters Centerline goodness : 0.110496 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.12, Z:-0.28 [[ 9.99289358e-01 -3.13685922e-03 -3.75624649e-02 -1.25175646e+00] [ 3.12637993e-03 9.99995056e-01 -3.37718033e-04 1.18243769e-01] [ 3.75633385e-02 2.20043500e-04 9.99294225e-01 -2.75027759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.253133365 meters Centerline goodness : 0.113557 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.12, Z:-0.27 [[ 9.99283265e-01 -3.24277238e-03 -3.77152507e-02 -1.25154586e+00] [ 3.21466029e-03 9.99994508e-01 -8.05995924e-04 1.20895967e-01] [ 3.77176572e-02 6.84176520e-04 9.99288202e-01 -2.74810227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.283133365 meters Centerline goodness : 0.123256 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99265375e-01 -3.54517869e-04 -3.83221228e-02 -1.24881361e+00] [ 4.07467285e-04 9.99998973e-01 1.37389164e-03 1.25821702e-01] [ 3.83215963e-02 -1.38849735e-03 9.99264493e-01 -2.76292178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.313133365 meters Centerline goodness : 0.125651 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99263463e-01 -4.64729349e-04 -3.83707751e-02 -1.24853505e+00] [ 5.02503043e-04 9.99999399e-01 9.74800768e-04 1.27983777e-01] [ 3.83702990e-02 -9.93364222e-04 9.99263095e-01 -2.76548993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.343133365 meters Centerline goodness : 0.124101 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99267544e-01 -5.60212867e-04 -3.82630605e-02 -1.24883221e+00] [ 5.86052181e-04 9.99999608e-01 6.64094195e-04 1.29739634e-01] [ 3.82626735e-02 -6.86031925e-04 9.99267480e-01 -2.76521417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.373133365 meters Centerline goodness : 0.125184 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99274714e-01 -6.81241584e-04 -3.80733638e-02 -1.24951254e+00] [ 6.96783716e-04 9.99999679e-01 3.94947605e-04 1.30952417e-01] [ 3.80730825e-02 -4.21190056e-04 9.99274869e-01 -2.76237722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40313336499997 meters Centerline goodness : 0.123937 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99278670e-01 -7.55826986e-04 -3.79680000e-02 -1.25003040e+00] [ 7.64802626e-04 9.99999683e-01 2.21876435e-04 1.31709507e-01] [ 3.79678203e-02 -2.50754415e-04 9.99278931e-01 -2.75883591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43313336499997 meters Centerline goodness : 0.121295 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99275980e-01 -7.88324533e-04 -3.80380513e-02 -1.24986045e+00] [ 7.94088623e-04 9.99999675e-01 1.36426813e-04 1.32252356e-01] [ 3.80379314e-02 -1.66533621e-04 9.99276282e-01 -2.75894946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46313336499998 meters Centerline goodness : 0.118229 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99268463e-01 -8.03514540e-04 -3.82347197e-02 -1.24915923e+00] [ 8.09013176e-04 9.99999665e-01 1.28341001e-04 1.32195698e-01] [ 3.82346037e-02 -1.59179507e-04 9.99268778e-01 -2.76234742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49313336499998 meters Centerline goodness : 0.120604 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.13, Z:-0.28 [[ 9.99274052e-01 -8.26766803e-04 -3.80878562e-02 -1.24957035e+00] [ 8.32433926e-04 9.99999645e-01 1.32932479e-04 1.31951266e-01] [ 3.80877327e-02 -1.64541601e-04 9.99274386e-01 -2.76184044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52313336499998 meters Centerline goodness : 0.121059 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99288384e-01 6.79799084e-03 -3.71013830e-02 -1.23086182e+00] [-6.84182716e-03 9.99976038e-01 -1.05469006e-03 1.26962242e-01] [ 3.70933242e-02 1.30778078e-03 9.99310950e-01 -2.74183758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55313336499998 meters Centerline goodness : 0.121059 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99288384e-01 6.79799084e-03 -3.71013830e-02 -1.23086182e+00] [-6.84182716e-03 9.99976038e-01 -1.05469006e-03 1.26962242e-01] [ 3.70933242e-02 1.30778078e-03 9.99310950e-01 -2.74183758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58313336499998 meters Centerline goodness : 0.110659 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99295469e-01 6.83775357e-03 -3.69027290e-02 -1.23164022e+00] [-6.87886431e-03 9.99975853e-01 -9.87175789e-04 1.26635949e-01] [ 3.68950878e-02 1.24032916e-03 9.99318375e-01 -2.73767686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61313336499998 meters Centerline goodness : 0.113967 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.13, Z:-0.27 [[ 9.99336501e-01 -4.95247523e-04 -3.64185627e-02 -1.21423301e+00] [ 5.06402300e-04 9.99999828e-01 2.97070065e-04 1.31374120e-01] [ 3.64184093e-02 -3.15315403e-04 9.99336580e-01 -2.71790639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64313336499998 meters Centerline goodness : 0.122591 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99323535e-01 8.00180449e-03 -3.58949009e-02 -1.23473063e+00] [-8.02660732e-03 9.99967637e-01 -5.46932091e-04 1.27045971e-01] [ 3.58893627e-02 8.34676384e-04 9.99355421e-01 -2.73803511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67313336499998 meters Centerline goodness : 0.108151 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.13, Z:-0.27 [[ 9.99326993e-01 8.07668541e-03 -3.57816628e-02 -1.23495829e+00] [-8.10078343e-03 9.99967048e-01 -5.28546699e-04 1.27432219e-01] [ 3.57762148e-02 8.18050485e-04 9.99359491e-01 -2.73878247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70313336499999 meters Centerline goodness : 0.104772 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.27 [[ 9.99339411e-01 8.40291639e-03 -3.53572137e-02 -1.23594962e+00] [-8.41804757e-03 9.99964529e-01 -2.79105177e-04 1.26990905e-01] [ 3.53536142e-02 5.76559510e-04 9.99374699e-01 -2.74100613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.733133365 meters Centerline goodness : 0.102973 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.27 [[ 9.99344774e-01 8.46884326e-03 -3.51895207e-02 -1.23625223e+00] [-8.48114364e-03 9.99964014e-01 -2.00288701e-04 1.26513164e-01] [ 3.51865581e-02 4.98604846e-04 9.99380637e-01 -2.74317623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.763133365 meters Centerline goodness : 0.285745 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-0.27 [[ 9.99347962e-01 8.54101309e-03 -3.50813679e-02 -1.23641384e+00] [-8.54900721e-03 9.99963454e-01 -7.78756975e-05 1.25809587e-01] [ 3.50794207e-02 3.77735787e-04 9.99384456e-01 -2.74571561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.793133365 meters Centerline goodness : 0.115993 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.12, Z:-0.27 [[ 9.99350055e-01 8.61660127e-03 -3.50031665e-02 -1.23654160e+00] [-8.61849405e-03 9.99962855e-01 9.68115588e-05 1.24761835e-01] [ 3.50027005e-02 2.04925945e-04 9.99387197e-01 -2.74725143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.823133365 meters Centerline goodness : 0.123596 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.13, Z:-0.28 [[ 9.99384344e-01 3.77881378e-04 -3.50826206e-02 -1.25604314e+00] [-3.30641495e-04 9.99999031e-01 1.35232423e-03 1.27282881e-01] [ 3.50830976e-02 -1.33989190e-03 9.99383500e-01 -2.76499331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.853133365 meters Centerline goodness : 0.435008 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.13, Z:-0.28 [[ 9.99383241e-01 5.44608883e-04 -3.51118498e-02 -1.25595638e+00] [-4.86607571e-04 9.99998503e-01 1.66042566e-03 1.25645782e-01] [ 3.51127015e-02 -1.64231588e-03 9.99382010e-01 -2.76560298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.883133365 meters Centerline goodness : 0.100375 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.12, Z:-0.28 [[ 9.99379189e-01 9.33294216e-04 -3.52188290e-02 -1.25562220e+00] [-8.49748795e-04 9.99996790e-01 2.38707421e-03 1.22381073e-01] [ 3.52209438e-02 -2.35566513e-03 9.99376774e-01 -2.76696132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.913133365 meters Centerline goodness : 0.097366 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.28 [[ 9.99294266e-01 8.52391097e-04 -3.75532123e-02 -1.30034997e+00] [-7.69700987e-04 9.99997248e-01 2.21634751e-03 1.19747395e-01] [ 3.75549981e-02 -2.18587861e-03 9.99292172e-01 -2.77687773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.943133365 meters Centerline goodness : 0.138346 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.28 [[ 9.99288390e-01 9.41811513e-04 -3.77071219e-02 -1.29983672e+00] [-8.48287973e-04 9.99996525e-01 2.49618409e-03 1.17888425e-01] [ 3.77093418e-02 -2.46242128e-03 9.99285716e-01 -2.77933869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.973133365 meters Centerline goodness : 0.144458 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.28 [[ 9.99285887e-01 1.03208825e-03 -3.77710310e-02 -1.29956072e+00] [-9.28780699e-04 9.99995780e-01 2.75254481e-03 1.16351130e-01] [ 3.77737125e-02 -2.71549817e-03 9.99282629e-01 -2.78149407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.003133365 meters Centerline goodness : 0.097315 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 9.99286168e-01 1.14829206e-03 -3.77602497e-02 -1.29946822e+00] [-1.03461995e-03 9.99994875e-01 3.02976719e-03 1.14816413e-01] [ 3.77635352e-02 -2.98853694e-03 9.99282234e-01 -2.78322106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.033133365 meters Centerline goodness : 0.242749 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 9.99284982e-01 1.24339531e-03 -3.77885991e-02 -1.29935005e+00] [-1.12249201e-03 9.99994184e-01 3.22051279e-03 1.13764462e-01] [ 3.77923837e-02 -3.17579266e-03 9.99280566e-01 -2.78430691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.063133365 meters Centerline goodness : 0.091677 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 9.99284307e-01 1.39679755e-03 -3.78010899e-02 -1.29937805e+00] [-1.26477958e-03 9.99993019e-01 3.51612650e-03 1.12090956e-01] [ 3.78057373e-02 -3.46579998e-03 9.99279097e-01 -2.78383682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.093133365 meters Centerline goodness : 0.098886 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.9992808 0.00149165 -0.03788999 -1.29914761] [-0.00135122 0.99999212 0.00373151 0.11092194] [ 0.03789526 -0.00367762 0.99927495 -0.27842723] [ 0. 0. 0. 1. ]] SLAMing on 234.123133365 meters Centerline goodness : 0.443520 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.9992757 0.00159068 -0.03802044 -1.29863781] [-0.00143979 0.99999098 0.00399554 0.1094576 ] [ 0.03802646 -0.00393791 0.99926897 -0.27877397] [ 0. 0. 0. 1. ]] SLAMing on 234.15313336499997 meters Centerline goodness : 0.093434 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.99926732 0.00168875 -0.03823569 -1.29780076] [-0.00152618 0.99998967 0.00428055 0.10782307] [ 0.03824252 -0.00421906 0.99925958 -0.27928448] [ 0. 0. 0. 1. ]] SLAMing on 234.18313336499997 meters Centerline goodness : 0.447780 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.11, Z:-0.28 [[ 0.99926043 0.00178293 -0.03841103 -1.29722704] [-0.00160857 0.99998826 0.00456987 0.10617848] [ 0.03841873 -0.00450471 0.99925157 -0.27953441] [ 0. 0. 0. 1. ]] SLAMing on 234.21313336499998 meters Centerline goodness : 0.169604 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99182803e-01 1.42840372e-03 -4.03941213e-02 -1.34320691e+00] [-1.23612086e-03 9.99987789e-01 4.78474494e-03 1.00623489e-01] [ 4.04004626e-02 -4.73090285e-03 9.99172368e-01 -2.80000012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24313336499998 meters Centerline goodness : 0.162247 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.10, Z:-0.28 [[ 0.9991852 0.00933231 -0.03926634 -1.32425796] [-0.00919295 0.99995079 0.00372819 0.09592647] [ 0.0392992 -0.00336418 0.99922182 -0.27807157] [ 0. 0. 0. 1. ]] SLAMing on 234.27313336499998 meters Centerline goodness : 0.197449 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99239268e-01 1.13717528e-03 -3.89819585e-02 -1.34375035e+00] [-9.51519904e-04 9.99988119e-01 4.78081982e-03 9.90620131e-02] [ 3.89869320e-02 -4.74009079e-03 9.99228478e-01 -2.80209733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30313336499998 meters Centerline goodness : 0.315768 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99235385e-01 1.13010347e-03 -3.90815562e-02 -1.34354789e+00] [-9.44904931e-04 9.99988239e-01 4.75691734e-03 9.88950901e-02] [ 3.90864724e-02 -4.71635177e-03 9.99224701e-01 -2.80192929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33313336499998 meters Centerline goodness : 0.153774 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99237102e-01 1.29061878e-03 -3.90326601e-02 -1.34372823e+00] [-1.09974611e-03 9.99987335e-01 4.91115199e-03 9.87973510e-02] [ 3.90385041e-02 -4.86447927e-03 9.99225866e-01 -2.80162697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36313336499998 meters Centerline goodness : 0.097813 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99244923e-01 1.40593176e-03 -3.88279107e-02 -1.34438863e+00] [-1.20927939e-03 9.99986326e-01 5.08773815e-03 9.82583684e-02] [ 3.88345328e-02 -5.03694273e-03 9.99232960e-01 -2.79947792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39313336499998 meters Centerline goodness : 0.185919 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99253495e-01 1.47602510e-03 -3.86040591e-02 -1.34520338e+00] [-1.27356550e-03 9.99985310e-01 5.26858167e-03 9.72523366e-02] [ 3.86112686e-02 -5.21548385e-03 9.99240696e-01 -2.79510669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42313336499998 meters Centerline goodness : 0.310247 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99257589e-01 1.47337526e-03 -3.84980524e-02 -1.34561074e+00] [-1.26710105e-03 9.99984715e-01 5.38189301e-03 9.61963535e-02] [ 3.85053935e-02 -5.32911651e-03 9.99244182e-01 -2.79298561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45313336499999 meters Centerline goodness : 0.097922 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99252258e-01 1.50217696e-03 -3.86350573e-02 -1.34526141e+00] [-1.28908318e-03 9.99983824e-01 5.53987474e-03 9.50495522e-02] [ 3.86427542e-02 -5.48592854e-03 9.99238031e-01 -2.79325978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.483133365 meters Centerline goodness : 0.443736 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99243859e-01 1.55931688e-03 -3.88494374e-02 -1.34464307e+00] [-1.34044045e-03 9.99983087e-01 5.65937724e-03 9.44587381e-02] [ 3.88576051e-02 -5.60302259e-03 9.99229049e-01 -2.79529048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.513133365 meters Centerline goodness : 0.099045 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99924575 0.00169807 -0.03879493 -1.34475404] [-0.00147856 0.99998274 0.00568627 0.09493654] [ 0.03880391 -0.00562462 0.99923101 -0.27954203] [ 0. 0. 0. 1. ]] SLAMing on 234.543133365 meters Centerline goodness : 0.313676 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 0.99925571 0.001612 -0.03854125 -1.34561831] [-0.0014024 0.99998408 0.00546484 0.09580001] [ 0.03854945 -0.00540672 0.99924207 -0.27917645] [ 0. 0. 0. 1. ]] SLAMing on 234.573133365 meters Centerline goodness : 0.092352 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99261725e-01 1.53568134e-03 -3.83881120e-02 -1.34609957e+00] [-1.33693344e-03 9.99985573e-01 5.20246405e-03 9.70310516e-02] [ 3.83955475e-02 -5.14730085e-03 9.99249362e-01 -2.79043639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.603133365 meters Centerline goodness : 0.094450 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.28 [[ 0.99923225 0.01000076 -0.03788012 -1.32566332] [-0.00984858 0.99994267 0.00420202 0.09604619] [ 0.03791997 -0.00382573 0.99927346 -0.27760804] [ 0. 0. 0. 1. ]] SLAMing on 234.633133365 meters Centerline goodness : 0.201131 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 0.99922338 0.00239046 -0.03933088 -1.3439409 ] [-0.00216686 0.99998125 0.00572668 0.10161507] [ 0.03934383 -0.00563701 0.99920983 -0.28000427] [ 0. 0. 0. 1. ]] SLAMing on 234.663133365 meters Centerline goodness : 0.093853 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 0.99916456 0.00288087 -0.04076615 -1.33962421] [-0.00265498 0.99998083 0.00559428 0.10458302] [ 0.04078149 -0.00548137 0.99915305 -0.28153687] [ 0. 0. 0. 1. ]] SLAMing on 234.693133365 meters Centerline goodness : 0.378952 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99916024 0.00269608 -0.04088444 -1.33930219] [-0.00248461 0.99998328 0.00522251 0.1059524 ] [ 0.04089784 -0.00511655 0.99915023 -0.28166964] [ 0. 0. 0. 1. ]] SLAMing on 234.723133365 meters Centerline goodness : 0.114947 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99915958 0.00257221 -0.0409086 -1.33946373] [-0.00237074 0.99998483 0.00497256 0.10699275] [ 0.04092077 -0.0048714 0.99915052 -0.28140925] [ 0. 0. 0. 1. ]] SLAMing on 234.753133365 meters Centerline goodness : 0.095222 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99916738 0.00253206 -0.04072018 -1.34015444] [-0.00233691 0.99998556 0.00483936 0.10788162] [ 0.04073184 -0.00474017 0.99915887 -0.28109192] [ 0. 0. 0. 1. ]] SLAMing on 234.783133365 meters Centerline goodness : 0.440532 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99917771 0.00247803 -0.04046934 -1.34088176] [-0.00229111 0.9999865 0.00466459 0.1090311 ] [ 0.04048035 -0.00456804 0.99916989 -0.28092593] [ 0. 0. 0. 1. ]] SLAMing on 234.813133365 meters Centerline goodness : 0.443175 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99918319 0.00232119 -0.0403431 -1.34115439] [-0.00214833 0.99998833 0.00432759 0.11065555] [ 0.04035267 -0.00423739 0.99917651 -0.28098447] [ 0. 0. 0. 1. ]] SLAMing on 234.843133365 meters Centerline goodness : 0.191957 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99917401 0.00202005 -0.04058593 -1.3404976 ] [-0.00187719 0.99999191 0.00355781 0.11434246] [ 0.04059279 -0.00347869 0.99916972 -0.28120956] [ 0. 0. 0. 1. ]] SLAMing on 234.873133365 meters Centerline goodness : 0.243823 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917307 0.00198501 -0.04061084 -1.34055856] [-0.00185238 0.99999283 0.00330336 0.11612843] [ 0.04061711 -0.0032254 0.99916958 -0.28112903] [ 0. 0. 0. 1. ]] SLAMing on 234.90313336499997 meters Centerline goodness : 0.104537 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917564 0.00202253 -0.04054577 -1.34085451] [-0.00189574 0.99999319 0.00316517 0.11752722] [ 0.04055189 -0.0030857 0.99917267 -0.2809709 ] [ 0. 0. 0. 1. ]] SLAMing on 234.93313336499997 meters Centerline goodness : 0.090826 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917593 0.00199909 -0.04053972 -1.34096957] [-0.00187647 0.99999355 0.00306258 0.11822175] [ 0.04054558 -0.00298398 0.99917323 -0.28085023] [ 0. 0. 0. 1. ]] SLAMing on 234.96313336499998 meters Centerline goodness : 0.429879 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917427 0.00191869 -0.04058453 -1.34095257] [-0.00179794 0.99999385 0.00301157 0.1179283 ] [ 0.04059006 -0.00293611 0.99917157 -0.28071578] [ 0. 0. 0. 1. ]] SLAMing on 234.99313336499998 meters Centerline goodness : 0.438143 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.12, Z:-0.28 [[ 0.99917055 0.00186975 -0.04067814 -1.340982 ] [-0.00174646 0.99999377 0.00306628 0.11702515] [ 0.04068362 -0.00299269 0.9991676 -0.28034182] [ 0. 0. 0. 1. ]] SLAMing on 235.02313336499998 meters Centerline goodness : 0.095544 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99916827 0.00208512 -0.04072371 -1.3412046 ] [-0.00193961 0.9999916 0.00361212 0.11439114] [ 0.0407309 -0.00353013 0.99916392 -0.27980497] [ 0. 0. 0. 1. ]] SLAMing on 235.05313336499998 meters Centerline goodness : 0.448189 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99917465 0.00222572 -0.04055935 -1.34179637] [-0.00206831 0.99999017 0.00392266 0.11298092] [ 0.04056768 -0.00383553 0.99916943 -0.27946142] [ 0. 0. 0. 1. ]] SLAMing on 235.08313336499998 meters Centerline goodness : 0.441811 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99918375 0.00233885 -0.04032819 -1.34257957] [-0.00216947 0.99998864 0.00424327 0.11117611] [ 0.04033765 -0.00415231 0.99917748 -0.27907726] [ 0. 0. 0. 1. ]] SLAMing on 235.11313336499998 meters Centerline goodness : 0.196758 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.99919047 0.00244917 -0.04015484 -1.34311816] [-0.00226495 0.9999867 0.00463256 0.10877223] [ 0.04016565 -0.00453786 0.99918273 -0.27884144] [ 0. 0. 0. 1. ]] SLAMing on 235.14313336499998 meters Centerline goodness : 0.093096 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.28 [[ 0.9991908 0.00266772 -0.04013258 -1.34319935] [-0.00246137 0.9999835 0.0051903 0.10584863] [ 0.04014577 -0.00508732 0.99918088 -0.2787568 ] [ 0. 0. 0. 1. ]] SLAMing on 235.17313336499998 meters Centerline goodness : 0.101069 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 0.99918556 0.00294013 -0.04024379 -1.34273919] [-0.00270826 0.99997943 0.00581487 0.10283676] [ 0.04026006 -0.00570114 0.99917297 -0.27901737] [ 0. 0. 0. 1. ]] SLAMing on 235.20313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 235.233133365 meters Centerline goodness : 0.208474 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.9991419 0.00168332 -0.04138392 -1.33792947] [-0.00146196 0.99998447 0.0053786 0.09351076] [ 0.04139233 -0.00531348 0.99912884 -0.28135997] [ 0. 0. 0. 1. ]] SLAMing on 235.263133365 meters Centerline goodness : 0.110121 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913541 0.00186414 -0.04153253 -1.33754158] [-0.00162445 0.99998184 0.00580418 0.09112063] [ 0.04154259 -0.0057317 0.99912029 -0.2813641 ] [ 0. 0. 0. 1. ]] SLAMing on 235.293133365 meters Centerline goodness : 0.107948 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913285 0.00206335 -0.04158482 -1.33731844] [-0.00180612 0.99997901 0.00622227 0.08911218] [ 0.04159679 -0.00614177 0.9991156 -0.28149896] [ 0. 0. 0. 1. ]] SLAMing on 235.323133365 meters Centerline goodness : 0.107838 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99912621 0.00223702 -0.04173494 -1.33678727] [-0.00196642 0.99997679 0.00652386 0.08770661] [ 0.04174856 -0.00643609 0.99910742 -0.28178046] [ 0. 0. 0. 1. ]] SLAMing on 235.353133365 meters Centerline goodness : 0.108400 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99911638 0.00248234 -0.0419559 -1.3358284 ] [-0.00219601 0.99997399 0.00686946 0.0858467 ] [ 0.04197186 -0.00677126 0.99909585 -0.28240771] [ 0. 0. 0. 1. ]] SLAMing on 235.383133365 meters Centerline goodness : 0.101281 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99911067 0.00252735 -0.04208902 -1.33533012] [-0.00223888 0.99997369 0.00689947 0.085568 ] [ 0.04210535 -0.0067991 0.99909004 -0.28272061] [ 0. 0. 0. 1. ]] SLAMing on 235.413133365 meters Centerline goodness : 0.114649 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.28 [[ 0.99910581 0.00253643 -0.04220373 -1.33484049] [-0.00224966 0.99997407 0.00684094 0.08580485] [ 0.04221999 -0.00673988 0.99908561 -0.28308843] [ 0. 0. 0. 1. ]] SLAMing on 235.443133365 meters Centerline goodness : 0.114649 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.28 [[ 0.99910581 0.00253643 -0.04220373 -1.33484049] [-0.00224966 0.99997407 0.00684094 0.08580485] [ 0.04221999 -0.00673988 0.99908561 -0.28308843] [ 0. 0. 0. 1. ]] SLAMing on 235.473133365 meters Centerline goodness : 0.116488 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.28 [[ 0.99910556 0.00255703 -0.04220822 -1.33470715] [-0.00227423 0.99997465 0.00674677 0.08646901] [ 0.0422244 -0.00664475 0.99908606 -0.28335489] [ 0. 0. 0. 1. ]] SLAMing on 235.503133365 meters Centerline goodness : 0.104502 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99912549 0.00271013 -0.04172421 -1.3360243 ] [-0.00242912 0.99997404 0.00678405 0.0872252 ] [ 0.04174151 -0.00667676 0.99910613 -0.28322216] [ 0. 0. 0. 1. ]] SLAMing on 235.533133365 meters Centerline goodness : 0.103755 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913351 0.00268559 -0.04153325 -1.33655841] [-0.00240729 0.99997433 0.00674928 0.08736648] [ 0.04155031 -0.00664345 0.99911433 -0.28311668] [ 0. 0. 0. 1. ]] SLAMing on 235.563133365 meters Centerline goodness : 0.100595 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913167 0.00265711 -0.04157934 -1.33661547] [-0.00237541 0.9999739 0.00682288 0.08667103] [ 0.04159638 -0.00671819 0.99911191 -0.28284528] [ 0. 0. 0. 1. ]] SLAMing on 235.593133365 meters Centerline goodness : 0.109422 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99912778 0.00263315 -0.04167417 -1.3366233 ] [-0.00234428 0.9999729 0.00697906 0.08541881] [ 0.04169142 -0.00687528 0.99910688 -0.2824481 ] [ 0. 0. 0. 1. ]] SLAMing on 235.623133365 meters Centerline goodness : 0.102912 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.9991252 0.00255868 -0.04174083 -1.33677812] [-0.00225978 0.99997148 0.00720649 0.08363206] [ 0.04175808 -0.00710586 0.99910248 -0.28190167] [ 0. 0. 0. 1. ]] SLAMing on 235.65313336499997 meters Centerline goodness : 0.103993 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99913267 0.00258149 -0.04156005 -1.33761218] [-0.00226764 0.99996857 0.00759717 0.08135024] [ 0.04157836 -0.00749634 0.99910712 -0.28118168] [ 0. 0. 0. 1. ]] SLAMing on 235.68313336499997 meters Centerline goodness : 0.107108 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99921887 -0.0055912 -0.03912007 -1.31898679] [ 0.00594481 0.99994247 0.00892861 0.08129489] [ 0.0390679 -0.00915419 0.99919463 -0.27950262] [ 0. 0. 0. 1. ]] SLAMing on 235.71313336499998 meters Centerline goodness : 0.409302 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.08, Z:-0.28 [[ 0.99913934 -0.00608696 -0.04103076 -1.36462894] [ 0.0064652 0.99993776 0.00909222 0.07696034] [ 0.04097286 -0.00934967 0.99911651 -0.2801957 ] [ 0. 0. 0. 1. ]] SLAMing on 235.74313336499998 meters Centerline goodness : 0.106549 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99917133 0.00202841 -0.04065139 -1.34441968] [-0.00171635 0.99996881 0.00770984 0.07538159] [ 0.04066576 -0.00763368 0.99914364 -0.27873031] [ 0. 0. 0. 1. ]] SLAMing on 235.77313336499998 meters Centerline goodness : 0.104274 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99915772 0.001971 -0.04098731 -1.34344801] [-0.00167172 0.9999717 0.00733475 0.07749995] [ 0.04100061 -0.00726006 0.99913274 -0.279145 ] [ 0. 0. 0. 1. ]] SLAMing on 235.80313336499998 meters Centerline goodness : 0.119886 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.9991501 0.0020893 -0.04116694 -1.34299832] [-0.00179923 0.9999733 0.0070821 0.079801 ] [ 0.04118064 -0.00700201 0.99912718 -0.27935552] [ 0. 0. 0. 1. ]] SLAMing on 235.83313336499998 meters Centerline goodness : 0.104409 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99915294 0.00221141 -0.04109151 -1.34339908] [-0.0019314 0.99997465 0.0068529 0.08214817] [ 0.04110563 -0.00676773 0.99913189 -0.27919139] [ 0. 0. 0. 1. ]] SLAMing on 235.86313336499998 meters Centerline goodness : 0.099148 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99916331 0.0020508 -0.040847 -1.34436539] [-0.00179542 0.99997862 0.0062876 0.0849617 ] [ 0.04085902 -0.006209 0.99914563 -0.27876515] [ 0. 0. 0. 1. ]] SLAMing on 235.89313336499998 meters Centerline goodness : 0.103902 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99915823 0.00188888 -0.04097881 -1.34399422] [-0.00164305 0.99998046 0.00603193 0.08558216] [ 0.0409894 -0.00595953 0.99914181 -0.27887549] [ 0. 0. 0. 1. ]] SLAMing on 235.92313336499998 meters Centerline goodness : 0.102417 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99914781 0.00181401 -0.04123541 -1.3432909 ] [-0.00156899 0.99998093 0.00597355 0.08549974] [ 0.04124546 -0.00590376 0.9991316 -0.27905338] [ 0. 0. 0. 1. ]] SLAMing on 235.95313336499999 meters Centerline goodness : 0.103471 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 0.99913871 0.00183289 -0.04145451 -1.34272177] [-0.00158396 0.99998052 0.00603696 0.08528155] [ 0.04146477 -0.0059661 0.99912215 -0.27908552] [ 0. 0. 0. 1. ]] SLAMing on 235.983133365 meters Centerline goodness : 0.104314 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99913234 0.00184794 -0.0416072 -1.34238955] [-0.00159508 0.99998006 0.00610968 0.08496924] [ 0.04161766 -0.00603801 0.99911536 -0.27901814] [ 0. 0. 0. 1. ]] SLAMing on 236.013133365 meters Centerline goodness : 0.105797 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.9991271 0.00181173 -0.04173424 -1.34208397] [-0.00155801 0.99998011 0.00611132 0.08477144] [ 0.04174448 -0.00604096 0.99911006 -0.27896949] [ 0. 0. 0. 1. ]] SLAMing on 236.043133365 meters Centerline goodness : 0.107626 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 0.99912639 0.00170374 -0.04175581 -1.34235364] [-0.00145344 0.9999808 0.00602408 0.08477586] [ 0.04176527 -0.00595813 0.99910969 -0.27846555] [ 0. 0. 0. 1. ]] SLAMing on 236.073133365 meters Centerline goodness : 0.107514 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99910591 0.00982089 -0.04112097 -1.3223791 ] [-0.00962321 0.99994118 0.00500257 0.0821466 ] [ 0.04116768 -0.00460238 0.99914165 -0.27683568] [ 0. 0. 0. 1. ]] SLAMing on 236.103133365 meters Centerline goodness : 0.104979 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99910298 0.00980359 -0.04119614 -1.32213939] [-0.00960563 0.99994136 0.00500042 0.08206635] [ 0.04124275 -0.00460022 0.99913857 -0.27692392] [ 0. 0. 0. 1. ]] SLAMing on 236.133133365 meters Centerline goodness : 0.120219 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.08, Z:-0.28 [[ 0.99909454 0.00974988 -0.04141315 -1.3213519 ] [-0.00955191 0.999942 0.0049755 0.08188325] [ 0.04145926 -0.00457542 0.99912972 -0.27731467] [ 0. 0. 0. 1. ]] SLAMing on 236.163133365 meters Centerline goodness : 0.109315 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99093198e-01 1.08878822e-03 -4.25628517e-02 -1.34110111e+00] [-8.36994468e-04 9.99982048e-01 5.93318308e-03 8.38463165e-02] [ 4.25685476e-02 -5.89217798e-03 9.99076174e-01 -2.79195366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.193133365 meters Centerline goodness : 0.108856 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99083356e-01 1.11514640e-03 -4.27925713e-02 -1.34044120e+00] [-8.55933765e-04 9.99981179e-01 6.07526543e-03 8.29002471e-02] [ 4.27985407e-02 -6.03306897e-03 9.99065507e-01 -2.79342729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.223133365 meters Centerline goodness : 0.106610 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99077246e-01 1.29916067e-03 -4.29298143e-02 -1.34049627e+00] [-1.01838345e-03 9.99977954e-01 6.56160058e-03 8.06308818e-02] [ 4.29373925e-02 -6.51182682e-03 9.99056543e-01 -2.78701767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.253133365 meters Centerline goodness : 0.107226 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99084410e-01 1.36648236e-03 -4.27606594e-02 -1.34112723e+00] [-1.07871604e-03 9.99976623e-01 6.75204825e-03 7.97013862e-02] [ 4.27688864e-02 -6.69973953e-03 9.99062528e-01 -2.78350054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.283133365 meters Centerline goodness : 0.105469 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99092945e-01 1.39252794e-03 -4.25599440e-02 -1.34179844e+00] [-1.10253906e-03 9.99976024e-01 6.83637095e-03 7.91935248e-02] [ 4.25684434e-02 -6.78324598e-03 9.99070526e-01 -2.78043921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.313133365 meters Centerline goodness : 0.106045 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99103164e-01 1.39572116e-03 -4.23192611e-02 -1.34257148e+00] [-1.10680142e-03 9.99975927e-01 6.84980673e-03 7.90451132e-02] [ 4.23278028e-02 -6.79682456e-03 9.99080658e-01 -2.77767143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.343133365 meters Centerline goodness : 0.115428 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99108025e-01 1.38954727e-03 -4.22045527e-02 -1.34296315e+00] [-1.10552444e-03 9.99976592e-01 6.75226686e-03 7.96702136e-02] [ 4.22129474e-02 -6.69958584e-03 9.99086174e-01 -2.77641720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.373133365 meters Centerline goodness : 0.104335 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99112287e-01 1.37118847e-03 -4.21041196e-02 -1.34313404e+00] [-1.09520165e-03 9.99977770e-01 6.57723188e-03 8.08407020e-02] [ 4.21122022e-02 -6.52528069e-03 9.99091579e-01 -2.77806442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40313336499997 meters Centerline goodness : 0.106566 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99091252e-01 1.45558275e-03 -4.25975633e-02 -1.34158662e+00] [-1.19002521e-03 9.99979705e-01 6.25879535e-03 8.31904333e-02] [ 4.26058090e-02 -6.20241551e-03 9.99072708e-01 -2.78533860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43313336499997 meters Centerline goodness : 0.111385 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99085349e-01 1.39574363e-03 -4.27377821e-02 -1.34129280e+00] [-1.13694442e-03 9.99980875e-01 6.07922088e-03 8.40965041e-02] [ 4.27454498e-02 -6.02507003e-03 9.99067828e-01 -2.78532171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46313336499998 meters Centerline goodness : 0.106107 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.08, Z:-0.28 [[ 9.99084380e-01 1.31969246e-03 -4.27628306e-02 -1.34134944e+00] [-1.06805335e-03 9.99981984e-01 5.90684161e-03 8.49184666e-02] [ 4.27698554e-02 -5.85576020e-03 9.99067790e-01 -2.78388609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49313336499998 meters Centerline goodness : 0.110261 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99088384e-01 1.26958584e-03 -4.26706940e-02 -1.34180920e+00] [-1.02385541e-03 9.99982771e-01 5.78012444e-03 8.55775013e-02] [ 4.26772972e-02 -5.73116656e-03 9.99072471e-01 -2.78079664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52313336499998 meters Centerline goodness : 0.115502 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99093474e-01 1.19118239e-03 -4.25536257e-02 -1.34236664e+00] [-9.54253108e-04 9.99983934e-01 5.58766008e-03 8.65902037e-02] [ 4.25595979e-02 -5.54198779e-03 9.99078559e-01 -2.77730433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55313336499998 meters Centerline goodness : 0.113703 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99100572e-01 1.13451952e-03 -4.23882088e-02 -1.34291266e+00] [-9.05973065e-04 9.99984952e-01 5.41056689e-03 8.75997067e-02] [ 4.23937093e-02 -5.36729790e-03 9.99086566e-01 -2.77551878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58313336499998 meters Centerline goodness : 0.122970 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99108105e-01 1.10933479e-03 -4.22109477e-02 -1.34337205e+00] [-8.96518074e-04 9.99986795e-01 5.06033809e-03 9.02159424e-02] [ 4.22160039e-02 -5.01798192e-03 9.99095906e-01 -2.77609014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61313336499998 meters Centerline goodness : 0.124107 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99110760e-01 1.06456620e-03 -4.21492189e-02 -1.34355817e+00] [-8.58881680e-04 9.99987637e-01 4.89772100e-03 9.11683702e-02] [ 4.21539118e-02 -4.85716455e-03 9.99099322e-01 -2.77591955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64313336499998 meters Centerline goodness : 0.124997 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99112902e-01 9.71860826e-04 -4.21006440e-02 -1.34375068e+00] [-7.74392302e-04 9.99988625e-01 4.70644653e-03 9.19608916e-02] [ 4.21047391e-02 -4.66966903e-03 9.99102290e-01 -2.77512909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67313336499998 meters Centerline goodness : 0.449004 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99116831e-01 8.57617166e-04 -4.20097910e-02 -1.34410272e+00] [-6.70576307e-04 9.99989802e-01 4.46620515e-03 9.29722490e-02] [ 4.20131928e-02 -4.43408996e-03 9.99107217e-01 -2.77348255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70313336499999 meters Centerline goodness : 0.437336 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.09, Z:-0.28 [[ 9.99117834e-01 7.33708994e-04 -4.19882696e-02 -1.34434271e+00] [-5.58877337e-04 9.99991127e-01 4.17540829e-03 9.42972520e-02] [ 4.19909606e-02 -4.14825860e-03 9.99109379e-01 -2.77090340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.733133365 meters Centerline goodness : 0.103139 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99117297e-01 6.17869416e-04 -4.20029130e-02 -1.34440210e+00] [-4.56753978e-04 9.99992502e-01 3.84530434e-03 9.60328639e-02] [ 4.20049740e-02 -3.82272508e-03 9.99110088e-01 -2.77060071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.763133365 meters Centerline goodness : 0.102430 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99111096e-01 5.61091728e-04 -4.21509470e-02 -1.34407431e+00] [-4.19853427e-04 9.99994269e-01 3.35955191e-03 9.92045626e-02] [ 4.21525905e-02 -3.33886838e-03 9.99105606e-01 -2.77187000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.793133365 meters Centerline goodness : 0.091940 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99111584e-01 4.59740455e-04 -4.21406097e-02 -1.34402186e+00] [-3.29477183e-04 9.99995147e-01 3.09805090e-03 1.00511725e-01] [ 4.21418295e-02 -3.08141417e-03 9.99106887e-01 -2.77371740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.823133365 meters Centerline goodness : 0.115518 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99199720e-01 5.07354179e-05 -3.99989656e-02 -1.30112302e+00] [ 3.91434414e-05 9.99997476e-01 2.24624323e-03 1.04957739e-01] [ 3.99989786e-02 -2.24601130e-03 9.99197196e-01 -2.75566366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.853133365 meters Centerline goodness : 0.276738 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99199069e-01 2.21765126e-05 -4.00152509e-02 -1.30143696e+00] [ 7.16915559e-05 9.99997249e-01 2.34437084e-03 1.04106857e-01] [ 4.00151928e-02 -2.34536192e-03 9.99196319e-01 -2.75011956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.883133365 meters Centerline goodness : 0.094311 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.27 [[ 9.99192058e-01 1.11412041e-06 -4.01899459e-02 -1.30111653e+00] [ 9.79709554e-05 9.99996961e-01 2.46344989e-03 1.03173618e-01] [ 4.01898265e-02 -2.46539701e-03 9.99189021e-01 -2.74858723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.913133365 meters Centerline goodness : 0.105103 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99175632e-01 -3.54714150e-05 -4.05962358e-02 -1.29997101e+00] [ 1.38258922e-04 9.99996792e-01 2.52914199e-03 1.02508796e-01] [ 4.05960158e-02 -2.53266984e-03 9.99172432e-01 -2.75082853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.943133365 meters Centerline goodness : 0.444551 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99165248e-01 -5.24024378e-05 -4.08509909e-02 -1.29910459e+00] [ 1.57250967e-04 9.99996702e-01 2.56340016e-03 1.02138394e-01] [ 4.08507218e-02 -2.56768422e-03 9.99161962e-01 -2.75463052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.973133365 meters Centerline goodness : 0.089141 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99157021e-01 -5.31820981e-05 -4.10517418e-02 -1.29851151e+00] [ 1.60699766e-04 9.99996566e-01 2.61578143e-03 1.01773967e-01] [ 4.10514617e-02 -2.62017339e-03 9.99153598e-01 -2.75589873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.003133365 meters Centerline goodness : 0.237269 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.10, Z:-0.28 [[ 9.99154738e-01 -4.46059200e-05 -4.11072640e-02 -1.29861720e+00] [ 1.53164137e-04 9.99996510e-01 2.63770677e-03 1.01780372e-01] [ 4.11070029e-02 -2.64177338e-03 9.99151257e-01 -2.75259526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.033133365 meters Centerline goodness : 0.442697 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99072822e-01 -2.08020040e-04 -4.30517602e-02 -1.34493548e+00] [ 3.35763756e-04 9.99995563e-01 2.96000269e-03 9.82736259e-02] [ 4.30509535e-02 -2.97171346e-03 9.99068458e-01 -2.75475051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.063133365 meters Centerline goodness : 0.442855 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.10, Z:-0.28 [[ 9.99076247e-01 -2.21498293e-04 -4.29721255e-02 -1.34526671e+00] [ 3.47452532e-04 9.99995666e-01 2.92362170e-03 9.84139588e-02] [ 4.29712917e-02 -2.93585177e-03 9.99071994e-01 -2.75276228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.093133365 meters Centerline goodness : 0.091218 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99070935e-01 -2.29383712e-04 -4.30954105e-02 -1.34496356e+00] [ 3.53471760e-04 9.99995814e-01 2.87178167e-03 9.86816291e-02] [ 4.30945714e-02 -2.88434661e-03 9.99066834e-01 -2.75314822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.123133365 meters Centerline goodness : 0.096898 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.10, Z:-0.28 [[ 9.99065121e-01 -2.61789965e-04 -4.32298084e-02 -1.34445086e+00] [ 3.82946800e-04 9.99996022e-01 2.79436509e-03 9.88892796e-02] [ 4.32289049e-02 -2.80830742e-03 9.99061247e-01 -2.75630688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15313336499997 meters Centerline goodness : 0.286623 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.10, Z:-0.27 [[ 9.99047324e-01 7.83118783e-03 -4.29315325e-02 -1.32425895e+00] [-7.76800477e-03 9.99968486e-01 1.63834491e-03 9.63674231e-02] [ 4.29430097e-02 -1.30329175e-03 9.99076673e-01 -2.73962923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18313336499997 meters Centerline goodness : 0.093688 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99907413 0.00793398 -0.04228394 -1.32610725] [-0.00787066 0.99996764 0.00166369 0.09660511] [ 0.04229577 -0.00132935 0.99910425 -0.27354029] [ 0. 0. 0. 1. ]] SLAMing on 237.21313336499998 meters Centerline goodness : 0.099401 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99908918 0.00797106 -0.04191981 -1.32737791] [-0.00790682 0.9999673 0.001698 0.09655344] [ 0.04193198 -0.001365 0.99911954 -0.27296878] [ 0. 0. 0. 1. ]] SLAMing on 237.24313336499998 meters Centerline goodness : 0.442216 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99909655 0.00801101 -0.04173612 -1.32806943] [-0.00794454 0.9999669 0.00175822 0.0963934 ] [ 0.04174882 -0.00142506 0.99912712 -0.27262781] [ 0. 0. 0. 1. ]] SLAMing on 237.27313336499998 meters Centerline goodness : 0.262755 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99908251 0.00816043 -0.04204219 -1.32711121] [-0.00808351 0.99996533 0.00199922 0.09563661] [ 0.04205705 -0.00165753 0.99911384 -0.27297806] [ 0. 0. 0. 1. ]] SLAMing on 237.30313336499998 meters Centerline goodness : 0.440248 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907271 0.00821366 -0.04226418 -1.32643166] [-0.00813025 0.99996465 0.00214509 0.09488155] [ 0.0422803 -0.00179948 0.99910417 -0.27318654] [ 0. 0. 0. 1. ]] SLAMing on 237.33313336499998 meters Centerline goodness : 0.146207 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907085 0.00823574 -0.04230376 -1.32619455] [-0.00814688 0.99996423 0.00227246 0.09399728] [ 0.04232096 -0.00192571 0.99910221 -0.27341093] [ 0. 0. 0. 1. ]] SLAMing on 237.36313336499998 meters Centerline goodness : 0.146207 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907085 0.00823574 -0.04230376 -1.32619455] [-0.00814688 0.99996423 0.00227246 0.09399728] [ 0.04232096 -0.00192571 0.99910221 -0.27341093] [ 0. 0. 0. 1. ]] SLAMing on 237.39313336499998 meters Centerline goodness : 0.442528 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99906677 0.00825318 -0.04239654 -1.32608677] [-0.00815729 0.99996377 0.00243429 0.09283761] [ 0.0424151 -0.00208618 0.9990979 -0.27323246] [ 0. 0. 0. 1. ]] SLAMing on 237.42313336499998 meters Centerline goodness : 0.441989 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907033 0.00829952 -0.04230347 -1.32643611] [-0.00819469 0.99996291 0.00265086 0.09151294] [ 0.04232391 -0.00230174 0.99910129 -0.27301381] [ 0. 0. 0. 1. ]] SLAMing on 237.45313336499999 meters Centerline goodness : 0.445103 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.09, Z:-0.27 [[ 0.99907225 0.00836684 -0.04224499 -1.32669142] [-0.0082517 0.99996175 0.00289919 0.09017465] [ 0.04226764 -0.00254791 0.99910308 -0.27281414] [ 0. 0. 0. 1. ]] SLAMing on 237.483133365 meters Centerline goodness : 0.482452 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99120534e-01 -1.23805930e-04 -4.19302201e-02 -1.30634442e+00] [ 2.85171551e-04 9.99992577e-01 3.84247308e-03 9.07843716e-02] [ 4.19294331e-02 -3.85105106e-03 9.99113153e-01 -2.71160352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.513133365 meters Centerline goodness : 0.092994 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99111790e-01 -1.04809510e-04 -4.21381128e-02 -1.30572527e+00] [ 2.78610912e-04 9.99991479e-01 4.11871388e-03 8.87898035e-02] [ 4.21373221e-02 -4.12679574e-03 9.99103306e-01 -2.71272380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.543133365 meters Centerline goodness : 0.091500 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99103489e-01 -6.61265390e-05 -4.23345492e-02 -1.30516421e+00] [ 2.53091078e-04 9.99990239e-01 4.41101392e-03 8.67824098e-02] [ 4.23338443e-02 -4.41777390e-03 9.99093754e-01 -2.71319359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.573133365 meters Centerline goodness : 0.475253 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99100557e-01 3.66771288e-05 -4.24037300e-02 -1.30507846e+00] [ 1.63220744e-04 9.99988891e-01 4.71068600e-03 8.51659844e-02] [ 4.24034318e-02 -4.71337017e-03 9.99089452e-01 -2.71160936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.603133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 237.633133365 meters Centerline goodness : 0.094487 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99109419e-01 2.46491015e-04 -4.21936861e-02 -1.30589545e+00] [-2.98032200e-05 9.99986810e-01 5.13610225e-03 8.33563976e-02] [ 4.21943956e-02 -5.13027063e-03 9.99096248e-01 -2.70652451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.663133365 meters Centerline goodness : 0.091106 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99113364e-01 2.71077237e-04 -4.21000303e-02 -1.30623821e+00] [-5.34768846e-05 9.99986636e-01 5.16969092e-03 8.28512960e-02] [ 4.21008690e-02 -5.16285590e-03 9.99100026e-01 -2.70495685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.693133365 meters Centerline goodness : 0.101986 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99113144e-01 2.46447148e-04 -4.21054048e-02 -1.30617264e+00] [-3.23231088e-05 9.99987066e-01 5.08603393e-03 8.32153730e-02] [ 4.21061137e-02 -5.08016237e-03 9.99100229e-01 -2.70626665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.723133365 meters Centerline goodness : 0.103536 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.08, Z:-0.27 [[ 9.99108897e-01 2.36512810e-04 -4.22061078e-02 -1.30570781e+00] [-2.81201275e-05 9.99987807e-01 4.93802597e-03 8.41296468e-02] [ 4.22067611e-02 -4.93243884e-03 9.99096722e-01 -2.71065993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.753133365 meters Centerline goodness : 0.101450 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99104494e-01 1.97688879e-04 -4.23104227e-02 -1.30525474e+00] [ 2.87853958e-06 9.99988765e-01 4.74026509e-03 8.51830738e-02] [ 4.23108844e-02 -4.73614194e-03 9.99093268e-01 -2.71460825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.783133365 meters Centerline goodness : 0.102721 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99106356e-01 1.29507330e-04 -4.22666863e-02 -1.30526182e+00] [ 6.24229540e-05 9.99989694e-01 4.53958381e-03 8.61715974e-02] [ 4.22668387e-02 -4.53816545e-03 9.99096051e-01 -2.71675893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.813133365 meters Centerline goodness : 0.123484 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99123661e-01 5.75545975e-05 -4.18557772e-02 -1.30653700e+00] [ 1.19845677e-04 9.99991022e-01 4.23584853e-03 8.78995971e-02] [ 4.18556452e-02 -4.23715273e-03 9.99114684e-01 -2.71333479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.843133365 meters Centerline goodness : 0.438482 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.09, Z:-0.27 [[ 0.99915249 0.00835283 -0.04030541 -1.2869964 ] [-0.00823325 0.9999612 0.00313192 0.08763589] [ 0.04033001 -0.00279742 0.9991825 -0.26967385] [ 0. 0. 0. 1. ]] SLAMing on 237.873133365 meters Centerline goodness : 0.103679 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99183655e-01 -2.01907835e-04 -4.03978043e-02 -1.30807306e+00] [ 3.59221367e-04 9.99992381e-01 3.88689000e-03 9.22441347e-02] [ 4.03967117e-02 -3.89822871e-03 9.99176115e-01 -2.71363517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90313336499997 meters Centerline goodness : 0.104210 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.09, Z:-0.27 [[ 9.99178446e-01 -2.80943614e-04 -4.05259636e-02 -1.30753018e+00] [ 4.27750273e-04 9.99993378e-01 3.61390788e-03 9.37372938e-02] [ 4.05246799e-02 -3.62827385e-03 9.99171950e-01 -2.71800856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93313336499997 meters Centerline goodness : 0.152326 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99171623e-01 -3.93420968e-04 -4.06929178e-02 -1.30665826e+00] [ 5.29589528e-04 9.99994297e-01 3.33552152e-03 9.50925927e-02] [ 4.06913735e-02 -3.35430899e-03 9.99166133e-01 -2.72583721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96313336499998 meters Centerline goodness : 0.144921 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99167382e-01 -5.09630634e-04 -4.07956268e-02 -1.30611163e+00] [ 6.34581478e-04 9.99995148e-01 3.04995810e-03 9.64932041e-02] [ 4.07938745e-02 -3.07330680e-03 9.99162857e-01 -2.73079210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99313336499998 meters Centerline goodness : 0.109307 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99168389e-01 -6.79907604e-04 -4.07684708e-02 -1.30634091e+00] [ 7.89453712e-04 9.99996121e-01 2.67099120e-03 9.82867870e-02] [ 4.07664966e-02 -2.70095479e-03 9.99165050e-01 -2.72896691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02313336499998 meters Centerline goodness : 0.104764 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99167547e-01 -7.18214546e-04 -4.07884503e-02 -1.30657658e+00] [ 8.24352993e-04 9.99996318e-01 2.58540973e-03 9.88450984e-02] [ 4.07864432e-02 -2.61688157e-03 9.99164460e-01 -2.72498322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05313336499998 meters Centerline goodness : 0.438581 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99167711e-01 -7.44829414e-04 -4.07839382e-02 -1.30685676e+00] [ 8.49075371e-04 9.99996417e-01 2.53879234e-03 9.91548672e-02] [ 4.07819011e-02 -2.57130797e-03 9.99164764e-01 -2.72107470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08313336499998 meters Centerline goodness : 0.090675 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99171501e-01 -7.90653594e-04 -4.06901201e-02 -1.30737588e+00] [ 8.92944361e-04 9.99996487e-01 2.49578377e-03 9.92825126e-02] [ 4.06880038e-02 -2.53005003e-03 9.99168697e-01 -2.71655194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11313336499998 meters Centerline goodness : 0.105387 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99180533e-01 -8.35768093e-04 -4.04668336e-02 -1.30802289e+00] [ 9.35203083e-04 9.99996590e-01 2.43832945e-03 9.94440038e-02] [ 4.04646577e-02 -2.47417602e-03 9.99177907e-01 -2.71476306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14313336499998 meters Centerline goodness : 0.091410 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99185770e-01 -9.35825755e-04 -4.03351188e-02 -1.30837900e+00] [ 1.02592075e-03 9.99997025e-01 2.21302042e-03 1.00454984e-01] [ 4.03329278e-02 -2.25259915e-03 9.99183757e-01 -2.71473405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17313336499998 meters Centerline goodness : 0.105390 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99177696e-01 -1.03634488e-03 -4.05321882e-02 -1.30767383e+00] [ 1.11616679e-03 9.99997482e-01 1.94676589e-03 1.01721571e-01] [ 4.05300687e-02 -1.99040574e-03 9.99176337e-01 -2.71891603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20313336499999 meters Centerline goodness : 0.106011 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99168020e-01 -1.12544870e-03 -4.07676588e-02 -1.30695292e+00] [ 1.19407031e-03 9.99997911e-01 1.65892578e-03 1.03148751e-01] [ 4.07657066e-02 -1.70622504e-03 9.99167276e-01 -2.72201418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.233133365 meters Centerline goodness : 0.121308 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.10, Z:-0.27 [[ 9.99164107e-01 -1.17649035e-03 -4.08620107e-02 -1.30677414e+00] [ 1.23570993e-03 9.99998223e-01 1.42403039e-03 1.04377016e-01] [ 4.08602627e-02 -1.47333365e-03 9.99163784e-01 -2.72192713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.263133365 meters Centerline goodness : 0.234389 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99167359e-01 -1.29995430e-03 -4.07786521e-02 -1.30716570e+00] [ 1.34592657e-03 9.99998489e-01 1.09992759e-03 1.05901017e-01] [ 4.07771606e-02 -1.15389681e-03 9.99167599e-01 -2.71987657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.293133365 meters Centerline goodness : 0.267768 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99174419e-01 -1.35172638e-03 -4.06036080e-02 -1.30777069e+00] [ 1.38986166e-03 9.99998619e-01 9.10995470e-04 1.06959881e-01] [ 4.06023205e-02 -9.66676767e-04 9.99174918e-01 -2.71807683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.323133365 meters Centerline goodness : 0.437516 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99193989e-01 -1.41455052e-03 -4.01169705e-02 -1.30930286e+00] [ 1.44006137e-03 9.99998779e-01 6.07021778e-04 1.08949759e-01] [ 4.01160629e-02 -6.64303412e-04 9.99194806e-01 -2.71355948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.353133365 meters Centerline goodness : 0.273872 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99200840e-01 -1.44121079e-03 -3.99450193e-02 -1.30978334e+00] [ 1.46164177e-03 9.99998816e-01 4.82277929e-04 1.09892758e-01] [ 3.99442769e-02 -5.40277820e-04 9.99201763e-01 -2.71285801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.383133365 meters Centerline goodness : 0.163636 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99201898e-01 -1.50993040e-03 -3.99160047e-02 -1.30994846e+00] [ 1.52269136e-03 9.99998799e-01 2.89295287e-04 1.11039287e-01] [ 3.99155199e-02 -3.49844155e-04 9.99202997e-01 -2.71181917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.413133365 meters Centerline goodness : 0.234115 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99198468e-01 -1.60699522e-03 -3.99979853e-02 -1.30962215e+00] [ 1.61109919e-03 9.99998700e-01 7.03715671e-05 1.12106527e-01] [ 3.99978202e-02 -1.34755884e-04 9.99199758e-01 -2.71380806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.443133365 meters Centerline goodness : 0.440743 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99196429e-01 -1.73529576e-03 -4.00435459e-02 -1.30935356e+00] [ 1.72940542e-03 9.99998488e-01 -1.81737392e-04 1.13198846e-01] [ 4.00438008e-02 1.12339827e-04 9.99197919e-01 -2.71653287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.473133365 meters Centerline goodness : 0.281628 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.12, Z:-0.27 [[ 9.99199804e-01 -1.98619406e-03 -3.99475602e-02 -1.30980804e+00] [ 1.96120256e-03 9.99997856e-01 -6.64786391e-04 1.15273461e-01] [ 3.99487949e-02 5.85909174e-04 9.99201556e-01 -2.71371974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.503133365 meters Centerline goodness : 0.096188 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.12, Z:-0.27 [[ 9.99203826e-01 -2.03536710e-03 -3.98443310e-02 -1.31044575e+00] [ 2.00573365e-03 9.99997681e-01 -7.83690915e-04 1.16043303e-01] [ 3.98458337e-02 7.03149845e-04 9.99205592e-01 -2.70838741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.533133365 meters Centerline goodness : 0.099789 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.12, Z:-0.27 [[ 9.99206109e-01 -2.04768472e-03 -3.97864105e-02 -1.31084136e+00] [ 2.01856033e-03 9.99997665e-01 -7.72176176e-04 1.16096067e-01] [ 3.97878988e-02 6.91251883e-04 9.99207909e-01 -2.70455482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.563133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 238.593133365 meters Centerline goodness : 0.333507 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.11, Z:-0.27 [[ 9.99216895e-01 -2.89746676e-03 -3.94613827e-02 -1.31163046e+00] [ 2.86157391e-03 9.99995439e-01 -9.66021498e-04 1.13658174e-01] [ 3.94640017e-02 8.52343339e-04 9.99220629e-01 -2.70167797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.623133365 meters Centerline goodness : 0.448330 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.11, Z:-0.27 [[ 0.99926209 0.00238904 -0.03833486 -1.33295035] [-0.00254279 0.99998892 -0.00396237 0.10702869] [ 0.03832497 0.00405693 0.99925709 -0.27180234] [ 0. 0. 0. 1. ]] SLAMing on 238.65313336499997 meters Centerline goodness : 0.105702 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.11, Z:-0.27 [[ 0.99925706 0.00236566 -0.03846716 -1.33267186] [-0.00250911 0.99999008 -0.00368134 0.10507237] [ 0.03845807 0.00377512 0.99925308 -0.27168427] [ 0. 0. 0. 1. ]] SLAMing on 238.68313336499997 meters Centerline goodness : 0.098351 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99925367 0.0024949 -0.03854707 -1.33240124] [-0.00262245 0.99999125 -0.00325864 0.10300433] [ 0.0385386 0.0033573 0.99925147 -0.27172167] [ 0. 0. 0. 1. ]] SLAMing on 238.71313336499998 meters Centerline goodness : 0.330056 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99924866 0.00263797 -0.03866735 -1.3319866 ] [-0.00275108 0.99999209 -0.00287223 0.10114149] [ 0.03865947 0.00297645 0.99924801 -0.27188747] [ 0. 0. 0. 1. ]] SLAMing on 238.74313336499998 meters Centerline goodness : 0.093301 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.9992238 0.00264057 -0.03930418 -1.32984778] [-0.00274032 0.99999316 -0.00248412 0.09818187] [ 0.03929735 0.0025899 0.9992242 -0.27272921] [ 0. 0. 0. 1. ]] SLAMing on 238.77313336499998 meters Centerline goodness : 0.106401 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99921368 0.00267382 -0.03955838 -1.32888114] [-0.00276995 0.99999334 -0.00237563 0.09745484] [ 0.03955176 0.00248333 0.99921444 -0.27327271] [ 0. 0. 0. 1. ]] SLAMing on 238.80313336499998 meters Centerline goodness : 0.267560 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99920396 0.00272771 -0.03979961 -1.32800047] [-0.00282232 0.99999332 -0.00232119 0.09732158] [ 0.03979301 0.00243167 0.99920499 -0.27375035] [ 0. 0. 0. 1. ]] SLAMing on 238.83313336499998 meters Centerline goodness : 0.224005 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919519 0.00277929 -0.04001562 -1.32735776] [-0.00287618 0.99999307 -0.00236388 0.09787099] [ 0.04000877 0.00247707 0.99919626 -0.27399972] [ 0. 0. 0. 1. ]] SLAMing on 238.86313336499998 meters Centerline goodness : 0.318690 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919166 0.00278323 -0.04010331 -1.32696056] [-0.00288629 0.99999268 -0.00251214 0.09887993] [ 0.04009603 0.00262586 0.99919238 -0.27433568] [ 0. 0. 0. 1. ]] SLAMing on 238.89313336499998 meters Centerline goodness : 0.238944 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919622 0.00274891 -0.039992 -1.32716442] [-0.00286007 0.9999922 -0.00272256 0.1001123 ] [ 0.0399842 0.00283475 0.99919629 -0.27447435] [ 0. 0. 0. 1. ]] SLAMing on 238.92313336499998 meters Centerline goodness : 0.163160 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99919641 0.00270437 -0.03999025 -1.32721574] [-0.00282624 0.99999153 -0.00299141 0.10157886] [ 0.03998183 0.00310203 0.99919559 -0.27449277] [ 0. 0. 0. 1. ]] SLAMing on 238.95313336499999 meters Centerline goodness : 0.304080 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99920129 0.00264807 -0.03987186 -1.32767945] [-0.00278004 0.99999084 -0.00325466 0.10301052] [ 0.03986288 0.0033629 0.9991995 -0.27428832] [ 0. 0. 0. 1. ]] SLAMing on 238.983133365 meters Centerline goodness : 0.442578 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.10, Z:-0.27 [[ 0.99920724 0.0025459 -0.03972916 -1.32829034] [-0.00269108 0.99998989 -0.00360131 0.10481577] [ 0.03971959 0.00370537 0.999204 -0.27395886] [ 0. 0. 0. 1. ]] SLAMing on 239.013133365 meters Centerline goodness : 0.096669 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.28 [[ 0.99925036 -0.00492768 -0.03839849 -1.34821787] [ 0.00482253 0.99998437 -0.00283051 0.11252464] [ 0.03841184 0.00264321 0.9992585 -0.27616634] [ 0. 0. 0. 1. ]] SLAMing on 239.043133365 meters Centerline goodness : 0.108445 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.11, Z:-0.27 [[ 0.99930329 0.0031613 -0.03718781 -1.32865318] [-0.00331504 0.99998621 -0.00407329 0.11141539] [ 0.03717442 0.00419373 0.99929999 -0.27459058] [ 0. 0. 0. 1. ]] SLAMing on 239.073133365 meters Centerline goodness : 0.113439 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932691 -0.00529517 -0.03629996 -1.35061379] [ 0.00517295 0.99998063 -0.00346025 0.11536732] [ 0.03631758 0.00327014 0.99933495 -0.27591442] [ 0. 0. 0. 1. ]] SLAMing on 239.103133365 meters Centerline goodness : 0.443415 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99933821 -0.0052746 -0.03599066 -1.35173483] [ 0.00515595 0.99998097 -0.00338884 0.1151705 ] [ 0.03600785 0.00320103 0.99934638 -0.27531936] [ 0. 0. 0. 1. ]] SLAMing on 239.133133365 meters Centerline goodness : 0.420929 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 0.99934179 -0.00523191 -0.03589734 -1.35234332] [ 0.00511787 0.99998156 -0.00326792 0.11474001] [ 0.03591377 0.00308205 0.99935014 -0.27472183] [ 0. 0. 0. 1. ]] SLAMing on 239.163133365 meters Centerline goodness : 0.330937 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 0.99934035 -0.00522065 -0.03593887 -1.35239471] [ 0.00510829 0.99998178 -0.0032177 0.1145287 ] [ 0.03595502 0.00303199 0.99934881 -0.27448846] [ 0. 0. 0. 1. ]] SLAMing on 239.193133365 meters Centerline goodness : 0.089157 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99932628 -0.00535629 -0.03630844 -1.35129826] [ 0.00523657 0.99998054 -0.00339166 0.1152033 ] [ 0.0363259 0.00319925 0.99933488 -0.27481067] [ 0. 0. 0. 1. ]] SLAMing on 239.223133365 meters Centerline goodness : 0.092683 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932397 -0.00538353 -0.03636781 -1.35101398] [ 0.00526189 0.99998024 -0.00343947 0.11552917] [ 0.03638561 0.00324578 0.99933255 -0.27504754] [ 0. 0. 0. 1. ]] SLAMing on 239.253133365 meters Centerline goodness : 0.092683 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932397 -0.00538353 -0.03636781 -1.35101398] [ 0.00526189 0.99998024 -0.00343947 0.11552917] [ 0.03638561 0.00324578 0.99933255 -0.27504754] [ 0. 0. 0. 1. ]] SLAMing on 239.283133365 meters Centerline goodness : 0.443404 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99932686 -0.00536822 -0.03629067 -1.3511974 ] [ 0.00524765 0.99998039 -0.00341656 0.11561894] [ 0.0363083 0.00322382 0.99933544 -0.27505459] [ 0. 0. 0. 1. ]] SLAMing on 239.313133365 meters Centerline goodness : 0.300908 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99932858 -0.00538464 -0.03624083 -1.35163264] [ 0.00526292 0.99998019 -0.00345324 0.11597465] [ 0.03625871 0.00326019 0.99933712 -0.2746236 ] [ 0. 0. 0. 1. ]] SLAMing on 239.343133365 meters Centerline goodness : 0.372246 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99933439 -0.00534283 -0.0360864 -1.35228282] [ 0.00522298 0.99998053 -0.00341444 0.11615967] [ 0.03610394 0.00322369 0.99934284 -0.27421777] [ 0. 0. 0. 1. ]] SLAMing on 239.373133365 meters Centerline goodness : 0.095476 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.9993476 0.00216442 -0.03605109 -1.37154481] [-0.00233675 0.99998604 -0.00473885 0.11101911] [ 0.03604033 0.00482 0.99933871 -0.27596542] [ 0. 0. 0. 1. ]] SLAMing on 239.40313336499997 meters Centerline goodness : 0.096832 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99934683 0.00210355 -0.03607625 -1.37133902] [-0.00227412 0.99998643 -0.00468771 0.11016041] [ 0.0360659 0.00476669 0.99933805 -0.27615171] [ 0. 0. 0. 1. ]] SLAMing on 239.43313336499997 meters Centerline goodness : 0.443347 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99934553 0.0020508 -0.03611511 -1.37125144] [-0.00221521 0.99998736 -0.00451304 0.10856872] [ 0.0361054 0.00459009 0.99933745 -0.27610096] [ 0. 0. 0. 1. ]] SLAMing on 239.46313336499998 meters Centerline goodness : 0.097619 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99934924 0.00206821 -0.03601125 -1.37149411] [-0.00222044 0.99998877 -0.00418797 0.10644964] [ 0.03600219 0.0042652 0.99934261 -0.27605308] [ 0. 0. 0. 1. ]] SLAMing on 239.49313336499998 meters Centerline goodness : 0.386584 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935142 0.0021517 -0.03594588 -1.37167112] [-0.00228947 0.99999019 -0.00379212 0.10423086] [ 0.03593737 0.00387196 0.99934654 -0.27596151] [ 0. 0. 0. 1. ]] SLAMing on 239.52313336499998 meters Centerline goodness : 0.440717 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935514 0.00222482 -0.03583795 -1.37192003] [-0.00235117 0.99999117 -0.00348409 0.10245983] [ 0.03582988 0.0035661 0.99935154 -0.27591882] [ 0. 0. 0. 1. ]] SLAMing on 239.55313336499998 meters Centerline goodness : 0.098225 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935955 0.00226926 -0.03571192 -1.37215001] [-0.00238724 0.99999183 -0.00326157 0.1009006 ] [ 0.03570422 0.00334473 0.9993568 -0.27596539] [ 0. 0. 0. 1. ]] SLAMing on 239.58313336499998 meters Centerline goodness : 0.442620 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935935 0.00224738 -0.03571877 -1.3719145 ] [-0.00236878 0.99999156 -0.0033567 0.10129313] [ 0.03571093 0.00343916 0.99935624 -0.2763222 ] [ 0. 0. 0. 1. ]] SLAMing on 239.61313336499998 meters Centerline goodness : 0.092610 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99935076 0.00224227 -0.03595886 -1.37108568] [-0.00237183 0.99999085 -0.00356066 0.10251077] [ 0.03595055 0.00364364 0.99934693 -0.276783 ] [ 0. 0. 0. 1. ]] SLAMing on 239.64313336499998 meters Centerline goodness : 0.448477 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.10, Z:-0.28 [[ 0.99933304 0.00232167 -0.03644299 -1.36961916] [-0.00246106 0.99998983 -0.00378051 0.10408353] [ 0.03643385 0.00386767 0.99932858 -0.27734531] [ 0. 0. 0. 1. ]] SLAMing on 239.67313336499998 meters Centerline goodness : 0.450252 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932661 0.00228987 -0.03662081 -1.36894273] [-0.00244252 0.99998851 -0.00412425 0.10602197] [ 0.03661094 0.00421092 0.99932072 -0.2778575 ] [ 0. 0. 0. 1. ]] SLAMing on 239.70313336499999 meters Centerline goodness : 0.205825 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932275 0.00226642 -0.0367275 -1.36855451] [-0.00243107 0.99998719 -0.004439 0.10786082] [ 0.03671697 0.00452528 0.99931546 -0.27820818] [ 0. 0. 0. 1. ]] SLAMing on 239.733133365 meters Centerline goodness : 0.444696 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932479 0.00242522 -0.03666181 -1.36892009] [-0.00260026 0.99998544 -0.00472748 0.11055059] [ 0.03664981 0.00481962 0.99931655 -0.27807762] [ 0. 0. 0. 1. ]] SLAMing on 239.763133365 meters Centerline goodness : 0.191547 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932393 0.00237538 -0.03668835 -1.36899372] [-0.00255718 0.99998468 -0.00490896 0.11160955] [ 0.03667613 0.00499946 0.9993147 -0.27789195] [ 0. 0. 0. 1. ]] SLAMing on 239.793133365 meters Centerline goodness : 0.165273 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99932176 0.00225643 -0.03675509 -1.36878606] [-0.00244673 0.99998383 -0.00513325 0.11263097] [ 0.03674291 0.0052197 0.99931112 -0.27799225] [ 0. 0. 0. 1. ]] SLAMing on 239.823133365 meters Centerline goodness : 0.091077 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99931994 0.00216403 -0.03681004 -1.3686172 ] [-0.00235847 0.99998349 -0.00523954 0.11282026] [ 0.03679809 0.00532279 0.99930855 -0.27803548] [ 0. 0. 0. 1. ]] SLAMing on 239.853133365 meters Centerline goodness : 0.115999 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.28 [[ 0.99931944 0.00210666 -0.03682684 -1.36872922] [-0.00230429 0.99998317 -0.00532506 0.11317237] [ 0.03681501 0.0054063 0.99930747 -0.27779804] [ 0. 0. 0. 1. ]] SLAMing on 239.883133365 meters Centerline goodness : 0.448733 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.28 [[ 0.99931135 -0.00527802 -0.03672824 -1.35113847] [ 0.00514211 0.99997958 -0.00379382 0.11859307] [ 0.03674752 0.00360235 0.99931809 -0.27501788] [ 0. 0. 0. 1. ]] SLAMing on 239.913133365 meters Centerline goodness : 0.441297 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99930754 -0.00515444 -0.03684944 -1.35102103] [ 0.0050292 0.99998126 -0.00349059 0.11742033] [ 0.03686674 0.00330285 0.99931473 -0.27470757] [ 0. 0. 0. 1. ]] SLAMing on 239.943133365 meters Centerline goodness : 0.444444 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.9993066 -0.00517475 -0.03687205 -1.35096264] [ 0.0050496 0.99998117 -0.00348627 0.11724065] [ 0.0368894 0.00329766 0.99931391 -0.27471275] [ 0. 0. 0. 1. ]] SLAMing on 239.973133365 meters Centerline goodness : 0.205010 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99931317 -0.00520488 -0.03668925 -1.35147749] [ 0.00507945 0.99998094 -0.0035111 0.11715075] [ 0.03670682 0.00332232 0.99932055 -0.27459862] [ 0. 0. 0. 1. ]] SLAMing on 240.003133365 meters Centerline goodness : 0.442875 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99932373 -0.00526409 -0.03639192 -1.35239924] [ 0.00513507 0.9999802 -0.00363791 0.1176515 ] [ 0.03641035 0.00344857 0.99933097 -0.27428312] [ 0. 0. 0. 1. ]] SLAMing on 240.033133365 meters Centerline goodness : 0.444134 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 0.99933449 -0.00525285 -0.03609692 -1.35328996] [ 0.00512052 0.99997983 -0.00375752 0.11861147] [ 0.03611593 0.00357018 0.99934123 -0.27405213] [ 0. 0. 0. 1. ]] SLAMing on 240.063133365 meters Centerline goodness : 0.443581 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936923 -0.00352258 -0.03533731 -1.35628545] [ 0.00344015 0.99999122 -0.00239313 0.1204819 ] [ 0.03534543 0.00227005 0.99937258 -0.27292401] [ 0. 0. 0. 1. ]] SLAMing on 240.093133365 meters Centerline goodness : 0.440192 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936985 -0.00346465 -0.03532558 -1.35628513] [ 0.00337613 0.99999101 -0.00256503 0.12194856] [ 0.03533415 0.00244415 0.99937257 -0.27304105] [ 0. 0. 0. 1. ]] SLAMing on 240.123133365 meters Centerline goodness : 0.440192 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936985 -0.00346465 -0.03532558 -1.35628513] [ 0.00337613 0.99999101 -0.00256503 0.12194856] [ 0.03533415 0.00244415 0.99937257 -0.27304105] [ 0. 0. 0. 1. ]] SLAMing on 240.15313336499997 meters Centerline goodness : 0.419066 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.12, Z:-0.27 [[ 0.99936054 -0.00357785 -0.03557668 -1.35550864] [ 0.00346843 0.99998907 -0.00313682 0.12489681] [ 0.03558752 0.00301142 0.99936203 -0.27350424] [ 0. 0. 0. 1. ]] SLAMing on 240.18313336499997 meters Centerline goodness : 0.211445 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.12, Z:-0.28 [[ 0.99934257 0.00430435 -0.0359987 -1.37426251] [-0.00447242 0.99997947 -0.00458948 0.12101567] [ 0.03597821 0.00474747 0.9993413 -0.27578897] [ 0. 0. 0. 1. ]] SLAMing on 240.21313336499998 meters Centerline goodness : 0.187419 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.12, Z:-0.28 [[ 0.99934065 0.0042351 -0.03605996 -1.37397452] [-0.00440906 0.99997902 -0.00474611 0.12176484] [ 0.0360391 0.00490197 0.99933836 -0.27603729] [ 0. 0. 0. 1. ]] SLAMing on 240.24313336499998 meters Centerline goodness : 0.118826 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.12, Z:-0.28 [[ 0.99934534 0.00419007 -0.0359352 -1.37435841] [-0.00436605 0.99997885 -0.00481999 0.12207703] [ 0.03591424 0.00497373 0.9993425 -0.27591617] [ 0. 0. 0. 1. ]] SLAMing on 240.27313336499998 meters Centerline goodness : 0.394537 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.12, Z:-0.28 [[ 0.99935301 0.00413513 -0.03572768 -1.37502474] [-0.00431029 0.99997906 -0.00482697 0.12179637] [ 0.03570697 0.00497784 0.99934991 -0.27566266] [ 0. 0. 0. 1. ]] SLAMing on 240.30313336499998 meters Centerline goodness : 0.094146 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.12, Z:-0.28 [[ 0.99936176 0.00403295 -0.03549384 -1.37583053] [-0.00420816 0.99997932 -0.00486318 0.12149523] [ 0.03547349 0.00500944 0.99935806 -0.27524854] [ 0. 0. 0. 1. ]] SLAMing on 240.33313336499998 meters Centerline goodness : 0.185900 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99940067 -0.00417645 -0.0343636 -1.3574652 ] [ 0.00404166 0.99998387 -0.00399101 0.12635216] [ 0.03437971 0.00384973 0.99940143 -0.2731822 ] [ 0. 0. 0. 1. ]] SLAMing on 240.36313336499998 meters Centerline goodness : 0.094623 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99940322 -0.00420217 -0.03428631 -1.3578208 ] [ 0.00406483 0.99998344 -0.00407464 0.12687745] [ 0.03430286 0.00393284 0.99940375 -0.27296408] [ 0. 0. 0. 1. ]] SLAMing on 240.39313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 240.42313336499998 meters Centerline goodness : 0.094959 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99938648 -0.0042286 -0.03476744 -1.35641159] [ 0.00408095 0.99998235 -0.0043169 0.12846595] [ 0.03478508 0.00417237 0.99938611 -0.27343187] [ 0. 0. 0. 1. ]] SLAMing on 240.45313336499999 meters Centerline goodness : 0.168436 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.13, Z:-0.27 [[ 0.99937364 -0.00422814 -0.03513476 -1.35513046] [ 0.00407359 0.99998172 -0.00446907 0.12945631] [ 0.03515302 0.00432315 0.99937259 -0.2741144 ] [ 0. 0. 0. 1. ]] SLAMing on 240.483133365 meters Centerline goodness : 0.123345 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 0.99936023 -0.00423603 -0.03551318 -1.35394684] [ 0.00407465 0.99998105 -0.00461536 0.13036978] [ 0.03553206 0.0044677 0.99935855 -0.27460183] [ 0. 0. 0. 1. ]] SLAMing on 240.513133365 meters Centerline goodness : 0.122640 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99934624 -0.00425489 -0.03590259 -1.3525908 ] [ 0.00408356 0.99997993 -0.00484402 0.13172423] [ 0.03592248 0.00469424 0.99934355 -0.27536105] [ 0. 0. 0. 1. ]] SLAMing on 240.543133365 meters Centerline goodness : 0.123658 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99934846 -0.00424709 -0.03584142 -1.35286754] [ 0.00407679 0.99998006 -0.00482334 0.13161871] [ 0.03586119 0.00467408 0.99934585 -0.27518769] [ 0. 0. 0. 1. ]] SLAMing on 240.573133365 meters Centerline goodness : 0.132288 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 0.99935782 -0.00428044 -0.03557554 -1.35372804] [ 0.00411198 0.99997999 -0.00480711 0.13130119] [ 0.0355954 0.00465774 0.99935543 -0.27483502] [ 0. 0. 0. 1. ]] SLAMing on 240.603133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 240.633133365 meters Centerline goodness : 0.097163 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 0.99937141 -0.00427852 -0.03519211 -1.35496047] [ 0.00411593 0.99998053 -0.00469112 0.13074024] [ 0.03521149 0.00454332 0.99936956 -0.2742882 ] [ 0. 0. 0. 1. ]] SLAMing on 240.663133365 meters Centerline goodness : 0.138057 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99936357 -0.00421268 -0.03542197 -1.35362353] [ 0.00404838 0.99998072 -0.00470874 0.131585 ] [ 0.03544112 0.00456235 0.99936135 -0.27543095] [ 0. 0. 0. 1. ]] SLAMing on 240.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 240.723133365 meters Centerline goodness : 0.104379 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99935281 -0.00430567 -0.03571298 -1.3521623 ] [ 0.00413258 0.99997936 -0.00491904 0.13245612] [ 0.03573343 0.00476826 0.99934998 -0.2766471 ] [ 0. 0. 0. 1. ]] SLAMing on 240.753133365 meters Centerline goodness : 0.127613 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99934908 -0.00431125 -0.03581664 -1.35192233] [ 0.00413722 0.99997928 -0.0049315 0.13257528] [ 0.03583715 0.00478011 0.99934621 -0.27664057] [ 0. 0. 0. 1. ]] SLAMing on 240.783133365 meters Centerline goodness : 0.092342 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99935058 -0.00429775 -0.0357764 -1.35212924] [ 0.00412374 0.99997931 -0.00493614 0.13277704] [ 0.03579687 0.0047854 0.99934763 -0.2764985 ] [ 0. 0. 0. 1. ]] SLAMing on 240.813133365 meters Centerline goodness : 0.089376 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99935309 -0.00430491 -0.03570536 -1.35250279] [ 0.00412953 0.99997905 -0.00498415 0.13317106] [ 0.03572607 0.00483348 0.99934993 -0.27618977] [ 0. 0. 0. 1. ]] SLAMing on 240.843133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 240.873133365 meters Centerline goodness : 0.444025 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99936541 -0.00442011 -0.03534456 -1.35364314] [ 0.00424042 0.99997771 -0.00515726 0.13352356] [ 0.03536657 0.00500411 0.99936188 -0.27577861] [ 0. 0. 0. 1. ]] SLAMing on 240.90313336499997 meters Centerline goodness : 0.444734 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99936782 -0.00434298 -0.03528587 -1.35374388] [ 0.00416692 0.99997851 -0.00506167 0.13333103] [ 0.0353071 0.00491144 0.99936444 -0.27585454] [ 0. 0. 0. 1. ]] SLAMing on 240.93313336499997 meters Centerline goodness : 0.406923 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99937187 -0.00427813 -0.03517905 -1.35398832] [ 0.00410506 0.99997912 -0.00499058 0.13327617] [ 0.03519967 0.00484303 0.99936856 -0.27588542] [ 0. 0. 0. 1. ]] SLAMing on 240.96313336499998 meters Centerline goodness : 0.092507 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99937448 -0.00428274 -0.03510435 -1.35408959] [ 0.00410917 0.99997898 -0.00501512 0.13343445] [ 0.03512509 0.00486773 0.99937107 -0.27604609] [ 0. 0. 0. 1. ]] SLAMing on 240.99313336499998 meters Centerline goodness : 0.103152 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.28 [[ 0.99937681 -0.00434396 -0.0350304 -1.35437134] [ 0.00416622 0.99997808 -0.00514539 0.13395124] [ 0.03505198 0.00499624 0.999373 -0.27593893] [ 0. 0. 0. 1. ]] SLAMing on 241.02313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.05313336499998 meters Centerline goodness : 0.090322 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.28 [[ 0.99937867 -0.00448518 -0.03495949 -1.35457465] [ 0.00429477 0.99997554 -0.00552001 0.13579258] [ 0.0349834 0.00536644 0.99937349 -0.27597178] [ 0. 0. 0. 1. ]] SLAMing on 241.08313336499998 meters Centerline goodness : 0.092591 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.28 [[ 0.99938089 -0.00450423 -0.03489353 -1.35472333] [ 0.00431232 0.99997517 -0.0055732 0.13618472] [ 0.03491776 0.00541928 0.9993755 -0.27599623] [ 0. 0. 0. 1. ]] SLAMing on 241.11313336499998 meters Centerline goodness : 0.124237 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 0.99937713 0.00306646 -0.03515611 -1.33600783] [-0.00330886 0.99997114 -0.00683859 0.13320854] [ 0.03513413 0.00695066 0.99935843 -0.27358939] [ 0. 0. 0. 1. ]] SLAMing on 241.14313336499998 meters Centerline goodness : 0.319068 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 0.99938222 0.00304329 -0.03501299 -1.33655998] [-0.00328402 0.99997135 -0.00682015 0.13296982] [ 0.03499123 0.00693092 0.99936359 -0.27326222] [ 0. 0. 0. 1. ]] SLAMing on 241.17313336499998 meters Centerline goodness : 0.319068 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 0.99938222 0.00304329 -0.03501299 -1.33655998] [-0.00328402 0.99997135 -0.00682015 0.13296982] [ 0.03499123 0.00693092 0.99936359 -0.27326222] [ 0. 0. 0. 1. ]] SLAMing on 241.20313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.233133365 meters Centerline goodness : 0.430619 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 9.99415084e-01 6.03736608e-04 -3.41924647e-02 -1.34065791e+00] [-9.00358497e-04 9.99962093e-01 -8.66033330e-03 1.29604946e-01] [ 3.41859400e-02 8.68605321e-03 9.99377743e-01 -2.70842960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.263133365 meters Centerline goodness : 0.125624 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.13, Z:-0.27 [[ 0.99938863 -0.0074782 -0.03415333 -1.32028337] [ 0.00721856 0.99994415 -0.00771929 0.13324336] [ 0.03420915 0.00746804 0.99938679 -0.26962313] [ 0. 0. 0. 1. ]] SLAMing on 241.293133365 meters Centerline goodness : 0.118739 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 9.99390717e-01 5.64226821e-04 -3.48980892e-02 -1.33918170e+00] [-8.65485420e-04 9.99962490e-01 -8.61802018e-03 1.26491363e-01] [ 3.48919177e-02 8.64297316e-03 9.99353718e-01 -2.71459225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.323133365 meters Centerline goodness : 0.183593 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.13, Z:-0.27 [[ 9.99385392e-01 6.08149432e-04 -3.50495059e-02 -1.33852682e+00] [-9.04677289e-04 9.99963931e-01 -8.44501977e-03 1.25427656e-01] [ 3.50431059e-02 8.47153789e-03 9.99349896e-01 -2.71900256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.353133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.383133365 meters Centerline goodness : 0.123686 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.13, Z:-0.27 [[ 0.99933725 -0.00730093 -0.03566182 -1.31881288] [ 0.00704457 0.99994848 -0.00730894 0.12793159] [ 0.03571334 0.00705288 0.99933719 -0.27013845] [ 0. 0. 0. 1. ]] SLAMing on 241.413133365 meters Centerline goodness : 0.157269 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.13, Z:-0.27 [[ 0.99933613 -0.00715763 -0.03572207 -1.31869691] [ 0.00691275 0.99995179 -0.00697409 0.12634322] [ 0.03577026 0.00672252 0.99933743 -0.27007441] [ 0. 0. 0. 1. ]] SLAMing on 241.443133365 meters Centerline goodness : 0.441408 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.12, Z:-0.27 [[ 0.99933989 -0.00699816 -0.03564837 -1.31895236] [ 0.0067667 0.99995526 -0.00660939 0.12464889] [ 0.03569303 0.0063638 0.99934254 -0.26991721] [ 0. 0. 0. 1. ]] SLAMing on 241.473133365 meters Centerline goodness : 0.291541 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.12, Z:-0.27 [[ 9.99350371e-01 7.59277248e-04 -3.60313794e-02 -1.30006556e+00] [-1.02335232e-03 9.99972750e-01 -7.31115393e-03 1.17437501e-01] [ 3.60248464e-02 7.34327719e-03 9.99323915e-01 -2.67780331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.503133365 meters Centerline goodness : 0.246293 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.27 [[ 9.99265560e-01 5.86952852e-04 -3.83144256e-02 -1.34489628e+00] [-8.67549069e-04 9.99972925e-01 -7.30729855e-03 1.13168427e-01] [ 3.83090992e-02 7.33517142e-03 9.99239015e-01 -2.69019455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.533133365 meters Centerline goodness : 0.327892 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.12, Z:-0.27 [[ 0.99925936 -0.00686597 -0.03786283 -1.32588319] [ 0.00664702 0.99996047 -0.00590537 0.11729732] [ 0.03790188 0.00564932 0.9992655 -0.26759366] [ 0. 0. 0. 1. ]] SLAMing on 241.563133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.593133365 meters Centerline goodness : 0.153908 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99311406e-01 1.03909751e-03 -3.70895464e-02 -1.34511033e+00] [-1.28429065e-03 9.99977477e-01 -6.58762973e-03 1.08526133e-01] [ 3.70818658e-02 6.63072729e-03 9.99290232e-01 -2.70204432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.623133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.65313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 241.68313336499997 meters Centerline goodness : 0.122394 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.11, Z:-0.27 [[ 9.99309091e-01 1.25520613e-03 -3.71451877e-02 -1.34462387e+00] [-1.48679351e-03 9.99979627e-01 -6.20768751e-03 1.06537804e-01] [ 3.71366390e-02 6.25862578e-03 9.99290598e-01 -2.70741396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71313336499998 meters Centerline goodness : 0.126190 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.10, Z:-0.27 [[ 9.99222708e-01 9.35129733e-04 -3.94094504e-02 -1.38887130e+00] [-1.18494086e-03 9.99979352e-01 -6.31598232e-03 1.02882283e-01] [ 3.94027304e-02 6.35777083e-03 9.99203184e-01 -2.72152710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74313336499998 meters Centerline goodness : 0.110430 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.27 [[ 0.99921481 -0.00684387 -0.03902472 -1.36963743] [ 0.00663763 0.99996333 -0.00541186 0.10765976] [ 0.03906033 0.00514858 0.99922359 -0.27081737] [ 0. 0. 0. 1. ]] SLAMing on 241.77313336499998 meters Centerline goodness : 0.110488 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.11, Z:-0.27 [[ 0.99921756 -0.00685612 -0.03895193 -1.3698829 ] [ 0.00664919 0.9999631 -0.00543952 0.1076886 ] [ 0.03898779 0.00517627 0.99922628 -0.27076517] [ 0. 0. 0. 1. ]] SLAMing on 241.80313336499998 meters Centerline goodness : 0.157163 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99277352e-01 1.16939229e-03 -3.79921784e-02 -1.35057066e+00] [-1.42312433e-03 9.99976861e-01 -6.65217660e-03 1.05671609e-01] [ 3.79835203e-02 6.70143701e-03 9.99255895e-01 -2.69125004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83313336499998 meters Centerline goodness : 0.114678 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99280595e-01 1.24692298e-03 -3.79043284e-02 -1.35046575e+00] [-1.49717478e-03 9.99977267e-01 -6.57452824e-03 1.05665054e-01] [ 3.78952688e-02 6.62654790e-03 9.99259745e-01 -2.69623803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86313336499998 meters Centerline goodness : 0.185602 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99279542e-01 1.22006822e-03 -3.79329476e-02 -1.35026567e+00] [-1.47120321e-03 9.99977182e-01 -6.59328913e-03 1.05620423e-01] [ 3.79240377e-02 6.64434602e-03 9.99258535e-01 -2.69821559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89313336499998 meters Centerline goodness : 0.117218 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99276180e-01 1.15156189e-03 -3.80235335e-02 -1.34990042e+00] [-1.40567016e-03 9.99976855e-01 -6.65686350e-03 1.05523764e-01] [ 3.80149876e-02 6.70549367e-03 9.99254671e-01 -2.70047315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92313336499998 meters Centerline goodness : 0.115349 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99270698e-01 1.10354225e-03 -3.81687696e-02 -1.34954036e+00] [-1.36052826e-03 9.99976578e-01 -6.70756805e-03 1.05505696e-01] [ 3.81604735e-02 6.75460589e-03 9.99248795e-01 -2.70098953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95313336499999 meters Centerline goodness : 0.118453 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99268128e-01 1.15360921e-03 -3.82345122e-02 -1.34938370e+00] [-1.40902706e-03 9.99976869e-01 -6.65402237e-03 1.05555089e-01] [ 3.82259517e-02 6.70302594e-03 9.99246639e-01 -2.70121722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.983133365 meters Centerline goodness : 0.126369 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99282168e-01 1.31824204e-03 -3.78604155e-02 -1.35067083e+00] [-1.56536020e-03 9.99977661e-01 -6.49818393e-03 1.05880605e-01] [ 3.78510035e-02 6.55278451e-03 9.99261909e-01 -2.69534567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.013133365 meters Centerline goodness : 0.091607 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99293466e-01 1.26861968e-03 -3.75627462e-02 -1.35173134e+00] [-1.51720669e-03 9.99977134e-01 -6.59014810e-03 1.06231802e-01] [ 3.75535269e-02 6.64248239e-03 9.99272540e-01 -2.69029148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.043133365 meters Centerline goodness : 0.123412 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99300860e-01 1.19175906e-03 -3.73680529e-02 -1.35240475e+00] [-1.44436669e-03 9.99976285e-01 -6.73372193e-03 1.06728061e-01] [ 3.73591417e-02 6.78298728e-03 9.99278883e-01 -2.68768160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.073133365 meters Centerline goodness : 0.125784 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99299865e-01 1.10292101e-03 -3.73973645e-02 -1.35233689e+00] [-1.36243456e-03 9.99975166e-01 -6.91457967e-03 1.07445272e-01] [ 3.73888096e-02 6.96069000e-03 9.99276551e-01 -2.68820951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.103133365 meters Centerline goodness : 0.116268 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99296549e-01 1.04106262e-03 -3.74876418e-02 -1.35184421e+00] [-1.30588575e-03 9.99974363e-01 -7.04048513e-03 1.08035616e-01] [ 3.74793511e-02 7.08448707e-03 9.99272289e-01 -2.69274988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.133133365 meters Centerline goodness : 0.179096 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99294343e-01 1.05065895e-03 -3.75461226e-02 -1.35140845e+00] [-1.31836608e-03 9.99973883e-01 -7.10604041e-03 1.08656699e-01] [ 3.75376759e-02 7.15052552e-03 9.99269630e-01 -2.69747173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.163133365 meters Centerline goodness : 0.187930 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99289760e-01 1.17852414e-03 -3.76641402e-02 -1.35138475e+00] [-1.43817235e-03 9.99975385e-01 -6.86742804e-03 1.07879402e-01] [ 3.76551196e-02 6.91671804e-03 9.99266857e-01 -2.69369032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.193133365 meters Centerline goodness : 0.122836 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99284359e-01 1.20937342e-03 -3.78061835e-02 -1.35107821e+00] [-1.46436054e-03 9.99976364e-01 -6.71762475e-03 1.06953742e-01] [ 3.77971658e-02 6.76817923e-03 9.99262511e-01 -2.69320346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.223133365 meters Centerline goodness : 0.165159 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99282253e-01 1.21700163e-03 -3.78615526e-02 -1.35083529e+00] [-1.46784799e-03 9.99977154e-01 -6.59826669e-03 1.06013813e-01] [ 3.78526575e-02 6.64910581e-03 9.99261210e-01 -2.69489928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.253133365 meters Centerline goodness : 0.127306 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99283339e-01 1.22613697e-03 -3.78325938e-02 -1.35075522e+00] [-1.47421826e-03 9.99977592e-01 -6.53014289e-03 1.05411445e-01] [ 3.78237392e-02 6.58123649e-03 9.99262754e-01 -2.69710358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.283133365 meters Centerline goodness : 0.123876 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99288563e-01 1.22200978e-03 -3.76944839e-02 -1.35099403e+00] [-1.47034176e-03 9.99977395e-01 -6.56100108e-03 1.05621800e-01] [ 3.76856142e-02 6.61175712e-03 9.99267771e-01 -2.69892834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.313133365 meters Centerline goodness : 0.444444 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99297800e-01 1.26970431e-03 -3.74472150e-02 -1.35149747e+00] [-1.51807363e-03 9.99977036e-01 -6.60482995e-03 1.06338883e-01] [ 3.74379688e-02 6.65703967e-03 9.99276780e-01 -2.70038320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.343133365 meters Centerline goodness : 0.113132 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99320143e-01 1.34524995e-03 -3.68434728e-02 -1.35306677e+00] [-1.59661341e-03 9.99975647e-01 -6.79389678e-03 1.08075181e-01] [ 3.68334360e-02 6.84810268e-03 9.99297954e-01 -2.69870783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.373133365 meters Centerline goodness : 0.183553 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99320189e-01 1.22004421e-03 -3.68465866e-02 -1.35299873e+00] [-1.48275740e-03 9.99973671e-01 -7.10343473e-03 1.09519815e-01] [ 3.68369499e-02 7.15324028e-03 9.99295687e-01 -2.69992757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40313336499997 meters Centerline goodness : 0.207701 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99319305e-01 1.12097560e-03 -3.68737025e-02 -1.35266304e+00] [-1.39496602e-03 9.99971605e-01 -7.40562214e-03 1.11091085e-01] [ 3.68643539e-02 7.45201873e-03 9.99292493e-01 -2.70497805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43313336499997 meters Centerline goodness : 0.413714 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.11, Z:-0.27 [[ 9.99311988e-01 1.02774394e-03 -3.70741792e-02 -1.35181480e+00] [-1.31710021e-03 9.99968858e-01 -7.78121344e-03 1.13263651e-01] [ 3.70650275e-02 7.82469028e-03 9.99282221e-01 -2.71134440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46313336499998 meters Centerline goodness : 0.190985 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 9.99297966e-01 8.70250568e-04 -3.74541968e-02 -1.35048868e+00] [-1.19018318e-03 9.99962991e-01 -8.52052099e-03 1.17975459e-01] [ 3.74453957e-02 8.55911665e-03 9.99262020e-01 -2.71876000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49313336499998 meters Centerline goodness : 0.364883 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 9.99303478e-01 6.88287991e-04 -3.73106538e-02 -1.35104146e+00] [-1.02177480e-03 9.99959696e-01 -8.91978099e-03 1.19794416e-01] [ 3.73030107e-02 8.95169125e-03 9.99263905e-01 -2.71599506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.55313336499998 meters Centerline goodness : 0.329346 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.12, Z:-0.27 [[ 9.99325911e-01 3.21770279e-04 -3.67099341e-02 -1.35305951e+00] [-6.73541264e-04 9.99953975e-01 -9.57048213e-03 1.22574849e-01] [ 3.67051650e-02 9.58875643e-03 9.99280134e-01 -2.70775478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.61313336499998 meters Centerline goodness : 0.128880 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99342192e-01 -2.14036118e-05 -3.62654508e-02 -1.35406310e+00] [-3.49688249e-04 9.99947649e-01 -1.02262816e-02 1.26029575e-01] [ 3.62637712e-02 1.02322363e-02 9.99289868e-01 -2.70815821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64313336499998 meters Centerline goodness : 0.127374 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99333262e-01 -1.95355208e-04 -3.65101878e-02 -1.35323059e+00] [-1.89715816e-04 9.99944401e-01 -1.05431852e-02 1.27287225e-01] [ 3.65102176e-02 1.05430822e-02 9.99277663e-01 -2.71183549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67313336499998 meters Centerline goodness : 0.132179 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99320735e-01 -3.70384709e-04 -3.68501092e-02 -1.35206437e+00] [-3.07139214e-05 9.99940773e-01 -1.08834367e-02 1.28644036e-01] [ 3.68519577e-02 1.08771758e-02 9.99261537e-01 -2.71779253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70313336499999 meters Centerline goodness : 0.142402 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.14, Z:-0.27 [[ 0.99923104 -0.00793177 -0.03839819 -1.33174204] [ 0.00754022 0.9999182 -0.01033114 0.13621557] [ 0.038477 0.01003367 0.99920911 -0.27024408] [ 0. 0. 0. 1. ]] SLAMing on 242.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 242.763133365 meters Centerline goodness : 0.134038 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.13, Z:-0.27 [[ 9.99180634e-01 5.31049721e-04 -4.04694888e-02 -1.35060615e+00] [-9.83971274e-04 9.99937101e-01 -1.11725830e-02 1.34137354e-01] [ 4.04610101e-02 1.12032494e-02 9.99118308e-01 -2.71650001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.793133365 meters Centerline goodness : 0.096800 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.27 [[ 9.99184174e-01 3.71672919e-04 -4.03837625e-02 -1.35119486e+00] [-8.37400469e-04 9.99933335e-01 -1.15162413e-02 1.35686831e-01] [ 4.03767900e-02 1.15406635e-02 9.99117875e-01 -2.71093507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.823133365 meters Centerline goodness : 0.130793 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.14, Z:-0.27 [[ 0.99919359 -0.00747644 -0.03944965 -1.33295329] [ 0.00706672 0.99991974 -0.01051519 0.141635 ] [ 0.0395251 0.01022793 0.99916623 -0.26907474] [ 0. 0. 0. 1. ]] SLAMing on 242.853133365 meters Centerline goodness : 0.113819 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.14, Z:-0.27 [[ 0.99920814 -0.00750516 -0.0390738 -1.33409333] [ 0.00709477 0.99991832 -0.01063097 0.14246729] [ 0.0391504 0.01034533 0.99917977 -0.26877213] [ 0. 0. 0. 1. ]] SLAMing on 242.883133365 meters Centerline goodness : 0.133066 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.27 [[ 9.99277552e-01 7.98552692e-04 -3.79965223e-02 -1.35425291e+00] [-1.22827208e-03 9.99935540e-01 -1.12874409e-02 1.38144922e-01] [ 3.79850594e-02 1.13259564e-02 9.99214120e-01 -2.70820104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.913133365 meters Centerline goodness : 0.105400 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.14, Z:-0.27 [[ 9.99286991e-01 8.39060398e-04 -3.77465880e-02 -1.35494124e+00] [-1.26761587e-03 9.99934999e-01 -1.13309895e-02 1.38897060e-01] [ 3.77346270e-02 1.13707586e-02 9.99223100e-01 -2.70704325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.943133365 meters Centerline goodness : 0.298556 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99293568e-01 8.13120234e-04 -3.75726601e-02 -1.35545837e+00] [-1.24373243e-03 9.99933801e-01 -1.14388338e-02 1.39523415e-01] [ 3.75608717e-02 1.14774833e-02 9.99228426e-01 -2.70562153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.973133365 meters Centerline goodness : 0.096685 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99292028e-01 6.79523039e-04 -3.76162426e-02 -1.35550936e+00] [-1.12000767e-03 9.99931041e-01 -1.16901244e-02 1.40391999e-01] [ 3.76057050e-02 1.17239786e-02 9.99223878e-01 -2.70378915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.003133365 meters Centerline goodness : 0.112092 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99286137e-01 7.00497394e-04 -3.77720358e-02 -1.35513778e+00] [-1.14237094e-03 9.99931156e-01 -1.16781174e-02 1.40528324e-01] [ 3.77612550e-02 1.17129305e-02 9.99218142e-01 -2.70403466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.093133365 meters Centerline goodness : 0.095012 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.14, Z:-0.27 [[ 9.99285505e-01 7.79704812e-04 -3.77871808e-02 -1.35517642e+00] [-1.20686561e-03 9.99935618e-01 -1.12828925e-02 1.38598819e-01] [ 3.77759507e-02 1.13204350e-02 9.99222110e-01 -2.70228740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.123133365 meters Centerline goodness : 0.443853 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99222215e-01 -2.78259208e-04 -3.94320621e-02 -1.40109517e+00] [-2.01630178e-04 9.99925977e-01 -1.21655307e-02 1.34681094e-01] [ 3.94325284e-02 1.21640192e-02 9.99148193e-01 -2.71151705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.18313336499997 meters Centerline goodness : 0.097427 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99251560e-01 -4.16985766e-04 -3.86800546e-02 -1.40303213e+00] [-3.92095908e-05 9.99930465e-01 -1.17925639e-02 1.31557453e-01] [ 3.86822823e-02 1.17852545e-02 9.99182060e-01 -2.70803270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.24313336499998 meters Centerline goodness : 0.100699 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99260883e-01 -2.18738398e-04 -3.84400817e-02 -1.40380731e+00] [-2.15677490e-04 9.99936168e-01 -1.12966075e-02 1.29286091e-01] [ 3.84400990e-02 1.12965486e-02 9.99197051e-01 -2.70439736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27313336499998 meters Centerline goodness : 0.193044 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99240353e-01 -2.88739857e-04 -3.89696536e-02 -1.40182919e+00] [-1.53695255e-04 9.99935577e-01 -1.13498509e-02 1.28858997e-01] [ 3.89704202e-02 1.13472184e-02 9.99175934e-01 -2.71568096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30313336499998 meters Centerline goodness : 0.290044 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 9.99220580e-01 -2.38282278e-04 -3.94737362e-02 -1.40002030e+00] [-2.12557364e-04 9.99934805e-01 -1.14166653e-02 1.29464849e-01] [ 3.94738831e-02 1.14161574e-02 9.99155385e-01 -2.72562892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.36313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.39313336499998 meters Centerline goodness : 0.254434 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 0.99921399 0.00367365 -0.0394702 -1.3997018 ] [-0.00399683 0.99995911 -0.00811217 0.13257014] [ 0.03943879 0.00826355 0.99918782 -0.27305743] [ 0. 0. 0. 1. ]] SLAMing on 243.42313336499998 meters Centerline goodness : 0.195278 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.13, Z:-0.27 [[ 0.99922369 0.00353675 -0.03923647 -1.40052931] [-0.0038741 0.99995616 -0.00852518 0.13451771] [ 0.0392046 0.00867057 0.99919359 -0.27269979] [ 0. 0. 0. 1. ]] SLAMing on 243.45313336499999 meters Centerline goodness : 0.292583 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.14, Z:-0.27 [[ 0.99925278 0.00356549 -0.03848599 -1.40284137] [-0.00390779 0.99995345 -0.00882237 0.13678902] [ 0.03845274 0.00896617 0.99922019 -0.27198703] [ 0. 0. 0. 1. ]] SLAMing on 243.483133365 meters Centerline goodness : 0.120200 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.14, Z:-0.27 [[ 0.99926719 -0.00381674 -0.03808562 -1.38522612] [ 0.00354358 0.99996753 -0.00723726 0.14286896] [ 0.03811201 0.00709699 0.99924827 -0.2696728 ] [ 0. 0. 0. 1. ]] SLAMing on 243.513133365 meters Centerline goodness : 0.093540 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.14, Z:-0.27 [[ 0.99926894 -0.00379671 -0.03804163 -1.3852089 ] [ 0.00352379 0.99996759 -0.00723875 0.14301288] [ 0.03806788 0.0070994 0.99924994 -0.26986753] [ 0. 0. 0. 1. ]] SLAMing on 243.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 243.603133365 meters Centerline goodness : 0.095420 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.14, Z:-0.27 [[ 0.99925421 -0.00392814 -0.03841335 -1.38398564] [ 0.003644 0.9999655 -0.00746426 0.14367892] [ 0.03844134 0.00731871 0.99923406 -0.2704344 ] [ 0. 0. 0. 1. ]] SLAMing on 243.633133365 meters Centerline goodness : 0.095741 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99925802 -0.00352764 -0.03835308 -1.38425948] [ 0.00324171 0.99996651 -0.0075149 0.14616474] [ 0.03837831 0.007385 0.99923599 -0.27039941] [ 0. 0. 0. 1. ]] SLAMing on 243.663133365 meters Centerline goodness : 0.438128 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99925631 -0.00360506 -0.03839045 -1.38410352] [ 0.00330156 0.99996282 -0.007966 0.14869451] [ 0.03841775 0.00783333 0.99923106 -0.2706313 ] [ 0. 0. 0. 1. ]] SLAMing on 243.693133365 meters Centerline goodness : 0.438076 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99926075 -0.00360733 -0.03827445 -1.38430094] [ 0.00329052 0.99995983 -0.00833709 0.15107807] [ 0.03830299 0.00820499 0.99923249 -0.27091196] [ 0. 0. 0. 1. ]] SLAMing on 243.723133365 meters Centerline goodness : 0.097000 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.15, Z:-0.27 [[ 0.99926378 -0.00360353 -0.03819559 -1.38448694] [ 0.00327129 0.9999563 -0.0087574 0.15395949] [ 0.03822548 0.008626 0.99923191 -0.27106841] [ 0. 0. 0. 1. ]] SLAMing on 243.753133365 meters Centerline goodness : 0.436771 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.16, Z:-0.27 [[ 9.99261656e-01 1.63082846e-04 -3.84202680e-02 -1.38371582e+00] [-3.68858764e-04 9.99985627e-01 -5.34889339e-03 1.55479824e-01] [ 3.84188434e-02 5.35911571e-03 9.99247353e-01 -2.71414396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.783133365 meters Centerline goodness : 0.439429 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.16, Z:-0.27 [[ 0.99924504 0.00279356 -0.03874986 -1.38136337] [-0.00293714 0.99998903 -0.00364887 0.16215735] [ 0.03873924 0.00375992 0.99924228 -0.27321712] [ 0. 0. 0. 1. ]] SLAMing on 243.813133365 meters Centerline goodness : 0.091853 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.16, Z:-0.27 [[ 0.99917066 0.00260039 -0.04063522 -1.42653559] [-0.00278042 0.99998657 -0.00437451 0.16161319] [ 0.0406233 0.00448387 0.99916447 -0.2744871 ] [ 0. 0. 0. 1. ]] SLAMing on 243.843133365 meters Centerline goodness : 0.283788 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.17, Z:-0.27 [[ 0.99918231 -0.0051051 -0.04010806 -1.40865347] [ 0.00497298 0.99998188 -0.00339314 0.16947245] [ 0.04012466 0.00319091 0.99918959 -0.27253141] [ 0. 0. 0. 1. ]] SLAMing on 243.873133365 meters Centerline goodness : 0.191046 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.17, Z:-0.27 [[ 0.99918646 -0.00518936 -0.03999365 -1.40904038] [ 0.00504818 0.99998067 -0.00363003 0.17079295] [ 0.04001172 0.00342519 0.99919334 -0.27242593] [ 0. 0. 0. 1. ]] SLAMing on 243.90313336499997 meters Centerline goodness : 0.100045 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.17, Z:-0.27 [[ 0.99918559 -0.00523364 -0.04000948 -1.40874534] [ 0.0050828 0.99997959 -0.00387089 0.17276281] [ 0.04002893 0.00366438 0.9991918 -0.27283122] [ 0. 0. 0. 1. ]] SLAMing on 243.93313336499997 meters Centerline goodness : 0.106847 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.27 [[ 0.9991663 0.00284891 -0.04072584 -1.42772513] [-0.00306018 0.99998218 -0.00512619 0.16844321] [ 0.04071051 0.00524655 0.99915721 -0.27481367] [ 0. 0. 0. 1. ]] SLAMing on 243.96313336499998 meters Centerline goodness : 0.103789 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.28 [[ 0.99916282 0.00273636 -0.04081878 -1.42727167] [-0.00295634 0.99998143 -0.00532987 0.16915844] [ 0.04080344 0.00544608 0.99915235 -0.2751978 ] [ 0. 0. 0. 1. ]] SLAMing on 243.99313336499998 meters Centerline goodness : 0.229390 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.9992131 0.00213624 -0.03960577 -1.38295605] [-0.00237581 0.99997916 -0.00600273 0.17382901] [ 0.03959212 0.0060921 0.99919735 -0.27382318] [ 0. 0. 0. 1. ]] SLAMing on 244.02313336499998 meters Centerline goodness : 0.092114 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99921141 0.00206426 -0.03965207 -1.38274505] [-0.00230895 0.99997857 -0.00612616 0.1742836 ] [ 0.03963858 0.00621288 0.99919477 -0.2740058 ] [ 0. 0. 0. 1. ]] SLAMing on 244.05313336499998 meters Centerline goodness : 0.436492 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.18, Z:-0.28 [[ 0.99917026 -0.00606183 -0.04027464 -1.40330213] [ 0.00586368 0.99997013 -0.00503639 0.17704968] [ 0.04030397 0.00479605 0.99917595 -0.27596871] [ 0. 0. 0. 1. ]] SLAMing on 244.08313336499998 meters Centerline goodness : 0.442225 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99926342 0.00168906 -0.03833756 -1.38402055] [-0.00191868 0.99998044 -0.00595331 0.17484974] [ 0.03832676 0.00602248 0.99924711 -0.2745803 ] [ 0. 0. 0. 1. ]] SLAMing on 244.11313336499998 meters Centerline goodness : 0.440160 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99926645 0.00168546 -0.03825868 -1.38438917] [-0.00191123 0.99998097 -0.00586528 0.17412818] [ 0.03824807 0.0059341 0.99925066 -0.27429151] [ 0. 0. 0. 1. ]] SLAMing on 244.14313336499998 meters Centerline goodness : 0.361286 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99926529 0.00163104 -0.03829117 -1.38423825] [-0.00185611 0.99998121 -0.00584299 0.17349535] [ 0.03828092 0.00590977 0.99924954 -0.2743813 ] [ 0. 0. 0. 1. ]] SLAMing on 244.17313336499998 meters Centerline goodness : 0.447348 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99925616 0.00168335 -0.03852664 -1.38360442] [-0.00190383 0.99998202 -0.00568689 0.17260376] [ 0.03851638 0.005756 0.99924139 -0.27450111] [ 0. 0. 0. 1. ]] SLAMing on 244.20313336499999 meters Centerline goodness : 0.094359 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99924919 0.00175867 -0.03870342 -1.38309982] [-0.00197474 0.99998268 -0.00554517 0.17202929] [ 0.038693 0.00561744 0.99923536 -0.27462379] [ 0. 0. 0. 1. ]] SLAMing on 244.233133365 meters Centerline goodness : 0.095602 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99924761 0.00182816 -0.03874117 -1.38301792] [-0.00204076 0.99998307 -0.00544886 0.17176179] [ 0.03873055 0.00552382 0.99923442 -0.27464062] [ 0. 0. 0. 1. ]] SLAMing on 244.263133365 meters Centerline goodness : 0.105431 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.28 [[ 0.99916581 0.00175664 -0.04079955 -1.42817968] [-0.00199691 0.9999809 -0.00584895 0.16780842] [ 0.0407885 0.00592554 0.99915023 -0.27559522] [ 0. 0. 0. 1. ]] SLAMing on 244.293133365 meters Centerline goodness : 0.175511 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.99921403 0.00179427 -0.03959939 -1.38392047] [-0.00202525 0.99998117 -0.0057936 0.17089589] [ 0.03958825 0.00586924 0.99919884 -0.27429629] [ 0. 0. 0. 1. ]] SLAMing on 244.323133365 meters Centerline goodness : 0.092494 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.27 [[ 0.9992085 0.00181566 -0.03973751 -1.3832388 ] [-0.00204556 0.9999814 -0.00574558 0.17064896] [ 0.03972633 0.00582231 0.99919363 -0.27484888] [ 0. 0. 0. 1. ]] SLAMing on 244.353133365 meters Centerline goodness : 0.102298 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.17, Z:-0.28 [[ 0.99920625 0.00185376 -0.03979248 -1.38286059] [-0.00208002 0.9999819 -0.00564537 0.1701634 ] [ 0.03978129 0.00572366 0.99919202 -0.27523452] [ 0. 0. 0. 1. ]] SLAMing on 244.383133365 meters Centerline goodness : 0.090653 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.18, Z:-0.27 [[ 0.99919859 -0.0061628 -0.03954988 -1.36377705] [ 0.00598776 0.99997175 -0.00454286 0.17511947] [ 0.03957675 0.00430241 0.99920727 -0.27342206] [ 0. 0. 0. 1. ]] SLAMing on 244.413133365 meters Centerline goodness : 0.097464 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.17, Z:-0.27 [[ 0.9992013 -0.00620721 -0.03947443 -1.36420835] [ 0.00603634 0.9999719 -0.00444625 0.17410954] [ 0.03950092 0.00420441 0.99921069 -0.27299552] [ 0. 0. 0. 1. ]] SLAMing on 244.443133365 meters Centerline goodness : 0.092835 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.17, Z:-0.27 [[ 0.99924716 -0.00727037 -0.03810841 -1.36862645] [ 0.00708684 0.99996264 -0.00494888 0.1710392 ] [ 0.03814296 0.00467508 0.99926136 -0.27138904] [ 0. 0. 0. 1. ]] SLAMing on 244.473133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 244.503133365 meters Centerline goodness : 0.197378 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.17, Z:-0.27 [[ 0.99928531 -0.0073103 -0.0370867 -1.37111188] [ 0.00715703 0.9999653 -0.00426383 0.16697651] [ 0.03711658 0.00399535 0.99930296 -0.27102603] [ 0. 0. 0. 1. ]] SLAMing on 244.533133365 meters Centerline goodness : 0.435002 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.16, Z:-0.27 [[ 0.99928564 -0.00723304 -0.03709293 -1.37096397] [ 0.00709361 0.99996728 -0.00388911 0.16482118] [ 0.03711984 0.00362321 0.99930425 -0.27110101] [ 0. 0. 0. 1. ]] SLAMing on 244.563133365 meters Centerline goodness : 0.440655 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.16, Z:-0.27 [[ 9.99260576e-01 -4.48005206e-04 -3.84460683e-02 -1.35210159e+00] [ 2.50476223e-04 9.99986746e-01 -5.14248302e-03 1.58826585e-01] [ 3.84478626e-02 5.12905072e-03 9.99247444e-01 -2.68434012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.593133365 meters Centerline goodness : 0.423995 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.15, Z:-0.27 [[ 9.99151967e-01 -1.13528258e-03 -4.11589401e-02 -1.39612575e+00] [ 8.93661346e-04 9.99982264e-01 -5.88836719e-03 1.54283980e-01] [ 4.11648951e-02 5.84659151e-03 9.99135261e-01 -2.69747429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.623133365 meters Centerline goodness : 0.294141 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99135696e-01 -9.18832159e-04 -4.15573877e-02 -1.39480674e+00] [ 6.97755358e-04 9.99985531e-01 -5.33398733e-03 1.51560520e-01] [ 4.15616874e-02 5.30038025e-03 9.99121881e-01 -2.70276580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65313336499997 meters Centerline goodness : 0.194429 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99129799e-01 -8.12422750e-04 -4.17011316e-02 -1.39430908e+00] [ 6.01461204e-04 9.99986961e-01 -5.07118958e-03 1.50238410e-01] [ 4.17047078e-02 5.04169501e-03 9.99117260e-01 -2.70491032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68313336499997 meters Centerline goodness : 0.103146 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99127586e-01 -7.69796107e-04 -4.17549384e-02 -1.39404684e+00] [ 5.64377760e-04 9.99987682e-01 -4.93118285e-03 1.49327880e-01] [ 4.17582200e-02 4.90331525e-03 9.99115713e-01 -2.70634203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71313336499998 meters Centerline goodness : 0.436366 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99128014e-01 -7.67327865e-04 -4.17447444e-02 -1.39410147e+00] [ 5.62693418e-04 9.99987770e-01 -4.91357000e-03 1.49082382e-01] [ 4.17480041e-02 4.88579594e-03 9.99116226e-01 -2.70613335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74313336499998 meters Centerline goodness : 0.434879 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 9.99127166e-01 -7.23502567e-04 -4.17658151e-02 -1.39397699e+00] [ 5.17885550e-04 9.99987695e-01 -4.93370338e-03 1.49423143e-01] [ 4.17688708e-02 4.90776716e-03 9.99115246e-01 -2.70794255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77313336499998 meters Centerline goodness : 0.197622 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.15, Z:-0.27 [[ 0.9990712 0.00801173 -0.0423386 -1.41450628] [-0.00825322 0.99995064 -0.00553212 0.14544413] [ 0.04229219 0.00587641 0.999088 -0.27249454] [ 0. 0. 0. 1. ]] SLAMing on 244.80313336499998 meters Centerline goodness : 0.091003 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.15, Z:-0.27 [[ 0.99903852 0.00346902 -0.04370358 -1.39274632] [-0.00357836 0.99999066 -0.00242373 0.15306029] [ 0.04369476 0.00257778 0.9990416 -0.27221927] [ 0. 0. 0. 1. ]] SLAMing on 244.83313336499998 meters Centerline goodness : 0.231687 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.15, Z:-0.27 [[ 0.99892675 0.00359327 -0.04617836 -1.43717281] [-0.0037291 0.99998897 -0.00285565 0.15245357] [ 0.04616759 0.00302479 0.99892913 -0.27360554] [ 0. 0. 0. 1. ]] SLAMing on 244.86313336499998 meters Centerline goodness : 0.172350 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.15, Z:-0.27 [[ 0.99892881 0.0034564 -0.04614422 -1.43721401] [-0.00361396 0.99998792 -0.00333148 0.15476106] [ 0.04613215 0.00349468 0.99892923 -0.27382675] [ 0. 0. 0. 1. ]] SLAMing on 244.89313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 244.92313336499998 meters Centerline goodness : 0.104927 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99894937 0.00347274 -0.04569567 -1.43837707] [-0.0036615 0.99998511 -0.0040476 0.159731 ] [ 0.04568093 0.00421066 0.99894721 -0.27390839] [ 0. 0. 0. 1. ]] SLAMing on 244.95313336499999 meters Centerline goodness : 0.133253 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99896525 0.00338496 -0.04535386 -1.43920704] [-0.00359386 0.9999833 -0.00452538 0.16271829] [ 0.04533778 0.00468369 0.99896073 -0.27400294] [ 0. 0. 0. 1. ]] SLAMing on 244.983133365 meters Centerline goodness : 0.133253 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99896525 0.00338496 -0.04535386 -1.43920704] [-0.00359386 0.9999833 -0.00452538 0.16271829] [ 0.04533778 0.00468369 0.99896073 -0.27400294] [ 0. 0. 0. 1. ]] SLAMing on 245.013133365 meters Centerline goodness : 0.203158 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99897964 0.00314911 -0.04505278 -1.44008588] [-0.00339794 0.99997939 -0.00544767 0.16889871] [ 0.04503469 0.0055952 0.99896975 -0.27401378] [ 0. 0. 0. 1. ]] SLAMing on 245.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.073133365 meters Centerline goodness : 0.182978 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99897126 0.00276033 -0.0452636 -1.4393525 ] [-0.00305461 0.99997464 -0.00643347 0.17373212] [ 0.0452447 0.00656512 0.99895436 -0.27454459] [ 0. 0. 0. 1. ]] SLAMing on 245.103133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.133133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.163133365 meters Centerline goodness : 0.129591 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.18, Z:-0.27 [[ 0.99901022 0.00504629 -0.04419396 -1.44295448] [-0.00528121 0.99997253 -0.00520053 0.18362136] [ 0.0441665 0.00542878 0.99900943 -0.27342078] [ 0. 0. 0. 1. ]] SLAMing on 245.193133365 meters Centerline goodness : 0.199311 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.27 [[ 0.99900381 0.00473037 -0.04437363 -1.44245444] [-0.00499721 0.99997008 -0.00590456 0.1867369 ] [ 0.04434437 0.00612042 0.99899756 -0.27362333] [ 0. 0. 0. 1. ]] SLAMing on 245.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.283133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.313133365 meters Centerline goodness : 0.082542 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.20, Z:-0.27 [[ 0.99897529 0.00804156 -0.0445387 -1.44273843] [-0.00822914 0.99995802 -0.00402988 0.20068627] [ 0.04450443 0.00439227 0.99899953 -0.27298552] [ 0. 0. 0. 1. ]] SLAMing on 245.343133365 meters Centerline goodness : 0.106336 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 0.99899137 0.00761116 -0.04425272 -1.44417132] [-0.0078414 0.9999566 -0.00503162 0.20592478] [ 0.04421251 0.00537355 0.9990077 -0.27206442] [ 0. 0. 0. 1. ]] SLAMing on 245.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.40313336499997 meters Centerline goodness : 0.097317 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.21, Z:-0.27 [[ 9.99011447e-01 1.44713005e-03 -4.44301093e-02 -1.46672892e+00] [-1.56040237e-03 9.99995620e-01 -2.51487388e-03 2.10621607e-01] [ 4.44262754e-02 2.58171664e-03 9.99009330e-01 -2.72806179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43313336499997 meters Centerline goodness : 0.102013 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.22, Z:-0.27 [[ 9.98989900e-01 -6.68698145e-03 -4.44349362e-02 -1.44799917e+00] [ 6.62836474e-03 9.99976957e-01 -1.46636714e-03 2.17329615e-01] [ 4.44437179e-02 1.17035500e-03 9.99011204e-01 -2.70679326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.49313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.52313336499998 meters Centerline goodness : 0.116797 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.22, Z:-0.27 [[ 0.99896894 -0.00771489 -0.0447386 -1.44657696] [ 0.00763318 0.99996887 -0.00199695 0.21638432] [ 0.04475262 0.00165339 0.99899673 -0.2714782 ] [ 0. 0. 0. 1. ]] SLAMing on 245.55313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.58313336499998 meters Centerline goodness : 0.083732 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.98927513e-01 -8.00565450e-03 -4.56040826e-02 -1.44402990e+00] [ 7.93937520e-03 9.99967147e-01 -1.63430898e-03 2.12350633e-01] [ 4.56156681e-02 1.27048828e-03 9.98958256e-01 -2.71908455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.64313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.67313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.70313336499999 meters Centerline goodness : 0.103582 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.20, Z:-0.28 [[ 0.9990993 -0.0035925 -0.04228102 -1.4619507 ] [ 0.00345336 0.99998838 -0.0033635 0.19502067] [ 0.04229261 0.00321446 0.9991001 -0.27550247] [ 0. 0. 0. 1. ]] SLAMing on 245.733133365 meters Centerline goodness : 0.094549 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910656 -0.00343155 -0.04212243 -1.46250329] [ 0.00330763 0.99999 -0.00301132 0.19330508] [ 0.04213235 0.0028693 0.99910792 -0.2752435 ] [ 0. 0. 0. 1. ]] SLAMing on 245.763133365 meters Centerline goodness : 0.045512 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99911112 -0.00324023 -0.04202935 -1.46276405] [ 0.00313026 0.9999915 -0.00268205 0.1918913 ] [ 0.04203769 0.0025481 0.99911278 -0.27518924] [ 0. 0. 0. 1. ]] SLAMing on 245.793133365 meters Centerline goodness : 0.230633 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910923 -0.00307622 -0.0420865 -1.46237923] [ 0.00297601 0.99999259 -0.00244353 0.19089027] [ 0.04209371 0.0023161 0.99911098 -0.27559179] [ 0. 0. 0. 1. ]] SLAMing on 245.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.853133365 meters Centerline goodness : 0.143196 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99907287 -0.00282839 -0.04295818 -1.4593551 ] [ 0.00273582 0.99999381 -0.00221349 0.18881609] [ 0.04296417 0.00209392 0.99907442 -0.27707807] [ 0. 0. 0. 1. ]] SLAMing on 245.883133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.913133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 245.973133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.003133365 meters Centerline goodness : 0.103946 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.18, Z:-0.28 [[ 9.99149715e-01 -1.47692036e-03 -4.12027483e-02 -1.46437653e+00] [ 1.45865531e-03 9.99998824e-01 -4.73356324e-04 1.83528646e-01] [ 4.12033989e-02 4.12853228e-04 9.99150694e-01 -2.75990368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.093133365 meters Centerline goodness : 0.150218 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99165619e-01 -1.33858518e-03 -4.08200079e-02 -1.46477306e+00] [ 1.31528320e-03 9.99998956e-01 -5.97697830e-04 1.85153907e-01] [ 4.08207653e-02 5.43509252e-04 9.99166337e-01 -2.76887412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.123133365 meters Centerline goodness : 0.109437 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99167104e-01 -1.40388900e-03 -4.07814701e-02 -1.46486056e+00] [ 1.37114181e-03 9.99998715e-01 -8.30950851e-04 1.86481741e-01] [ 4.07825842e-02 7.74341576e-04 9.99167744e-01 -2.76998941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.18313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.21313336499998 meters Centerline goodness : 0.260637 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99126490e-01 -1.39425120e-03 -4.17649637e-02 -1.46246720e+00] [ 1.33443003e-03 9.99998044e-01 -1.46017307e-03 1.91447954e-01] [ 4.17669179e-02 1.40316518e-03 9.99126396e-01 -2.77398880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24313336499998 meters Centerline goodness : 0.215026 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99126862e-01 -1.47221243e-03 -4.17534034e-02 -1.46276629e+00] [ 1.40872749e-03 9.99997807e-01 -1.54985511e-03 1.91701484e-01] [ 4.17555935e-02 1.48968270e-03 9.99126744e-01 -2.77017447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.30313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.33313336499998 meters Centerline goodness : 0.196609 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99914048 -0.00184459 -0.04141133 -1.46376415] [ 0.00177677 0.99999702 -0.00167459 0.19153245] [ 0.0414143 0.00159957 0.99914078 -0.27665053] [ 0. 0. 0. 1. ]] SLAMing on 246.36313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.39313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.42313336499998 meters Centerline goodness : 0.265150 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99912074 -0.00254716 -0.04184796 -1.4628543 ] [ 0.00246593 0.99999497 -0.00199241 0.19061885] [ 0.04185282 0.00188746 0.999122 -0.2762989 ] [ 0. 0. 0. 1. ]] SLAMing on 246.45313336499999 meters Centerline goodness : 0.133562 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99911142 -0.00255464 -0.04206949 -1.46227478] [ 0.00247509 0.99999505 -0.00194297 0.19014521] [ 0.04207425 0.00183712 0.9991128 -0.27635325] [ 0. 0. 0. 1. ]] SLAMing on 246.483133365 meters Centerline goodness : 0.275870 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910535 -0.00241862 -0.04222136 -1.46196762] [ 0.0023484 0.99999578 -0.00171251 0.18952323] [ 0.04222533 0.00161183 0.99910681 -0.27625475] [ 0. 0. 0. 1. ]] SLAMing on 246.513133365 meters Centerline goodness : 0.323287 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910787 -0.00243301 -0.042161 -1.46217023] [ 0.00236256 0.99999573 -0.00172053 0.18945604] [ 0.042165 0.00161939 0.99910935 -0.27618102] [ 0. 0. 0. 1. ]] SLAMing on 246.543133365 meters Centerline goodness : 0.191733 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910718 -0.00246744 -0.04217534 -1.46216157] [ 0.00239711 0.99999565 -0.0017181 0.18913205] [ 0.04217939 0.00161546 0.99910875 -0.27611957] [ 0. 0. 0. 1. ]] SLAMing on 246.573133365 meters Centerline goodness : 0.216583 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.99910287 -0.00250576 -0.04227512 -1.46183259] [ 0.00243412 0.99999551 -0.00174596 0.1889421 ] [ 0.0422793 0.00164149 0.99910448 -0.27624524] [ 0. 0. 0. 1. ]] SLAMing on 246.603133365 meters Centerline goodness : 0.123444 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 0.9990951 -0.00251834 -0.0424574 -1.46129913] [ 0.0024475 0.99999553 -0.00172036 0.1885742 ] [ 0.04246154 0.00161489 0.9990968 -0.27642103] [ 0. 0. 0. 1. ]] SLAMing on 246.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.663133365 meters Centerline goodness : 0.197789 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.19, Z:-0.28 [[ 9.99086594e-01 -2.35817973e-03 -4.26663297e-02 -1.46047432e+00] [ 2.29473493e-03 9.99996188e-01 -1.53591433e-03 1.88208708e-01] [ 4.26697890e-02 1.43660350e-03 9.99088197e-01 -2.76949190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.723133365 meters Centerline goodness : 0.185891 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.9991301 0.00542852 -0.04134705 -1.44130803] [-0.00555565 0.99998018 -0.00296051 0.18623899] [ 0.04133016 0.00318765 0.99914046 -0.27500513] [ 0. 0. 0. 1. ]] SLAMing on 246.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.813133365 meters Centerline goodness : 0.135086 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99912479 0.00571618 -0.04143633 -1.44093514] [-0.0058456 0.99997841 -0.00300287 0.18773046] [ 0.04141827 0.00324246 0.99913663 -0.27537999] [ 0. 0. 0. 1. ]] SLAMing on 246.843133365 meters Centerline goodness : 0.149870 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911303 0.00564733 -0.04172847 -1.43989619] [-0.00579527 0.99997734 -0.00342505 0.18962812] [ 0.04170818 0.00366384 0.99912312 -0.27608611] [ 0. 0. 0. 1. ]] SLAMing on 246.873133365 meters Centerline goodness : 0.149870 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911303 0.00564733 -0.04172847 -1.43989619] [-0.00579527 0.99997734 -0.00342505 0.18962812] [ 0.04170818 0.00366384 0.99912312 -0.27608611] [ 0. 0. 0. 1. ]] SLAMing on 246.90313336499997 meters Centerline goodness : 0.136398 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911508 0.0056604 -0.04167754 -1.44001719] [-0.00581246 0.99997688 -0.00352828 0.19038593] [ 0.0416566 0.00376741 0.99912488 -0.27620277] [ 0. 0. 0. 1. ]] SLAMing on 246.93313336499997 meters Centerline goodness : 0.133930 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99911795 0.00570735 -0.04160227 -1.44020222] [-0.00585954 0.99997658 -0.00353714 0.19082892] [ 0.04158111 0.00377779 0.99912799 -0.27624483] [ 0. 0. 0. 1. ]] SLAMing on 246.96313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 246.99313336499998 meters Centerline goodness : 0.141528 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.19, Z:-0.28 [[ 0.99910885 0.00575026 -0.04181435 -1.43979552] [-0.00589833 0.99997676 -0.0034188 0.19009477] [ 0.04179372 0.00366239 0.99911955 -0.27607889] [ 0. 0. 0. 1. ]] SLAMing on 247.02313336499998 meters Centerline goodness : 0.136268 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909391 -0.00198719 -0.04251376 -1.42155175] [ 0.00189157 0.99999559 -0.00228911 0.19555527] [ 0.04251812 0.00220662 0.99909326 -0.27364988] [ 0. 0. 0. 1. ]] SLAMing on 247.05313336499998 meters Centerline goodness : 0.137364 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909074 -0.00195716 -0.04258936 -1.42154072] [ 0.00186226 0.99999569 -0.00226779 0.19564598] [ 0.04259362 0.00218642 0.99909009 -0.27339738] [ 0. 0. 0. 1. ]] SLAMing on 247.08313336499998 meters Centerline goodness : 0.141379 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909584 -0.00193013 -0.04247078 -1.42202328] [ 0.00183493 0.99999572 -0.00228028 0.19605459] [ 0.042475 0.00220028 0.99909511 -0.27315224] [ 0. 0. 0. 1. ]] SLAMing on 247.11313336499998 meters Centerline goodness : 0.142410 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.9991017 -0.0019054 -0.04233396 -1.42262631] [ 0.00181133 0.99999581 -0.00226019 0.19612414] [ 0.04233809 0.00218148 0.99910096 -0.27280298] [ 0. 0. 0. 1. ]] SLAMing on 247.14313336499998 meters Centerline goodness : 0.088629 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909814 -0.00197076 -0.04241481 -1.42244152] [ 0.00187304 0.9999955 -0.00234349 0.19629849] [ 0.04241924 0.00226193 0.99909734 -0.27276218] [ 0. 0. 0. 1. ]] SLAMing on 247.17313336499998 meters Centerline goodness : 0.103698 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909048 -0.00201981 -0.04259266 -1.42177628] [ 0.00191922 0.99999527 -0.00240245 0.19635807] [ 0.04259731 0.00231852 0.99908963 -0.27312976] [ 0. 0. 0. 1. ]] SLAMing on 247.20313336499999 meters Centerline goodness : 0.138235 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99907574 -0.00202337 -0.04293683 -1.42069213] [ 0.00192041 0.99999518 -0.00243922 0.1965454 ] [ 0.04294155 0.00235451 0.99907481 -0.27353179] [ 0. 0. 0. 1. ]] SLAMing on 247.233133365 meters Centerline goodness : 0.133406 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99906576 -0.00202769 -0.04316812 -1.41999139] [ 0.00192451 0.99999519 -0.00243155 0.19639783] [ 0.04317284 0.00234621 0.99906486 -0.27373324] [ 0. 0. 0. 1. ]] SLAMing on 247.263133365 meters Centerline goodness : 0.131896 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99905874 -0.00205703 -0.04332904 -1.41974815] [ 0.00195139 0.99999502 -0.00248014 0.19651582] [ 0.04333393 0.00239326 0.99905778 -0.27351942] [ 0. 0. 0. 1. ]] SLAMing on 247.293133365 meters Centerline goodness : 0.139085 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99905226 -0.00209337 -0.04347648 -1.41942186] [ 0.00198175 0.99999463 -0.00261029 0.19720423] [ 0.04348171 0.00252165 0.99905104 -0.27352758] [ 0. 0. 0. 1. ]] SLAMing on 247.323133365 meters Centerline goodness : 0.140474 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99904921 -0.00196082 -0.04355262 -1.41917428] [ 0.00183609 0.9999941 -0.00290374 0.19977761] [ 0.04355805 0.00282102 0.99904691 -0.27375903] [ 0. 0. 0. 1. ]] SLAMing on 247.353133365 meters Centerline goodness : 0.134951 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99906582 -0.00203568 -0.04316655 -1.42034783] [ 0.00189637 0.99999286 -0.00326794 0.20186696] [ 0.04317289 0.00318302 0.99906255 -0.27352666] [ 0. 0. 0. 1. ]] SLAMing on 247.383133365 meters Centerline goodness : 0.140252 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.20, Z:-0.27 [[ 0.99909195 -0.00211606 -0.04255349 -1.42229664] [ 0.00195857 0.99999108 -0.00374226 0.20467203] [ 0.04256103 0.00365551 0.99908718 -0.27299658] [ 0. 0. 0. 1. ]] SLAMing on 247.413133365 meters Centerline goodness : 0.097851 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.21, Z:-0.27 [[ 0.99910885 -0.00219593 -0.0421508 -1.42370478] [ 0.00201775 0.99998885 -0.00426926 0.20793917] [ 0.04215971 0.0041804 0.99910214 -0.2725404 ] [ 0. 0. 0. 1. ]] SLAMing on 247.443133365 meters Centerline goodness : 0.139584 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.21, Z:-0.27 [[ 0.99911027 -0.00222599 -0.04211557 -1.42404131] [ 0.00202389 0.99998624 -0.00484077 0.21177227] [ 0.04212577 0.00475122 0.99910102 -0.27244482] [ 0. 0. 0. 1. ]] SLAMing on 247.473133365 meters Centerline goodness : 0.112898 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.22, Z:-0.27 [[ 0.99910316 -0.00236684 -0.04227613 -1.42372703] [ 0.00213357 0.99998226 -0.00556183 0.21595321] [ 0.04228855 0.00546664 0.99909048 -0.27260598] [ 0. 0. 0. 1. ]] SLAMing on 247.503133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.533133365 meters Centerline goodness : 0.142195 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.23, Z:-0.27 [[ 0.99909353 0.00658438 -0.04205657 -1.40017024] [-0.00688218 0.99995223 -0.00694002 0.22727156] [ 0.04200886 0.00722317 0.99909113 -0.27214839] [ 0. 0. 0. 1. ]] SLAMing on 247.563133365 meters Centerline goodness : 0.087287 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.23, Z:-0.27 [[ 9.99120547e-01 -1.05398667e-03 -4.19168505e-02 -1.42090221e+00] [ 7.98497098e-04 9.99981006e-01 -6.11142744e-03 2.33792218e-01] [ 4.19224958e-02 6.07258224e-03 9.99102411e-01 -2.74223728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.623133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.65313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.68313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.71313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.74313336499998 meters Centerline goodness : 0.160462 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 9.99151929e-01 8.86812328e-04 -4.11659625e-02 -1.42497051e+00] [-1.10177693e-03 9.99985876e-01 -5.19950785e-03 2.49023444e-01] [ 4.11607700e-02 5.24045401e-03 9.99138793e-01 -2.71960383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.80313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.83313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.86313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.89313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 247.92313336499998 meters Centerline goodness : 0.188737 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.26, Z:-0.27 [[ 9.99125993e-01 -5.07350950e-04 -4.17970460e-02 -1.42422418e+00] [ 2.22384039e-04 9.99976704e-01 -6.82223945e-03 2.56397485e-01] [ 4.17995336e-02 6.80698177e-03 9.99102830e-01 -2.71137222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95313336499999 meters Centerline goodness : 0.096957 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.26, Z:-0.27 [[ 9.99155318e-01 -1.05671170e-03 -4.10796083e-02 -1.42644915e+00] [ 7.63510203e-04 9.99974130e-01 -7.15243149e-03 2.56634298e-01] [ 4.10861036e-02 7.11502526e-03 9.99130276e-01 -2.70221558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.983133365 meters Centerline goodness : 0.124023 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.26, Z:-0.27 [[ 9.99162217e-01 -1.21327425e-03 -4.09071170e-02 -1.42706518e+00] [ 9.18331305e-04 9.99973455e-01 -7.22808446e-03 2.56478988e-01] [ 4.09148008e-02 7.18446261e-03 9.99136809e-01 -2.69817737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 248.043133365 meters Centerline goodness : 0.120405 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.26, Z:-0.27 [[ 9.99157895e-01 -1.51275450e-03 -4.10026026e-02 -1.42703819e+00] [ 1.21295179e-03 9.99972358e-01 -7.33568855e-03 2.56156196e-01] [ 4.10125663e-02 7.27977694e-03 9.99132111e-01 -2.69358920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 248.103133365 meters Centerline goodness : 0.118354 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.25, Z:-0.27 [[ 0.99913422 -0.00176545 -0.04156547 -1.42562905] [ 0.0014644 0.99997249 -0.00727215 0.25488579] [ 0.04157716 0.00720498 0.99910932 -0.26932817] [ 0. 0. 0. 1. ]] SLAMing on 248.133133365 meters Centerline goodness : 0.189733 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911597 -0.00244402 -0.04196796 -1.42429248] [ 0.00213229 0.99996982 -0.00747092 0.252711 ] [ 0.04198495 0.00737483 0.99909102 -0.26973316] [ 0. 0. 0. 1. ]] SLAMing on 248.163133365 meters Centerline goodness : 0.116008 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911567 -0.00244821 -0.04197488 -1.42426305] [ 0.00214654 0.99997156 -0.00723056 0.2509467 ] [ 0.04199139 0.00713407 0.9990925 -0.26967831] [ 0. 0. 0. 1. ]] SLAMing on 248.193133365 meters Centerline goodness : 0.261845 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911694 -0.00241191 -0.04194657 -1.42436294] [ 0.00212021 0.99997327 -0.006997 0.24950473] [ 0.04196232 0.00690189 0.99909535 -0.2695811 ] [ 0. 0. 0. 1. ]] SLAMing on 248.223133365 meters Centerline goodness : 0.195413 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99911734 -0.00233629 -0.04194152 -1.42446851] [ 0.00205579 0.99997524 -0.00672979 0.24813675] [ 0.04195621 0.00663762 0.9990974 -0.26935443] [ 0. 0. 0. 1. ]] SLAMing on 248.253133365 meters Centerline goodness : 0.112774 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 0.99910331 -0.00208781 -0.04228727 -1.42347723] [ 0.00182744 0.99997914 -0.00619494 0.2458086 ] [ 0.04229932 0.0061121 0.99908629 -0.26952652] [ 0. 0. 0. 1. ]] SLAMing on 248.283133365 meters Centerline goodness : 0.107694 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 0.99910078 -0.00200182 -0.0423511 -1.4230393 ] [ 0.00175216 0.99998088 -0.00593119 0.24423966] [ 0.04236216 0.00585165 0.99908518 -0.26990556] [ 0. 0. 0. 1. ]] SLAMing on 248.313133365 meters Centerline goodness : 0.117177 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 0.99910006 -0.00198844 -0.04236886 -1.42281794] [ 0.0017513 0.9999826 -0.00563341 0.24193322] [ 0.04237932 0.00555414 0.99908615 -0.27006498] [ 0. 0. 0. 1. ]] SLAMing on 248.343133365 meters Centerline goodness : 0.156537 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 0.9991007 -0.00191474 -0.04235715 -1.42270312] [ 0.0016975 0.99998522 -0.00516428 0.23883557] [ 0.04236642 0.00508774 0.99908919 -0.27021073] [ 0. 0. 0. 1. ]] SLAMing on 248.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 248.40313336499997 meters Centerline goodness : 0.163874 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.23, Z:-0.27 [[ 0.99910621 -0.00415328 -0.04206584 -1.42458357] [ 0.00391381 0.99997567 -0.0057736 0.22683705] [ 0.0420888 0.0056038 0.99909816 -0.26865465] [ 0. 0. 0. 1. ]] SLAMing on 248.43313336499997 meters Centerline goodness : 0.094798 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.22, Z:-0.27 [[ 0.99916687 -0.00521797 -0.04047634 -1.38134439] [ 0.00500544 0.99997316 -0.00535024 0.2236088 ] [ 0.04050318 0.00514318 0.99916617 -0.26717545] [ 0. 0. 0. 1. ]] SLAMing on 248.46313336499998 meters Centerline goodness : 0.123401 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.22, Z:-0.27 [[ 0.9991825 -0.00516562 -0.04009554 -1.38215321] [ 0.00497794 0.99997619 -0.00477924 0.21994992] [ 0.04011927 0.00457574 0.99918442 -0.26717273] [ 0. 0. 0. 1. ]] SLAMing on 248.49313336499998 meters Centerline goodness : 0.127872 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 0.99910617 -0.00537921 -0.04192758 -1.42754761] [ 0.00516356 0.99997289 -0.00524999 0.21398933] [ 0.04195468 0.0050288 0.99910686 -0.26816294] [ 0. 0. 0. 1. ]] SLAMing on 248.52313336499998 meters Centerline goodness : 0.101783 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 0.9990998 -0.00511396 -0.04211225 -1.42670358] [ 0.00493629 0.99997848 -0.00432185 0.20894307] [ 0.04213344 0.00411008 0.99910354 -0.26859768] [ 0. 0. 0. 1. ]] SLAMing on 248.55313336499998 meters Centerline goodness : 0.109406 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 0.99909884 -0.00498136 -0.04215088 -1.42656474] [ 0.00482394 0.99998101 -0.00383572 0.20617117] [ 0.04216918 0.00362893 0.99910389 -0.26861626] [ 0. 0. 0. 1. ]] SLAMing on 248.58313336499998 meters Centerline goodness : 0.096276 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99910732 -0.00491236 -0.04195752 -1.42722214] [ 0.00477785 0.99998312 -0.00330553 0.20283511] [ 0.04197305 0.00310212 0.99911393 -0.26822026] [ 0. 0. 0. 1. ]] SLAMing on 248.61313336499998 meters Centerline goodness : 0.150352 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99912316 -0.00487182 -0.04158337 -1.42838708] [ 0.00476159 0.99998488 -0.00274943 0.19920119] [ 0.04159613 0.00254902 0.99913125 -0.26766828] [ 0. 0. 0. 1. ]] SLAMing on 248.64313336499998 meters Centerline goodness : 0.150391 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99913743 -0.00478658 -0.04124902 -1.42936359] [ 0.00470187 0.99998663 -0.00215026 0.19557157] [ 0.04125876 0.00195446 0.99914658 -0.26731049] [ 0. 0. 0. 1. ]] SLAMing on 248.67313336499998 meters Centerline goodness : 0.109658 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.19, Z:-0.27 [[ 0.99921658 0.00232225 -0.03950729 -1.44839759] [-0.00244845 0.99999205 -0.00314627 0.18569065] [ 0.03949967 0.00324053 0.99921433 -0.27009781] [ 0. 0. 0. 1. ]] SLAMing on 248.70313336499999 meters Centerline goodness : 0.154727 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99223038e-01 -1.39783596e-03 -3.93873761e-02 -1.44850482e+00] [ 1.15849366e-03 9.99980731e-01 -6.09879342e-03 1.80812605e-01] [ 3.93951423e-02 6.04842486e-03 9.99205404e-01 -2.70274994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.733133365 meters Centerline goodness : 0.182978 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99219566e-01 -1.26657675e-03 -3.94797921e-02 -1.44816579e+00] [ 1.04573224e-03 9.99983695e-01 -5.61401074e-03 1.77882468e-01] [ 3.94862589e-02 5.56834409e-03 9.99204598e-01 -2.70410933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.763133365 meters Centerline goodness : 0.098537 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99206222e-01 -1.10603245e-03 -3.98208747e-02 -1.44723633e+00] [ 8.97732200e-04 9.99985824e-01 -5.24843244e-03 1.75940158e-01] [ 3.98261151e-02 5.20851787e-03 9.99193050e-01 -2.70570920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.793133365 meters Centerline goodness : 0.098537 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99206222e-01 -1.10603245e-03 -3.98208747e-02 -1.44723633e+00] [ 8.97732200e-04 9.99985824e-01 -5.24843244e-03 1.75940158e-01] [ 3.98261151e-02 5.20851787e-03 9.99193050e-01 -2.70570920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.823133365 meters Centerline goodness : 0.132855 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99197497e-01 -9.43669982e-04 -4.00433740e-02 -1.44649646e+00] [ 7.43186281e-04 9.99987117e-01 -5.02125403e-03 1.75162191e-01] [ 4.00475966e-02 4.98746477e-03 9.99185326e-01 -2.70890203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.853133365 meters Centerline goodness : 0.042296 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99194409e-01 -8.19266940e-04 -4.01230901e-02 -1.44616734e+00] [ 6.23285715e-04 9.99987817e-01 -4.89676535e-03 1.74822277e-01] [ 4.01266130e-02 4.86781241e-03 9.99182746e-01 -2.71123670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.883133365 meters Centerline goodness : 0.099331 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99192637e-01 -7.33885874e-04 -4.01688339e-02 -1.44605579e+00] [ 5.37861038e-04 9.99987896e-01 -4.89061254e-03 1.75006002e-01] [ 4.01719368e-02 4.86505879e-03 9.99180938e-01 -2.71212890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.913133365 meters Centerline goodness : 0.107557 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99184558e-01 -5.64700271e-04 -4.03720155e-02 -1.44537520e+00] [ 3.67025076e-04 9.99987910e-01 -4.90358612e-03 1.75232308e-01] [ 4.03742965e-02 4.88476999e-03 9.99172685e-01 -2.71616842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.943133365 meters Centerline goodness : 0.160994 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99181891e-01 -4.79284029e-04 -4.04390729e-02 -1.44516942e+00] [ 2.80246305e-04 9.99987821e-01 -4.92744132e-03 1.75612625e-01] [ 4.04409420e-02 4.91207724e-03 9.99169856e-01 -2.71776829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.973133365 meters Centerline goodness : 0.310160 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99181399e-01 -4.71466381e-04 -4.04513122e-02 -1.44502036e+00] [ 2.69254727e-04 9.99987443e-01 -5.00419233e-03 1.76059708e-01] [ 4.04531636e-02 4.98920418e-03 9.99168979e-01 -2.72023279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.003133365 meters Centerline goodness : 0.105787 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.18, Z:-0.27 [[ 9.99179607e-01 -4.75449023e-04 -4.04955231e-02 -1.44475125e+00] [ 2.69450066e-04 9.99986998e-01 -5.09226241e-03 1.76536013e-01] [ 4.04974177e-02 5.07717323e-03 9.99166744e-01 -2.72321180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.093133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.15313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.18313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.21313336499998 meters Centerline goodness : 0.233890 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 0.99918961 0.00331256 -0.04011425 -1.44566836] [-0.00340453 0.99999173 -0.00222448 0.18217753] [ 0.04010655 0.00235924 0.99919262 -0.27250259] [ 0. 0. 0. 1. ]] SLAMing on 249.24313336499998 meters Centerline goodness : 0.095174 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.19, Z:-0.27 [[ 9.99197073e-01 -5.09274378e-03 -3.97400667e-02 -1.42645821e+00] [ 5.04950942e-03 9.99986545e-01 -1.18822699e-03 1.85746451e-01] [ 3.97455833e-02 9.86605092e-04 9.99209345e-01 -2.70395458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27313336499998 meters Centerline goodness : 0.097030 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 9.99200176e-01 -5.04996003e-03 -3.96674424e-02 -1.42690303e+00] [ 5.01811603e-03 9.99987002e-01 -9.02301018e-04 1.84186818e-01] [ 3.96714834e-02 7.02523508e-04 9.99212530e-01 -2.69925305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30313336499998 meters Centerline goodness : 0.188133 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 9.99206661e-01 -4.95466594e-03 -3.95158104e-02 -1.42747853e+00] [ 4.93887171e-03 9.99987680e-01 -4.97304329e-04 1.82164738e-01] [ 3.95177875e-02 3.01746281e-04 9.99218822e-01 -2.69530465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33313336499998 meters Centerline goodness : 0.206021 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.17, Z:-0.27 [[ 9.99169962e-01 -6.66818016e-03 -4.01860982e-02 -1.47493934e+00] [ 6.62131960e-03 9.99977235e-01 -1.29907365e-03 1.74622437e-01] [ 4.01938458e-02 1.03191037e-03 9.99191368e-01 -2.69645555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36313336499998 meters Centerline goodness : 0.090260 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 0.99922159 -0.00166291 -0.03941376 -1.45261575] [ 0.00148811 0.99998893 -0.00446391 0.17165635] [ 0.03942074 0.00440178 0.99921301 -0.26901015] [ 0. 0. 0. 1. ]] SLAMing on 249.39313336499998 meters Centerline goodness : 0.091103 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 0.9992213 -0.00163362 -0.03942248 -1.45258156] [ 0.00146874 0.99999005 -0.0042111 0.16989612] [ 0.03942897 0.00414992 0.99921376 -0.26899526] [ 0. 0. 0. 1. ]] SLAMing on 249.42313336499998 meters Centerline goodness : 0.154706 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99214322e-01 -1.54511861e-03 -3.96024236e-02 -1.45219230e+00] [ 1.38677395e-03 9.99990936e-01 -4.02551672e-03 1.69014483e-01] [ 3.96082846e-02 3.96743435e-03 9.99207408e-01 -2.68933428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45313336499999 meters Centerline goodness : 0.135438 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99207669e-01 -1.45954507e-03 -3.97731473e-02 -1.45169081e+00] [ 1.30112550e-03 9.99991119e-01 -4.00867264e-03 1.69351044e-01] [ 3.97786449e-02 3.95374659e-03 9.99200694e-01 -2.69112026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.483133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.513133365 meters Centerline goodness : 0.233667 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99197419e-01 -4.20198255e-04 -4.00542335e-02 -1.45071876e+00] [ 2.64011654e-04 9.99992342e-01 -3.90458785e-03 1.73560013e-01] [ 4.00555675e-02 3.89087931e-03 9.99189878e-01 -2.69819274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.603133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.663133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.843133365 meters Centerline goodness : 0.150473 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99170069e-01 -5.43007631e-04 -4.07293406e-02 -1.44835767e+00] [ 3.45357983e-04 9.99988132e-01 -4.85963740e-03 1.79084900e-01] [ 4.07314960e-02 4.84153803e-03 9.99158398e-01 -2.71309621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.90313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.93313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 249.96313336499998 meters Centerline goodness : 0.340389 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.17, Z:-0.27 [[ 0.99912782 0.00852321 -0.04087722 -1.4693161 ] [-0.00874824 0.99994753 -0.00532948 0.1742294 ] [ 0.04082965 0.00568244 0.99914996 -0.27352871] [ 0. 0. 0. 1. ]] SLAMing on 249.99313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.02313336499998 meters Centerline goodness : 0.161643 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 0.99909574 0.00358587 -0.0423657 -1.4491506 ] [-0.00368816 0.99999047 -0.00233655 0.18056224] [ 0.04235692 0.00249069 0.99909944 -0.27216522] [ 0. 0. 0. 1. ]] SLAMing on 250.05313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.08313336499998 meters Centerline goodness : 0.109313 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 0.99910312 0.00355214 -0.04219413 -1.44981621] [-0.00365747 0.99999038 -0.00241956 0.18092712] [ 0.04218513 0.00257171 0.9991065 -0.27185498] [ 0. 0. 0. 1. ]] SLAMing on 250.11313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.14313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.17313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.20313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.233133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.263133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.293133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.353133365 meters Centerline goodness : 0.158501 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.19, Z:-0.27 [[ 9.99053532e-01 8.27497249e-03 -4.27032263e-02 -1.44879932e+00] [-8.26814685e-03 9.99965762e-01 3.36458394e-04 1.93588820e-01] [ 4.27045484e-02 1.69365993e-05 9.99087745e-01 -2.72245848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.383133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.413133365 meters Centerline goodness : 0.114360 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 9.99134320e-01 1.06491657e-03 -4.15869738e-02 -1.43347939e+00] [-9.96328741e-04 9.99998109e-01 1.66995354e-03 2.04180000e-01] [ 4.15886736e-02 -1.62707359e-03 9.99133492e-01 -2.69175302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.443133365 meters Centerline goodness : 0.129639 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99135492e-01 9.78843311e-04 -4.15609314e-02 -1.43379839e+00] [-9.23674127e-04 9.99998667e-01 1.34661091e-03 2.06145693e-01] [ 4.15621941e-02 -1.30705800e-03 9.99135064e-01 -2.68917653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.473133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.503133365 meters Centerline goodness : 0.159674 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99141696e-01 6.35280712e-04 -4.14181957e-02 -1.43405377e+00] [-6.16818764e-04 9.99999705e-01 4.58522589e-04 2.10899956e-01] [ 4.14184748e-02 -4.32581518e-04 9.99141793e-01 -2.69199726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.533133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.563133365 meters Centerline goodness : 0.184090 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99147145e-01 4.45257300e-04 -4.12890379e-02 -1.43430216e+00] [-4.39733178e-04 9.99999893e-01 1.42873341e-04 2.12155220e-01] [ 4.12890971e-02 -1.24595331e-04 9.99147234e-01 -2.69311260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.593133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.623133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.65313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.68313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.71313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.74313336499998 meters Centerline goodness : 0.236582 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99127805e-01 2.54135073e-04 -4.17560092e-02 -1.43301081e+00] [-2.33109220e-04 9.99999844e-01 5.08408978e-04 2.08659448e-01] [ 4.17561318e-02 -4.98231835e-04 9.99127708e-01 -2.69365681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.80313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.83313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.86313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.89313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.92313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 250.95313336499999 meters Centerline goodness : 0.130942 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99145455e-01 1.11474164e-03 -4.13172629e-02 -1.43499687e+00] [-1.06701030e-03 9.99998738e-01 1.17727401e-03 2.07887288e-01] [ 4.13185231e-02 -1.13218203e-03 9.99145384e-01 -2.68245808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.043133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.103133365 meters Centerline goodness : 0.120587 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99129288e-01 8.99446122e-04 -4.17115906e-02 -1.43386092e+00] [-8.66190118e-04 9.99999292e-01 8.15350581e-04 2.09017640e-01] [ 4.17122945e-02 -7.78510478e-04 9.99129360e-01 -2.68587062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.133133365 meters Centerline goodness : 0.160521 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.21, Z:-0.27 [[ 9.99134663e-01 7.86506476e-04 -4.15849364e-02 -1.43445540e+00] [-7.60923525e-04 9.99999511e-01 6.31022290e-04 2.09639033e-01] [ 4.15854124e-02 -5.98833286e-04 9.99134773e-01 -2.68193286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.163133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.223133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.283133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.343133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.40313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.43313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.49313336499998 meters Centerline goodness : 0.106860 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.23, Z:-0.27 [[ 0.99902034 0.01684909 -0.04092028 -1.41377566] [-0.01668618 0.99985145 0.00431953 0.22667523] [ 0.04098698 -0.00363249 0.99915308 -0.26576387] [ 0. 0. 0. 1. ]] SLAMing on 251.52313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.55313336499998 meters Centerline goodness : 0.131542 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.23, Z:-0.27 [[ 0.99901796 0.01676786 -0.04101162 -1.41382569] [-0.01663238 0.99985504 0.00364235 0.2306765 ] [ 0.04106675 -0.00295665 0.99915203 -0.26572578] [ 0. 0. 0. 1. ]] SLAMing on 251.58313336499998 meters Centerline goodness : 0.133567 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.24, Z:-0.27 [[ 0.99917136 0.00892872 -0.03970996 -1.43637877] [-0.00877237 0.99995308 0.00410963 0.23687169] [ 0.03974479 -0.00375788 0.9992028 -0.26726361] [ 0. 0. 0. 1. ]] SLAMing on 251.61313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.64313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.67313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 251.70313336499999 meters Centerline goodness : 0.294258 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.25, Z:-0.27 [[ 9.99167103e-01 -5.13234860e-04 -4.08024211e-02 -1.41508026e+00] [ 6.64096251e-04 9.99992994e-01 3.68389569e-03 2.45370542e-01] [ 4.08002445e-02 -3.70792412e-03 9.99160443e-01 -2.65965658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.733133365 meters Centerline goodness : 0.330666 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 9.99190047e-01 -8.63472139e-04 -4.02306309e-02 -1.41673236e+00] [ 1.01434689e-03 9.99992529e-01 3.72998446e-03 2.43906322e-01] [ 4.02271096e-02 -3.76777117e-03 9.99183458e-01 -2.65321229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.763133365 meters Centerline goodness : 0.043160 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 9.99186064e-01 -7.83190953e-04 -4.03310692e-02 -1.41643524e+00] [ 9.44819419e-04 9.99991599e-01 3.98863769e-03 2.42823983e-01] [ 4.03276065e-02 -4.02349677e-03 9.99178410e-01 -2.65299349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.793133365 meters Centerline goodness : 0.107513 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.27 [[ 9.99171837e-01 -7.85201600e-04 -4.06819859e-02 -1.41534096e+00] [ 9.52779386e-04 9.99991141e-01 4.09998878e-03 2.42127323e-01] [ 4.06784061e-02 -4.13535427e-03 9.99163733e-01 -2.65612272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.823133365 meters Centerline goodness : 0.104464 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.27 [[ 9.99124224e-01 -1.25594579e-03 -4.18235205e-02 -1.41226193e+00] [ 1.41773038e-03 9.99991627e-01 3.83883264e-03 2.41307648e-01] [ 4.18183490e-02 -3.89476516e-03 9.99117639e-01 -2.66079779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.853133365 meters Centerline goodness : 0.098902 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.27 [[ 9.99128526e-01 -1.29321816e-03 -4.17194994e-02 -1.41287806e+00] [ 1.45801741e-03 9.99991254e-01 3.91998799e-03 2.40592813e-01] [ 4.17140651e-02 -3.97739957e-03 9.99121673e-01 -2.65461539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.883133365 meters Centerline goodness : 0.042037 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.26 [[ 9.99145128e-01 -1.27401365e-03 -4.13205814e-02 -1.41453427e+00] [ 1.44567112e-03 9.99990449e-01 4.12467017e-03 2.39654038e-01] [ 4.13149318e-02 -4.18088007e-03 9.99137426e-01 -2.64345084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.913133365 meters Centerline goodness : 0.043254 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.26 [[ 9.99161225e-01 -1.27415411e-03 -4.09294810e-02 -1.41587049e+00] [ 1.45290750e-03 9.99989536e-01 4.33790166e-03 2.38441776e-01] [ 4.09235256e-02 -4.39372989e-03 9.99152621e-01 -2.63622280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.943133365 meters Centerline goodness : 0.232735 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.24, Z:-0.26 [[ 9.99162865e-01 -1.34878473e-03 -4.08870289e-02 -1.41583226e+00] [ 1.53201050e-03 9.99988924e-01 4.45026748e-03 2.37258056e-01] [ 4.08805736e-02 -4.50918137e-03 9.99153865e-01 -2.63699377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.973133365 meters Centerline goodness : 0.100011 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.24, Z:-0.26 [[ 0.99914255 -0.00148154 -0.04137597 -1.41431506] [ 0.00167018 0.99998837 0.00452491 0.23570356] [ 0.04136879 -0.00459013 0.9991334 -0.2641264 ] [ 0. 0. 0. 1. ]] SLAMing on 252.003133365 meters Centerline goodness : 0.104067 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.23, Z:-0.26 [[ 0.99911698 -0.00161745 -0.04198384 -1.41241387] [ 0.00181393 0.99998758 0.00464225 0.23396204] [ 0.04197581 -0.00471431 0.9991075 -0.26470883] [ 0. 0. 0. 1. ]] SLAMing on 252.033133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.093133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.15313336499997 meters Centerline goodness : 0.088367 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.21, Z:-0.26 [[ 0.99913137 -0.0075319 -0.040985 -1.41534261] [ 0.00761102 0.99996946 0.00177481 0.21263519] [ 0.04097038 -0.0020852 0.99915819 -0.26292514] [ 0. 0. 0. 1. ]] SLAMing on 252.18313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.21313336499998 meters Centerline goodness : 0.083677 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.26 [[ 0.99912849 -0.00713928 -0.04112537 -1.41432495] [ 0.00724885 0.99997056 0.00251566 0.2095421 ] [ 0.0411062 -0.00281158 0.99915083 -0.26385169] [ 0. 0. 0. 1. ]] SLAMing on 252.24313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.27313336499998 meters Centerline goodness : 0.100121 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.26 [[ 0.99913161 -0.00688873 -0.04109222 -1.41386987] [ 0.00701524 0.99997108 0.00293531 0.20707484] [ 0.04107081 -0.00322103 0.99915105 -0.26461081] [ 0. 0. 0. 1. ]] SLAMing on 252.30313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.36313336499998 meters Centerline goodness : 0.161424 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.27 [[ 0.99910177 -0.00655787 -0.04186467 -1.41170085] [ 0.00669938 0.99997231 0.00324079 0.20567453] [ 0.04184226 -0.00351834 0.99911803 -0.26522007] [ 0. 0. 0. 1. ]] SLAMing on 252.39313336499998 meters Centerline goodness : 0.093940 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.21, Z:-0.27 [[ 0.99910439 -0.00648066 -0.04181408 -1.41186684] [ 0.00662631 0.99997245 0.00334559 0.20518286] [ 0.04179125 -0.00361966 0.99911981 -0.26521773] [ 0. 0. 0. 1. ]] SLAMing on 252.42313336499998 meters Centerline goodness : 0.097940 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.20, Z:-0.26 [[ 0.99911668 -0.00639346 -0.04153299 -1.41275142] [ 0.00654351 0.99997254 0.00347794 0.20460288] [ 0.04150962 -0.00374663 0.99913108 -0.26493178] [ 0. 0. 0. 1. ]] SLAMing on 252.45313336499999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.483133365 meters Centerline goodness : 0.134814 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99914798 0.00266215 -0.04118531 -1.43384149] [-0.00254433 0.99999252 0.002913 0.19972661] [ 0.04119276 -0.00280573 0.99914728 -0.26657607] [ 0. 0. 0. 1. ]] SLAMing on 252.513133365 meters Centerline goodness : 0.138004 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99913547 0.00263489 -0.04148935 -1.4329948 ] [-0.00252429 0.99999312 0.00271798 0.2007717 ] [ 0.04149622 -0.0026109 0.99913525 -0.2668771 ] [ 0. 0. 0. 1. ]] SLAMing on 252.543133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.573133365 meters Centerline goodness : 0.147039 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99911701 0.0026032 -0.04193359 -1.43228098] [-0.00250589 0.99999404 0.00237305 0.2031078 ] [ 0.04193952 -0.00226587 0.99911758 -0.26654825] [ 0. 0. 0. 1. ]] SLAMing on 252.603133365 meters Centerline goodness : 0.147039 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99911701 0.0026032 -0.04193359 -1.43228098] [-0.00250589 0.99999404 0.00237305 0.2031078 ] [ 0.04193952 -0.00226587 0.99911758 -0.26654825] [ 0. 0. 0. 1. ]] SLAMing on 252.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.663133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.723133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.753133365 meters Centerline goodness : 0.107916 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.21, Z:-0.27 [[ 0.99928762 -0.00540491 -0.03735033 -1.45826224] [ 0.00547883 0.99998323 0.00187709 0.2109487 ] [ 0.03733956 -0.00208039 0.99930047 -0.26668475] [ 0. 0. 0. 1. ]] SLAMing on 252.783133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.843133365 meters Centerline goodness : 0.085885 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.99479190e-01 -2.52613168e-03 -3.21709235e-02 -1.43800535e+00] [ 2.49655049e-03 9.99996423e-01 -9.59636317e-04 2.10133342e-01] [ 3.21732326e-02 8.78820194e-04 9.99481921e-01 -2.65734851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.873133365 meters Centerline goodness : 0.097469 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.99480625e-01 -2.46794765e-03 -3.21308291e-02 -1.43809188e+00] [ 2.44884463e-03 9.99996801e-01 -6.33876985e-04 2.08065067e-01] [ 3.21322906e-02 5.54864357e-04 9.99483471e-01 -2.65658744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90313336499997 meters Centerline goodness : 0.104023 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.21, Z:-0.27 [[ 9.99479375e-01 -2.33883888e-03 -3.21793104e-02 -1.43779233e+00] [ 2.33283310e-03 9.99997254e-01 -2.24177951e-04 2.05893468e-01] [ 3.21797463e-02 1.48992278e-04 9.99482087e-01 -2.65848599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93313336499997 meters Centerline goodness : 0.248144 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.20, Z:-0.27 [[ 9.99477867e-01 -2.19078590e-03 -3.22365237e-02 -1.43720562e+00] [ 2.19861016e-03 9.99997562e-01 2.07269044e-04 2.03660165e-01] [ 3.22359910e-02 -2.78036370e-04 9.99480247e-01 -2.66466847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 252.99313336499998 meters Centerline goodness : 0.214198 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.20, Z:-0.27 [[ 0.99945353 -0.00551519 -0.03259186 -1.43497221] [ 0.00544517 0.99998267 -0.00223665 0.19713877] [ 0.03260363 0.00205796 0.99946624 -0.26807838] [ 0. 0. 0. 1. ]] SLAMing on 253.02313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.05313336499998 meters Centerline goodness : 0.449095 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.19, Z:-0.27 [[ 9.99434296e-01 -5.15490937e-03 -3.32342449e-02 -1.43283511e+00] [ 5.11413356e-03 9.99986062e-01 -1.31181102e-03 1.92406130e-01] [ 3.32405439e-02 1.14110455e-03 9.99446729e-01 -2.68879386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.11313336499998 meters Centerline goodness : 0.097543 Centerline is valid? [False, False] Translation: X:-1.41, Y:0.18, Z:-0.27 [[ 0.99941485 0.00241735 -0.03411898 -1.41259867] [-0.00247902 0.99999537 -0.00176546 0.18228128] [ 0.03411455 0.00184901 0.99941622 -0.26702011] [ 0. 0. 0. 1. ]] SLAMing on 253.14313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.17313336499998 meters Centerline goodness : 0.097558 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.18, Z:-0.27 [[ 9.99346703e-01 3.96067389e-03 -3.59232438e-02 -1.45785132e+00] [-3.99137106e-03 9.99991728e-01 -7.82846333e-04 1.75982748e-01] [ 3.59198460e-02 9.25717898e-04 9.99354245e-01 -2.67981168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20313336499999 meters Centerline goodness : 0.093393 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99346720e-01 4.04019049e-03 -3.59139323e-02 -1.45757022e+00] [-4.06516983e-03 9.99991543e-01 -6.22538627e-04 1.74952324e-01] [ 3.59111135e-02 7.68128169e-04 9.99354693e-01 -2.68501089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.233133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.263133365 meters Centerline goodness : 0.094370 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99337720e-01 4.13985300e-03 -3.61522121e-02 -1.45667967e+00] [-4.15450945e-03 9.99991315e-01 -3.30296665e-04 1.72546827e-01] [ 3.61505307e-02 4.80272623e-04 9.99346241e-01 -2.69054806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.293133365 meters Centerline goodness : 0.098466 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99325770e-01 4.40530018e-03 -3.64499545e-02 -1.45592010e+00] [-4.39890269e-03 9.99990292e-01 2.55709587e-04 1.69499340e-01] [ 3.64507271e-02 -9.51973773e-05 9.99335447e-01 -2.69123101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.353133365 meters Centerline goodness : 0.094589 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99331451e-01 4.65078980e-03 -3.62632124e-02 -1.45620130e+00] [-4.62153524e-03 9.99988924e-01 8.90510396e-04 1.66001932e-01] [ 3.62669523e-02 -7.22323333e-04 9.99341877e-01 -2.69294972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.383133365 meters Centerline goodness : 0.445479 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99941478 -0.00337406 -0.03404001 -1.43793765] [ 0.00345327 0.99999146 0.00226843 0.16694327] [ 0.03403206 -0.00238465 0.9994179 -0.26810905] [ 0. 0. 0. 1. ]] SLAMing on 253.413133365 meters Centerline goodness : 0.142327 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99941674 -0.00328124 -0.03399131 -1.4380368 ] [ 0.00336853 0.99999117 0.00251094 0.16568932] [ 0.03398278 -0.00262398 0.99941897 -0.26810895] [ 0. 0. 0. 1. ]] SLAMing on 253.443133365 meters Centerline goodness : 0.103264 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99941246 -0.00319696 -0.03412504 -1.43758037] [ 0.00329021 0.999991 0.00267692 0.16497571] [ 0.03411617 -0.00278762 0.99941399 -0.26833028] [ 0. 0. 0. 1. ]] SLAMing on 253.473133365 meters Centerline goodness : 0.444088 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99940818 -0.00310231 -0.03425891 -1.43710091] [ 0.00319975 0.99999099 0.00278973 0.16484017] [ 0.03424994 -0.0028977 0.9994091 -0.26859611] [ 0. 0. 0. 1. ]] SLAMing on 253.503133365 meters Centerline goodness : 0.187635 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99940292 -0.00300063 -0.034421 -1.43656649] [ 0.00309917 0.99999125 0.00280964 0.16541516] [ 0.03441227 -0.00291464 0.99940347 -0.26887665] [ 0. 0. 0. 1. ]] SLAMing on 253.533133365 meters Centerline goodness : 0.097077 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99940357 -0.00303506 -0.03439895 -1.43646931] [ 0.00312646 0.99999172 0.0026035 0.16679421] [ 0.03439076 -0.0027095 0.99940479 -0.26916394] [ 0. 0. 0. 1. ]] SLAMing on 253.563133365 meters Centerline goodness : 0.194088 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99940454 -0.00314324 -0.03436099 -1.43654778] [ 0.0032218 0.99999232 0.00223092 0.16871114] [ 0.03435372 -0.00234029 0.999407 -0.26932271] [ 0. 0. 0. 1. ]] SLAMing on 253.593133365 meters Centerline goodness : 0.443587 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99941293 -0.003277 -0.03410353 -1.4374127 ] [ 0.00333107 0.99999328 0.00152877 0.17272339] [ 0.03409829 -0.00164147 0.99941714 -0.26927496] [ 0. 0. 0. 1. ]] SLAMing on 253.623133365 meters Centerline goodness : 0.091415 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 9.99421810e-01 -3.30294299e-03 -3.38398596e-02 -1.43835365e+00] [ 3.35086030e-03 9.99993462e-01 1.35938717e-03 1.74093429e-01] [ 3.38351484e-02 -1.47199383e-03 9.99426343e-01 -2.68880216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65313336499997 meters Centerline goodness : 0.445323 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 9.99429469e-01 -3.24909296e-03 -3.36181584e-02 -1.43916517e+00] [ 3.29841900e-03 9.99993563e-01 1.41188901e-03 1.74376857e-01] [ 3.36133547e-02 -1.52197025e-03 9.99433753e-01 -2.68450487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68313336499997 meters Centerline goodness : 0.190908 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99947909 0.00176352 -0.0322249 -1.46121052] [-0.00182342 0.99999666 -0.00182949 0.16827163] [ 0.03222157 0.0018873 0.99947897 -0.26932488] [ 0. 0. 0. 1. ]] SLAMing on 253.71313336499998 meters Centerline goodness : 0.095607 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99947327 0.00165737 -0.03241028 -1.4607368 ] [-0.00171421 0.99999704 -0.00172588 0.16687755] [ 0.03240733 0.00178053 0.99947316 -0.26929931] [ 0. 0. 0. 1. ]] SLAMing on 253.74313336499998 meters Centerline goodness : 0.132248 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99946037 0.0016195 -0.03280763 -1.45967831] [-0.00166977 0.99999747 -0.0015048 0.16508984] [ 0.03280511 0.00155877 0.99946055 -0.26940019] [ 0. 0. 0. 1. ]] SLAMing on 253.77313336499998 meters Centerline goodness : 0.095581 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99455000e-01 1.72939090e-03 -3.29653206e-02 -1.45923023e+00] [-1.76783770e-03 9.99997791e-01 -1.13716926e-03 1.63157227e-01] [ 3.29632812e-02 1.19482684e-03 9.99455849e-01 -2.69390323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.83313336499998 meters Centerline goodness : 0.252843 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99482203e-01 1.78255896e-03 -3.21270702e-02 -1.46153322e+00] [-1.80424428e-03 9.99998164e-01 -6.46008402e-04 1.60324812e-01] [ 3.21258597e-02 7.03638984e-04 9.99483584e-01 -2.68687807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.89313336499998 meters Centerline goodness : 0.098791 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99471617e-01 1.79150196e-03 -3.24542395e-02 -1.46008945e+00] [-1.81453367e-03 9.99998122e-01 -6.80228590e-04 1.59986575e-01] [ 3.24529599e-02 7.38758479e-04 9.99472991e-01 -2.69773868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 253.95313336499999 meters Centerline goodness : 0.133236 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99925678 0.0103148 -0.0371415 -1.47423545] [-0.01038423 0.99994468 -0.00167694 0.15876348] [ 0.03712215 0.00206138 0.99930861 -0.2735913 ] [ 0. 0. 0. 1. ]] SLAMing on 253.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.013133365 meters Centerline goodness : 0.126829 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99365620e-01 2.80608879e-03 -3.55032785e-02 -1.45632766e+00] [-2.81368731e-03 9.99996028e-01 -1.64061299e-04 1.63085829e-01] [ 3.55026771e-02 2.63852346e-04 9.99369546e-01 -2.71628572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.043133365 meters Centerline goodness : 0.123077 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99371231e-01 2.86593552e-03 -3.53401853e-02 -1.45708869e+00] [-2.86425700e-03 9.99995893e-01 9.81238370e-05 1.61522149e-01] [ 3.53403214e-02 3.16123327e-06 9.99375336e-01 -2.70990699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.073133365 meters Centerline goodness : 0.128318 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99370906e-01 2.86987736e-03 -3.53490497e-02 -1.45707683e+00] [-2.86001105e-03 9.99995856e-01 3.29673178e-04 1.59737765e-01] [ 3.53498493e-02 -2.28367110e-04 9.99374973e-01 -2.70907573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.103133365 meters Centerline goodness : 0.129189 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 9.99367910e-01 2.86108323e-03 -3.54343697e-02 -1.45691100e+00] [-2.84456171e-03 9.99995821e-01 5.16661846e-04 1.58269613e-01] [ 3.54356999e-02 -4.15540018e-04 9.99371872e-01 -2.70782131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.133133365 meters Centerline goodness : 0.127846 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99942851 -0.00475845 -0.0334666 -1.43859352] [ 0.00483557 0.99998584 0.00222396 0.16117828] [ 0.03345554 -0.00238452 0.99943736 -0.26881952] [ 0. 0. 0. 1. ]] SLAMing on 254.163133365 meters Centerline goodness : 0.395221 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99944373 -0.00461663 -0.03302918 -1.44015403] [ 0.00470175 0.99998582 0.00249991 0.16033373] [ 0.03301717 -0.00265382 0.99945126 -0.26800718] [ 0. 0. 0. 1. ]] SLAMing on 254.193133365 meters Centerline goodness : 0.106019 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99945452 -0.00452441 -0.03271376 -1.44119113] [ 0.00461552 0.99998568 0.00271013 0.15954897] [ 0.03270102 -0.00285964 0.99946109 -0.2675278 ] [ 0. 0. 0. 1. ]] SLAMing on 254.223133365 meters Centerline goodness : 0.193895 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.9994551 -0.00449457 -0.03270005 -1.44122127] [ 0.00458932 0.99998548 0.00282301 0.15884526] [ 0.03268689 -0.00297154 0.99946122 -0.26750997] [ 0. 0. 0. 1. ]] SLAMing on 254.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.283133365 meters Centerline goodness : 0.186426 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99943399 -0.00450906 -0.0333373 -1.43959979] [ 0.00460925 0.99998509 0.00292925 0.15768474] [ 0.03332359 -0.00308126 0.99943987 -0.26763949] [ 0. 0. 0. 1. ]] SLAMing on 254.313133365 meters Centerline goodness : 0.446395 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.99943804 -0.00440958 -0.0332288 -1.4400603 ] [ 0.00451669 0.99998484 0.00314903 0.15666559] [ 0.03321441 -0.00329735 0.99944281 -0.26728321] [ 0. 0. 0. 1. ]] SLAMing on 254.343133365 meters Centerline goodness : 0.116162 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.15, Z:-0.27 [[ 0.99951886 0.00332525 -0.03083818 -1.42165432] [-0.00326916 0.99999291 0.00186888 0.1542359 ] [ 0.03084417 -0.00176716 0.99952264 -0.26533411] [ 0. 0. 0. 1. ]] SLAMing on 254.373133365 meters Centerline goodness : 0.099756 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.15, Z:-0.26 [[ 0.99952878 0.00334165 -0.03051305 -1.42267622] [-0.00328284 0.99999266 0.00197743 0.15347012] [ 0.03051943 -0.00187633 0.99953241 -0.26495364] [ 0. 0. 0. 1. ]] SLAMing on 254.40313336499997 meters Centerline goodness : 0.320344 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.16, Z:-0.27 [[ 0.9995218 -0.00494535 -0.03052398 -1.44307524] [ 0.00503706 0.99998303 0.00292854 0.15564543] [ 0.03050898 -0.00308089 0.99952974 -0.26697852] [ 0. 0. 0. 1. ]] SLAMing on 254.43313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.46313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.49313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.52313336499998 meters Centerline goodness : 0.125978 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99946551 0.00351808 -0.03250105 -1.41883539] [-0.00345387 0.99999197 0.00203138 0.15523912] [ 0.03250793 -0.00191804 0.99946964 -0.26629205] [ 0. 0. 0. 1. ]] SLAMing on 254.55313336499998 meters Centerline goodness : 0.127549 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99947113 0.00349516 -0.03233016 -1.41940171] [-0.00343618 0.99999233 0.00187952 0.15607887] [ 0.03233648 -0.00176743 0.99947548 -0.26615124] [ 0. 0. 0. 1. ]] SLAMing on 254.58313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.61313336499998 meters Centerline goodness : 0.125717 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99947928 0.00365151 -0.03205998 -1.42034584] [-0.00359599 0.99999193 0.00178915 0.15750354] [ 0.03206625 -0.00167293 0.99948435 -0.26581168] [ 0. 0. 0. 1. ]] SLAMing on 254.64313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 254.67313336499998 meters Centerline goodness : 0.393689 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 0.99944415 0.0040889 -0.03308572 -1.41709211] [-0.00403523 0.99999043 0.00168875 0.15977828] [ 0.03309231 -0.0015543 0.99945109 -0.26742014] [ 0. 0. 0. 1. ]] SLAMing on 254.70313336499999 meters Centerline goodness : 0.124122 Centerline is valid? [False, False] Translation: X:-1.42, Y:0.16, Z:-0.27 [[ 9.99438659e-01 4.02117314e-03 -3.32595468e-02 -1.41646138e+00] [-3.97548914e-03 9.99991062e-01 1.43957641e-03 1.60989041e-01] [ 3.32650383e-02 -1.30654535e-03 9.99445711e-01 -2.67873020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.733133365 meters Centerline goodness : 0.125707 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.99942094 -0.00401599 -0.03378846 -1.43694572] [ 0.00410049 0.99998864 0.00243193 0.1650366 ] [ 0.03377831 -0.00256907 0.99942605 -0.26955628] [ 0. 0. 0. 1. ]] SLAMing on 254.763133365 meters Centerline goodness : 0.361720 Centerline is valid? [False, False] Translation: X:-1.44, Y:0.17, Z:-0.27 [[ 0.9994226 -0.00403139 -0.0337373 -1.43727427] [ 0.0041078 0.99998915 0.00219565 0.16675759] [ 0.03372809 -0.00233297 0.99942832 -0.26937845] [ 0. 0. 0. 1. ]] SLAMing on 254.793133365 meters Centerline goodness : 0.124916 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.27 [[ 0.99938304 -0.00186786 -0.03507213 -1.43268741] [ 0.00199809 0.99999124 0.00367835 0.17195166] [ 0.03506495 -0.00374615 0.99937801 -0.2710679 ] [ 0. 0. 0. 1. ]] SLAMing on 254.823133365 meters Centerline goodness : 0.128099 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.17, Z:-0.27 [[ 0.99937483 -0.00201708 -0.03529711 -1.43185616] [ 0.00213163 0.99999258 0.00320791 0.17448152] [ 0.03529037 -0.00328114 0.99937171 -0.27167987] [ 0. 0. 0. 1. ]] SLAMing on 254.853133365 meters Centerline goodness : 0.124827 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 0.99937063 -0.00216888 -0.03540665 -1.43138838] [ 0.00226696 0.9999937 0.00273037 0.17719611] [ 0.0354005 -0.00280892 0.99936926 -0.27214035] [ 0. 0. 0. 1. ]] SLAMing on 254.883133365 meters Centerline goodness : 0.129174 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 0.99937076 -0.00227451 -0.03539643 -1.43153163] [ 0.00236018 0.99999439 0.00237875 0.17934262] [ 0.03539082 -0.0024608 0.99937052 -0.27208344] [ 0. 0. 0. 1. ]] SLAMing on 254.913133365 meters Centerline goodness : 0.127621 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.18, Z:-0.27 [[ 0.99937788 -0.00236471 -0.03518888 -1.43240318] [ 0.00244181 0.99999471 0.00214827 0.18081882] [ 0.03518361 -0.00223286 0.99937837 -0.27158128] [ 0. 0. 0. 1. ]] SLAMing on 254.943133365 meters Centerline goodness : 0.316467 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.18, Z:-0.27 [[ 9.99545157e-01 -4.22242272e-03 -2.98605263e-02 -1.47656306e+00] [ 4.26559103e-03 9.99989947e-01 1.38211149e-03 1.78655975e-01] [ 2.98543903e-02 -1.50885564e-03 9.99553120e-01 -2.73649313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.973133365 meters Centerline goodness : 0.128016 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.18, Z:-0.27 [[ 9.99588744e-01 1.56922917e-03 -2.86335377e-02 -1.45579011e+00] [-1.60589064e-03 9.99997920e-01 -1.25741727e-03 1.77826892e-01] [ 2.86315049e-02 1.30288248e-03 9.99589185e-01 -2.72770389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.003133365 meters Centerline goodness : 0.089497 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.18, Z:-0.27 [[ 9.99581142e-01 1.40857560e-03 -2.89060108e-02 -1.45488613e+00] [-1.44127883e-03 9.99998345e-01 -1.11056056e-03 1.76239325e-01] [ 2.89043986e-02 1.15175701e-03 9.99581517e-01 -2.73052322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.033133365 meters Centerline goodness : 0.098851 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.17, Z:-0.27 [[ 9.99573342e-01 1.27690043e-03 -2.91805177e-02 -1.45396791e+00] [-1.30521854e-03 9.99998696e-01 -9.51418743e-04 1.74567051e-01] [ 2.91792648e-02 9.89099766e-04 9.99573705e-01 -2.73318311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.093133365 meters Centerline goodness : 0.310372 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99960451 -0.00163274 -0.02807404 -1.45813892] [ 0.00154364 0.9999937 -0.00319512 0.17020742] [ 0.02807908 0.00315052 0.99960074 -0.27130027] [ 0. 0. 0. 1. ]] SLAMing on 255.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.15313336499997 meters Centerline goodness : 0.100260 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99593565e-01 -1.47122035e-03 -2.84699930e-02 -1.45688675e+00] [ 1.38038317e-03 9.99993895e-01 -3.21001928e-03 1.71354003e-01] [ 2.84745419e-02 3.16941511e-03 9.99589493e-01 -2.71867464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.21313336499998 meters Centerline goodness : 0.446630 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99585031e-01 -1.40450123e-03 -2.87713845e-02 -1.45603511e+00] [ 1.30459287e-03 9.99993056e-01 -3.49096738e-03 1.73299941e-01] [ 2.87760878e-02 3.45198380e-03 9.99579922e-01 -2.72261981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24313336499998 meters Centerline goodness : 0.100982 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99586271e-01 -1.40568991e-03 -2.87282314e-02 -1.45626073e+00] [ 1.30288480e-03 9.99992682e-01 -3.59694476e-03 1.74082436e-01] [ 2.87330774e-02 3.55802702e-03 9.99580787e-01 -2.72181409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27313336499998 meters Centerline goodness : 0.120037 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 9.99586379e-01 -1.36759260e-03 -2.87263072e-02 -1.45631603e+00] [ 1.26552840e-03 9.99992824e-01 -3.57086733e-03 1.74097205e-01] [ 2.87309845e-02 3.53303639e-03 9.99580936e-01 -2.72148699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.33313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.36313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.39313336499998 meters Centerline goodness : 0.119194 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99959528 -0.00530045 -0.02794956 -1.45866246] [ 0.00512209 0.99996609 -0.00644906 0.16842996] [ 0.0279828 0.00630329 0.99958853 -0.27106493] [ 0. 0. 0. 1. ]] SLAMing on 255.42313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.45313336499999 meters Centerline goodness : 0.118484 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.9995895 -0.00548858 -0.02811966 -1.45810359] [ 0.00531737 0.99996689 -0.00615982 0.16558796] [ 0.02815254 0.00600777 0.99958558 -0.27112992] [ 0. 0. 0. 1. ]] SLAMing on 255.483133365 meters Centerline goodness : 0.442547 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.16, Z:-0.27 [[ 0.99957652 0.00234532 -0.02900472 -1.47563683] [-0.00256318 0.99996877 -0.00747622 0.15878067] [ 0.02898628 0.0075474 0.99955132 -0.27331824] [ 0. 0. 0. 1. ]] SLAMing on 255.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.543133365 meters Centerline goodness : 0.164464 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99956164 0.00236079 -0.0295118 -1.47416123] [-0.00258101 0.99996909 -0.00742619 0.15844195] [ 0.02949335 0.00749911 0.99953685 -0.27376232] [ 0. 0. 0. 1. ]] SLAMing on 255.573133365 meters Centerline goodness : 0.435464 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99955816 0.00231258 -0.02963341 -1.4739276 ] [-0.00253615 0.99996859 -0.00750929 0.15861819] [ 0.02961511 0.00758113 0.99953263 -0.27371386] [ 0. 0. 0. 1. ]] SLAMing on 255.603133365 meters Centerline goodness : 0.443966 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.16, Z:-0.27 [[ 0.99956119 0.00230473 -0.02953173 -1.47427988] [-0.00252877 0.99996829 -0.00755133 0.15882814] [ 0.02951339 0.00762269 0.99953532 -0.27356722] [ 0. 0. 0. 1. ]] SLAMing on 255.633133365 meters Centerline goodness : 0.443456 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.16, Z:-0.27 [[ 0.99957007 0.00234172 -0.02922669 -1.47524864] [-0.00256273 0.99996839 -0.00752672 0.15908761] [ 0.02920814 0.00759839 0.99954447 -0.27318869] [ 0. 0. 0. 1. ]] SLAMing on 255.663133365 meters Centerline goodness : 0.257019 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99963792 -0.00506959 -0.02642607 -1.4586464 ] [ 0.00491733 0.99997095 -0.00582344 0.16480645] [ 0.02645483 0.00569139 0.99963381 -0.2714573 ] [ 0. 0. 0. 1. ]] SLAMing on 255.693133365 meters Centerline goodness : 0.449595 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964618 -0.00507582 -0.02611052 -1.45949261] [ 0.00492567 0.99997098 -0.00581194 0.16470842] [ 0.02613926 0.00568128 0.99964217 -0.2713267 ] [ 0. 0. 0. 1. ]] SLAMing on 255.723133365 meters Centerline goodness : 0.100035 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964778 -0.00506628 -0.02605076 -1.45966197] [ 0.00491693 0.99997113 -0.00579405 0.1647525 ] [ 0.02607936 0.00566392 0.99964383 -0.27127811] [ 0. 0. 0. 1. ]] SLAMing on 255.753133365 meters Centerline goodness : 0.372011 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964581 -0.00499347 -0.02614035 -1.45945667] [ 0.00484605 0.99997201 -0.0057 0.16467202] [ 0.02616808 0.00557131 0.99964203 -0.27130905] [ 0. 0. 0. 1. ]] SLAMing on 255.783133365 meters Centerline goodness : 0.275175 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99964372 -0.00493689 -0.026231 -1.45918518] [ 0.00478996 0.9999725 -0.00566139 0.16486765] [ 0.02625823 0.00553373 0.99963988 -0.27137848] [ 0. 0. 0. 1. ]] SLAMing on 255.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.843133365 meters Centerline goodness : 0.118659 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99965321 -0.0048454 -0.025884 -1.4603072 ] [ 0.00469518 0.9999718 -0.00586095 0.16678753] [ 0.02591167 0.00573739 0.99964777 -0.27103466] [ 0. 0. 0. 1. ]] SLAMing on 255.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.90313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.93313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 255.96313336499998 meters Centerline goodness : 0.088512 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.17, Z:-0.27 [[ 0.99966501 -0.00484911 -0.02542333 -1.4615852 ] [ 0.00470227 0.99997194 -0.00583242 0.16691042] [ 0.0254509 0.00571092 0.99965976 -0.27073351] [ 0. 0. 0. 1. ]] SLAMing on 255.99313336499998 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.023133365 meters Centerline goodness : 0.099535 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.999642 -0.00578431 -0.02612299 -1.45980571] [ 0.00562863 0.99996598 -0.00602915 0.16268076] [ 0.02615698 0.00587995 0.99964055 -0.27074584] [ 0. 0. 0. 1. ]] SLAMing on 256.053133365 meters Centerline goodness : 0.238363 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.16, Z:-0.27 [[ 0.99963392 -0.00571318 -0.02644584 -1.45877277] [ 0.0055628 0.99996796 -0.00575636 0.16113087] [ 0.02647788 0.00560714 0.99963367 -0.27108058] [ 0. 0. 0. 1. ]] SLAMing on 256.083133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.113133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.143133365 meters Centerline goodness : 0.101870 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.15, Z:-0.27 [[ 0.99962088 0.00177462 -0.02747612 -1.47671976] [-0.00197787 0.99997087 -0.0073722 0.15279579] [ 0.02746224 0.00742375 0.99959527 -0.27337715] [ 0. 0. 0. 1. ]] SLAMing on 256.173133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.233133365 meters Centerline goodness : 0.134677 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.15, Z:-0.27 [[ 0.99960972 0.00187269 -0.0278728 -1.47513592] [-0.00207445 0.99997184 -0.00721168 0.15202696] [ 0.02785851 0.00726669 0.99958546 -0.2744419 ] [ 0. 0. 0. 1. ]] SLAMing on 256.263133365 meters Centerline goodness : 0.099301 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.15, Z:-0.27 [[ 0.99960318 0.00187407 -0.02810631 -1.47495539] [-0.00207114 0.99997347 -0.00698408 0.15018311] [ 0.02809247 0.00703952 0.99958054 -0.27392097] [ 0. 0. 0. 1. ]] SLAMing on 256.29313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.35313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.383133365 meters Centerline goodness : 0.315101 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.14, Z:-0.27 [[ 9.99652736e-01 -1.93418222e-04 -2.63509044e-02 -1.43220000e+00] [ 9.30547776e-06 9.99975591e-01 -6.98690459e-03 1.42920136e-01] [ 2.63516126e-02 6.98423308e-03 9.99628337e-01 -2.72686383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41313336499996 meters Centerline goodness : 0.315101 Centerline is valid? [False, False] Translation: X:-1.43, Y:0.14, Z:-0.27 [[ 9.99652736e-01 -1.93418222e-04 -2.63509044e-02 -1.43220000e+00] [ 9.30547776e-06 9.99975591e-01 -6.98690459e-03 1.42920136e-01] [ 2.63516126e-02 6.98423308e-03 9.99628337e-01 -2.72686383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.443133365 meters Centerline goodness : 0.442965 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.13, Z:-0.27 [[ 9.99632509e-01 -1.61710440e-03 -2.70597718e-02 -1.48018302e+00] [ 1.42238967e-03 9.99972971e-01 -7.21342857e-03 1.33476697e-01] [ 2.70707053e-02 7.17228816e-03 9.99607791e-01 -2.71561997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47313336499997 meters Centerline goodness : 0.103063 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.13, Z:-0.27 [[ 9.99631015e-01 -1.42395931e-03 -2.71257400e-02 -1.48006839e+00] [ 1.24413898e-03 9.99977149e-01 -6.64486434e-03 1.30517656e-01] [ 2.71345822e-02 6.60866430e-03 9.99609944e-01 -2.71462775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.503133365 meters Centerline goodness : 0.197439 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.13, Z:-0.27 [[ 9.99629196e-01 -1.26952441e-03 -2.72003446e-02 -1.47980413e+00] [ 1.10249730e-03 9.99980452e-01 -6.15474212e-03 1.27830289e-01] [ 2.72076265e-02 6.12247161e-03 9.99611055e-01 -2.71535279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53313336499997 meters Centerline goodness : 0.093115 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99628343e-01 -1.06993659e-03 -2.72402382e-02 -1.47959599e+00] [ 9.17049806e-04 9.99983762e-01 -5.62440898e-03 1.24997237e-01] [ 2.72458137e-02 5.59733797e-03 9.99613093e-01 -2.71681910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.563133365 meters Centerline goodness : 0.130809 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99634846e-01 -6.71808172e-04 -2.70134066e-02 -1.48004004e+00] [ 5.44791610e-04 9.99988764e-01 -4.70906719e-03 1.20583215e-01] [ 2.70162666e-02 4.69263098e-03 9.99623980e-01 -2.71755551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59313336499997 meters Centerline goodness : 0.091529 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99633765e-01 -4.68366134e-04 -2.70576690e-02 -1.47990416e+00] [ 3.51216813e-04 9.99990546e-01 -4.33420636e-03 1.18945037e-01] [ 2.70594431e-02 4.32311591e-03 9.99624478e-01 -2.71836431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.623133365 meters Centerline goodness : 0.447005 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.12, Z:-0.27 [[ 9.99632670e-01 -3.17074395e-04 -2.71002759e-02 -1.47978386e+00] [ 2.09323801e-04 9.99992063e-01 -3.97874059e-03 1.16995844e-01] [ 2.71013223e-02 3.97160635e-03 9.99624802e-01 -2.71866033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.653133365 meters Centerline goodness : 0.053244 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.11, Z:-0.27 [[ 9.99630623e-01 -1.94797800e-04 -2.71768114e-02 -1.47966971e+00] [ 9.73846314e-05 9.99993567e-01 -3.58569978e-03 1.14605653e-01] [ 2.71773351e-02 3.58172871e-03 9.99624211e-01 -2.71755382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.683133365 meters Centerline goodness : 0.447124 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.11, Z:-0.27 [[ 9.99630857e-01 3.21536436e-05 -2.71688761e-02 -1.47977726e+00] [-1.13564977e-04 9.99995509e-01 -2.99495481e-03 1.11467034e-01] [ 2.71686577e-02 2.99693468e-03 9.99626371e-01 -2.71606445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.713133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.743133365 meters Centerline goodness : 0.092732 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.10, Z:-0.27 [[ 0.99965443 -0.00157752 -0.02623999 -1.48168999] [ 0.0014952 0.9999939 -0.00315635 0.0996109 ] [ 0.02624481 0.00311602 0.99965069 -0.2716952 ] [ 0. 0. 0. 1. ]] SLAMing on 256.773133365 meters Centerline goodness : 0.174118 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.10, Z:-0.27 [[ 9.99657811e-01 -1.36103782e-03 -2.61229637e-02 -1.48182341e+00] [ 1.29716145e-03 9.99996128e-01 -2.46200937e-03 9.56607490e-02] [ 2.61262135e-02 2.42728120e-03 9.99655705e-01 -2.71828419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.803133365 meters Centerline goodness : 0.092401 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.09, Z:-0.27 [[ 9.99660865e-01 -1.16118341e-03 -2.60155085e-02 -1.48211113e+00] [ 1.11561967e-03 9.99997819e-01 -1.76585257e-03 9.15756689e-02] [ 2.60175022e-02 1.73623030e-03 9.99659980e-01 -2.71722470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.833133365 meters Centerline goodness : 0.169778 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.09, Z:-0.27 [[ 9.99662039e-01 -9.42644541e-04 -2.59791991e-02 -1.48226272e+00] [ 9.16277975e-04 9.99999053e-01 -1.02679609e-03 8.73043940e-02] [ 2.59801424e-02 1.00264491e-03 9.99661956e-01 -2.71558035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.863133365 meters Centerline goodness : 0.106366 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.08, Z:-0.27 [[ 0.99964924 -0.00432802 -0.02612773 -1.48144373] [ 0.00423709 0.99998478 -0.00353467 0.08081802] [ 0.02614263 0.00342272 0.99965236 -0.27208144] [ 0. 0. 0. 1. ]] SLAMing on 256.893133365 meters Centerline goodness : 0.159566 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.08, Z:-0.27 [[ 0.99964524 -0.00408116 -0.02631981 -1.48086067] [ 0.0040076 0.99998792 -0.00284693 0.07694393] [ 0.02633111 0.00274044 0.99964952 -0.27220839] [ 0. 0. 0. 1. ]] SLAMing on 256.923133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 256.953133365 meters Centerline goodness : 0.094888 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.07, Z:-0.27 [[ 0.99963651 -0.00379322 -0.02669201 -1.47965425] [ 0.00374016 0.99999093 -0.00203743 0.07155964] [ 0.02669949 0.00193686 0.99964163 -0.2725958 ] [ 0. 0. 0. 1. ]] SLAMing on 256.983133365 meters Centerline goodness : 0.118892 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.07, Z:-0.27 [[ 0.99963011 -0.0036143 -0.02695503 -1.47876705] [ 0.00357025 0.99999221 -0.00168181 0.06980799] [ 0.0269609 0.00158496 0.99963523 -0.27297776] [ 0. 0. 0. 1. ]] SLAMing on 257.013133365 meters Centerline goodness : 0.120656 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.06, Z:-0.27 [[ 0.99960266 0.00471126 -0.0277906 -1.49896159] [-0.00477586 0.99998604 -0.00225856 0.06349698] [ 0.02777957 0.00239039 0.99961122 -0.27438877] [ 0. 0. 0. 1. ]] SLAMing on 257.04313336499996 meters Centerline goodness : 0.121747 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99665312e-01 -4.40043734e-04 -2.58664054e-02 -1.47771930e+00] [ 4.61612838e-04 9.99999551e-01 8.27900326e-04 6.43636268e-02] [ 2.58660295e-02 -8.39563502e-04 9.99665066e-01 -2.74626154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.073133365 meters Centerline goodness : 0.120443 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99671178e-01 -4.14661122e-04 -2.56391053e-02 -1.47845660e+00] [ 4.35149210e-04 9.99999590e-01 7.93521133e-04 6.45010270e-02] [ 2.56387658e-02 -8.04417043e-04 9.99670949e-01 -2.74355560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10313336499996 meters Centerline goodness : 0.123831 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99671866e-01 -4.26013243e-04 -2.56120906e-02 -1.47854209e+00] [ 4.45336510e-04 9.99999621e-01 7.48759595e-04 6.45109769e-02] [ 2.56117619e-02 -7.59919900e-04 9.99671676e-01 -2.74358126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.133133365 meters Centerline goodness : 0.125671 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99669474e-01 -3.87913988e-04 -2.57058730e-02 -1.47811123e+00] [ 4.08479787e-04 9.99999601e-01 7.94796617e-04 6.42459456e-02] [ 2.57055544e-02 -8.05034246e-04 9.99669233e-01 -2.74733037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16313336499996 meters Centerline goodness : 0.125209 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99666337e-01 -3.24717826e-04 -2.58284739e-02 -1.47756578e+00] [ 3.47074274e-04 9.99999569e-01 8.61095462e-04 6.40206828e-02] [ 2.58281832e-02 -8.69772545e-04 9.99666018e-01 -2.75200724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.193133365 meters Centerline goodness : 0.127794 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99663154e-01 -2.95370138e-04 -2.59516975e-02 -1.47700261e+00] [ 3.19014243e-04 9.99999538e-01 9.06945795e-04 6.37834364e-02] [ 2.59514176e-02 -9.14919256e-04 9.99662787e-01 -2.75650934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22313336499997 meters Centerline goodness : 0.127591 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99654443e-01 -2.70379891e-04 -2.62853812e-02 -1.47579031e+00] [ 2.96717198e-04 9.99999458e-01 9.98080287e-04 6.30104444e-02] [ 2.62850970e-02 -1.00553472e-03 9.99653981e-01 -2.76328407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.253133365 meters Centerline goodness : 0.127246 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99650494e-01 -2.37889964e-04 -2.64354684e-02 -1.47543129e+00] [ 2.66877102e-04 9.99999367e-01 1.09300174e-03 6.24029060e-02] [ 2.64351916e-02 -1.09967475e-03 9.99649924e-01 -2.76356804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28313336499997 meters Centerline goodness : 0.128140 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99647128e-01 -1.86308753e-04 -2.65628293e-02 -1.47523461e+00] [ 2.18845188e-04 9.99999229e-01 1.22198405e-03 6.18056820e-02] [ 2.65625812e-02 -1.22736600e-03 9.99646399e-01 -2.76191034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.313133365 meters Centerline goodness : 0.112021 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99645439e-01 -1.22830920e-04 -2.66266876e-02 -1.47530326e+00] [ 1.58750403e-04 9.99999080e-01 1.34689337e-03 6.13784851e-02] [ 2.66264977e-02 -1.35064281e-03 9.99644540e-01 -2.75836297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34313336499997 meters Centerline goodness : 0.125958 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99647734e-01 -8.93314857e-05 -2.65405202e-02 -1.47567130e+00] [ 1.25738293e-04 9.99999054e-01 1.37007861e-03 6.14502153e-02] [ 2.65403727e-02 -1.37293314e-03 9.99646799e-01 -2.75618886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.373133365 meters Centerline goodness : 0.109017 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99655366e-01 -7.47414468e-05 -2.62515604e-02 -1.47649982e+00] [ 1.10166596e-04 9.99999085e-01 1.34800561e-03 6.18091496e-02] [ 2.62514357e-02 -1.35043309e-03 9.99654460e-01 -2.75411247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.403133365 meters Centerline goodness : 0.109454 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99677300e-01 1.59509993e-04 -2.54021670e-02 -1.47878998e+00] [-1.24291731e-04 9.99999029e-01 1.38800035e-03 6.30519393e-02] [ 2.54023638e-02 -1.38439517e-03 9.99676349e-01 -2.74987159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.433133365 meters Centerline goodness : 0.113875 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99682524e-01 1.96648411e-04 -2.51954870e-02 -1.47933434e+00] [-1.62841505e-04 9.99999084e-01 1.34382892e-03 6.36993916e-02] [ 2.51957282e-02 -1.33929941e-03 9.99681640e-01 -2.74936173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.463133365 meters Centerline goodness : 0.112921 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99683871e-01 2.27432076e-04 -2.51417346e-02 -1.47945612e+00] [-1.93109164e-04 9.99999046e-01 1.36759630e-03 6.37746031e-02] [ 2.51420217e-02 -1.36230886e-03 9.99682961e-01 -2.74971814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.493133365 meters Centerline goodness : 0.112519 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99685505e-01 2.34339087e-04 -2.50766257e-02 -1.47952247e+00] [-1.98821435e-04 9.99998974e-01 1.41884881e-03 6.33711271e-02] [ 2.50769325e-02 -1.41341682e-03 9.99684525e-01 -2.75116031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.523133365 meters Centerline goodness : 0.110070 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.28 [[ 9.99687535e-01 2.59066179e-04 -2.49953020e-02 -1.47970297e+00] [-2.19353033e-04 9.99998709e-01 1.59155317e-03 6.21856313e-02] [ 2.49956821e-02 -1.58557307e-03 9.99686302e-01 -2.75114263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.553133365 meters Centerline goodness : 0.106913 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99689246e-01 3.53962720e-04 -2.49255968e-02 -1.47994775e+00] [-3.05435247e-04 9.99998051e-01 1.95067340e-03 6.00797485e-02] [ 2.49262387e-02 -1.94245407e-03 9.99687406e-01 -2.74936014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.583133365 meters Centerline goodness : 0.109399 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.06, Z:-0.27 [[ 9.99687985e-01 -3.33150932e-03 -2.47554655e-02 -1.48028637e+00] [ 3.30544591e-03 9.99993939e-01 -1.09368041e-03 5.60419020e-02] [ 2.47589590e-02 1.01151131e-03 9.99692938e-01 -2.74923771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.613133365 meters Centerline goodness : 0.124055 Centerline is valid? [False, False] Translation: X:-1.48, Y:0.05, Z:-0.28 [[ 9.99680339e-01 -3.29554332e-03 -2.50671127e-02 -1.47933816e+00] [ 3.28110084e-03 9.99994427e-01 -6.17261072e-04 5.26551956e-02] [ 2.50690072e-02 5.34816033e-04 9.99685580e-01 -2.75130431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.643133365 meters Centerline goodness : 0.110407 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 0.99968736 0.00362451 -0.02473943 -1.49660392] [-0.00367217 0.99999149 -0.0018812 0.04335056] [ 0.0247324 0.00197146 0.99969216 -0.27806466] [ 0. 0. 0. 1. ]] SLAMing on 257.673133365 meters Centerline goodness : 0.113963 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 9.99684137e-01 3.81698889e-03 -2.48406257e-02 -1.49573442e+00] [-3.85174261e-03 9.99991669e-01 -1.35137085e-03 4.02545323e-02] [ 2.48352606e-02 1.44662370e-03 9.99690511e-01 -2.78933476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.703133365 meters Centerline goodness : 0.115884 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 9.99682497e-01 3.92201491e-03 -2.48902332e-02 -1.49545236e+00] [-3.95432426e-03 9.99991402e-01 -1.24898643e-03 3.99504998e-02] [ 2.48851207e-02 1.34701393e-03 9.99689410e-01 -2.79245512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.733133365 meters Centerline goodness : 0.114069 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.04, Z:-0.28 [[ 9.99680896e-01 4.00945291e-03 -2.49405282e-02 -1.49519831e+00] [-4.04111540e-03 9.99991091e-01 -1.21924732e-03 3.99850649e-02] [ 2.49354175e-02 1.31964581e-03 9.99688193e-01 -2.79520060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.763133365 meters Centerline goodness : 0.114816 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99674913e-01 4.03866699e-03 -2.51745521e-02 -1.49439430e+00] [-4.07252959e-03 9.99990870e-01 -1.29398692e-03 4.03092699e-02] [ 2.51690963e-02 1.39609037e-03 9.99682233e-01 -2.79980722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79313336499996 meters Centerline goodness : 0.143560 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99671178e-01 4.01756519e-03 -2.53257635e-02 -1.49379613e+00] [-4.05466739e-03 9.99990780e-01 -1.41381630e-03 4.07539992e-02] [ 2.53198499e-02 1.51603895e-03 9.99678252e-01 -2.80419866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.823133365 meters Centerline goodness : 0.125224 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967321 0.00403141 -0.02524328 -1.49402105] [-0.00407151 0.99999053 -0.00153727 0.04146006] [ 0.02523684 0.00163955 0.99968016 -0.28049768] [ 0. 0. 0. 1. ]] SLAMing on 257.85313336499996 meters Centerline goodness : 0.121996 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967362 0.00401437 -0.02522964 -1.49402194] [-0.0040565 0.99999046 -0.00161926 0.04196896] [ 0.02522289 0.00172108 0.99968037 -0.28060527] [ 0. 0. 0. 1. ]] SLAMing on 257.883133365 meters Centerline goodness : 0.127038 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967192 0.0039693 -0.02530397 -1.4937113 ] [-0.00401465 0.99999042 -0.00174155 0.04259598] [ 0.02529681 0.00184257 0.99967829 -0.28083344] [ 0. 0. 0. 1. ]] SLAMing on 257.91313336499996 meters Centerline goodness : 0.126084 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967143 0.00391355 -0.02533231 -1.49354651] [-0.00396108 0.99999049 -0.00182633 0.04280987] [ 0.02532492 0.00192607 0.99967742 -0.28100275] [ 0. 0. 0. 1. ]] SLAMing on 257.943133365 meters Centerline goodness : 0.125169 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966998 0.00388533 -0.02539344 -1.4934475 ] [-0.0039325 0.99999063 -0.00180786 0.04247752] [ 0.02538618 0.00190712 0.9996759 -0.28092 ] [ 0. 0. 0. 1. ]] SLAMing on 257.97313336499997 meters Centerline goodness : 0.124313 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966922 0.00384435 -0.02542969 -1.49338899] [-0.00389174 0.99999078 -0.00181421 0.04216345] [ 0.02542248 0.00191257 0.99967497 -0.28088473] [ 0. 0. 0. 1. ]] SLAMing on 258.003133365 meters Centerline goodness : 0.125909 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966712 0.00390187 -0.0255036 -1.49334499] [-0.00394433 0.99999092 -0.0016151 0.04123331] [ 0.02549707 0.00171516 0.99967343 -0.28066028] [ 0. 0. 0. 1. ]] SLAMing on 258.03313336499997 meters Centerline goodness : 0.126169 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966534 0.00396965 -0.02556248 -1.49325334] [-0.00400917 0.99999085 -0.00149478 0.04091715] [ 0.02555631 0.00159676 0.99967211 -0.28061986] [ 0. 0. 0. 1. ]] SLAMing on 258.063133365 meters Centerline goodness : 0.130324 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99666904e-01 4.00196482e-03 -2.54963964e-02 -1.49338030e+00] [-4.04018614e-03 9.99990790e-01 -1.44775004e-03 4.08581401e-02] [ 2.54903678e-02 1.55027799e-03 9.99673866e-01 -2.80649236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09313336499997 meters Centerline goodness : 0.125229 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99966946 0.00394446 -0.02540505 -1.49354692] [-0.0039857 0.99999082 -0.00157291 0.04143881] [ 0.02539861 0.00167364 0.999676 -0.28075369] [ 0. 0. 0. 1. ]] SLAMing on 258.123133365 meters Centerline goodness : 0.124310 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967156 0.0038749 -0.02533302 -1.49372007] [-0.00392043 0.99999079 -0.00174797 0.04229817] [ 0.02532601 0.00184671 0.99967754 -0.28080667] [ 0. 0. 0. 1. ]] SLAMing on 258.153133365 meters Centerline goodness : 0.124827 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 0.99967566 0.00382803 -0.02517762 -1.49408352] [-0.00387863 0.99999056 -0.00196115 0.04364045] [ 0.02516987 0.00205817 0.99968107 -0.28087733] [ 0. 0. 0. 1. ]] SLAMing on 258.183133365 meters Centerline goodness : 0.107403 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99710295e-01 -1.66394430e-03 -2.40115960e-02 -1.47274321e+00] [ 1.68470322e-03 9.99998224e-01 8.44333988e-04 4.94205221e-02] [ 2.40101484e-02 -8.84541793e-04 9.99711324e-01 -2.80796579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.213133365 meters Centerline goodness : 0.129355 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99710222e-01 -1.75763036e-03 -2.40079849e-02 -1.47274062e+00] [ 1.77424196e-03 9.99998201e-01 6.70636293e-04 5.01013882e-02] [ 2.40067630e-02 -7.13037931e-04 9.99711542e-01 -2.80847780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.243133365 meters Centerline goodness : 0.130393 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99707963e-01 -1.83693326e-03 -2.40959273e-02 -1.47239594e+00] [ 1.85092748e-03 9.99998131e-01 5.58480997e-04 5.04607010e-02] [ 2.40948564e-02 -6.02917714e-04 9.99709495e-01 -2.81069308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.273133365 meters Centerline goodness : 0.127781 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99706540e-01 -1.89856062e-03 -2.41501397e-02 -1.47218673e+00] [ 1.91174645e-03 9.99998036e-01 5.22918048e-04 5.04458840e-02] [ 2.41490995e-02 -5.68933537e-04 9.99708206e-01 -2.81181501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.303133365 meters Centerline goodness : 0.127781 Centerline is valid? [False, False] Translation: X:-1.47, Y:0.05, Z:-0.28 [[ 9.99706540e-01 -1.89856062e-03 -2.41501397e-02 -1.47218673e+00] [ 1.91174645e-03 9.99998036e-01 5.22918048e-04 5.04458840e-02] [ 2.41490995e-02 -5.68933537e-04 9.99708206e-01 -2.81181501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.333133365 meters Centerline goodness : 0.126797 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99746785e-01 4.28579961e-03 -2.20906823e-02 -1.48943967e+00] [-4.30525194e-03 9.99990385e-01 -8.33083373e-04 4.40692464e-02] [ 2.20868995e-02 9.27978376e-04 9.99755624e-01 -2.84092591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.363133365 meters Centerline goodness : 0.128454 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99748861e-01 4.23658628e-03 -2.20060290e-02 -1.48993515e+00] [-4.25252916e-03 9.99990728e-01 -6.77731835e-04 4.28409295e-02] [ 2.20029536e-02 7.71142911e-04 9.99757608e-01 -2.83578103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.393133365 meters Centerline goodness : 0.123297 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99747945e-01 4.19078480e-03 -2.20563738e-02 -1.48995053e+00] [-4.20227621e-03 9.99991058e-01 -4.74678193e-04 4.12533224e-02] [ 2.20541873e-02 5.67245523e-04 9.99756616e-01 -2.83300882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.423133365 meters Centerline goodness : 0.128883 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99737449e-01 4.17224086e-03 -2.25305654e-02 -1.48875179e+00] [-4.17414153e-03 9.99991288e-01 -3.73313380e-05 3.82694243e-02] [ 2.25302133e-02 1.31367305e-04 9.99746154e-01 -2.83369149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.453133365 meters Centerline goodness : 0.131932 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99732348e-01 4.23920119e-03 -2.27433958e-02 -1.48799984e+00] [-4.23539667e-03 9.99991007e-01 2.15447387e-04 3.67974308e-02] [ 2.27441046e-02 -1.19062419e-04 9.99741312e-01 -2.83722237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.483133365 meters Centerline goodness : 0.129147 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.04, Z:-0.28 [[ 9.99729774e-01 4.24557476e-03 -2.28550519e-02 -1.48733114e+00] [-4.23850181e-03 9.99990953e-01 3.57903115e-04 3.56138060e-02] [ 2.28563646e-02 -2.60935222e-04 9.99738725e-01 -2.84297031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.513133365 meters Centerline goodness : 0.131435 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99731214e-01 4.23759814e-03 -2.27934879e-02 -1.48752742e+00] [-4.22790745e-03 9.99990950e-01 4.73325739e-04 3.44197085e-02] [ 2.27952874e-02 -3.76829758e-04 9.99740083e-01 -2.84227480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54313336499996 meters Centerline goodness : 0.129664 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99740924e-01 4.25900460e-03 -2.23594447e-02 -1.48945314e+00] [-4.24424761e-03 9.99990743e-01 7.07402969e-04 3.25980054e-02] [ 2.23622505e-02 -6.12320679e-04 9.99749746e-01 -2.82900258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.573133365 meters Centerline goodness : 0.131999 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99742996e-01 4.37761515e-03 -2.22436085e-02 -1.48998512e+00] [-4.35740920e-03 9.99990049e-01 9.56781214e-04 3.15619447e-02] [ 2.22475756e-02 -8.59610814e-04 9.99752123e-01 -2.82475421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60313336499996 meters Centerline goodness : 0.135037 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99741529e-01 4.43883393e-03 -2.22973526e-02 -1.48977177e+00] [-4.41395027e-03 9.99989580e-01 1.16508356e-03 3.04035172e-02] [ 2.23022919e-02 -1.06636302e-03 9.99750704e-01 -2.82608672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.633133365 meters Centerline goodness : 0.130492 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.03, Z:-0.28 [[ 9.99734213e-01 4.41733766e-03 -2.26272121e-02 -1.48865617e+00] [-4.38822811e-03 9.99989479e-01 1.33597604e-03 2.88911043e-02] [ 2.26328755e-02 -1.23632759e-03 9.99743079e-01 -2.83103552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66313336499996 meters Centerline goodness : 0.131386 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.02, Z:-0.28 [[ 0.99965091 -0.00466857 -0.02600523 -1.507542 ] [ 0.00472815 0.99998634 0.00223007 0.02459013] [ 0.02599447 -0.00235225 0.99965932 -0.28415637] [ 0. 0. 0. 1. ]] SLAMing on 258.693133365 meters Centerline goodness : 0.117837 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.02, Z:-0.28 [[ 0.99964446 -0.00448299 -0.02628415 -1.50705734] [ 0.00455997 0.99998549 0.00286957 0.02118278] [ 0.0262709 -0.00298841 0.99965039 -0.28381685] [ 0. 0. 0. 1. ]] SLAMing on 258.72313336499997 meters Centerline goodness : 0.131697 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.02, Z:-0.28 [[ 0.99964562 -0.00427734 -0.02627437 -1.50743245] [ 0.00437109 0.99998428 0.00351174 0.01790821] [ 0.02625894 -0.00362535 0.9996486 -0.28319396] [ 0. 0. 0. 1. ]] SLAMing on 258.753133365 meters Centerline goodness : 0.134685 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99964793 -0.00411132 -0.02621302 -1.50798804] [ 0.00421948 0.99998281 0.00407234 0.01483132] [ 0.02619582 -0.00418151 0.99964808 -0.28249161] [ 0. 0. 0. 1. ]] SLAMing on 258.78313336499997 meters Centerline goodness : 0.132016 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99964942 -0.00397936 -0.0261764 -1.5082798 ] [ 0.00409944 0.99998131 0.00453515 0.01208269] [ 0.02615786 -0.00464087 0.99964705 -0.2820943 ] [ 0. 0. 0. 1. ]] SLAMing on 258.813133365 meters Centerline goodness : 0.129705 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99965136 -0.00388139 -0.02611696 -1.5084987 ] [ 0.00400879 0.99998031 0.00482746 0.01043428] [ 0.02609771 -0.00493048 0.99964724 -0.28193585] [ 0. 0. 0. 1. ]] SLAMing on 258.84313336499997 meters Centerline goodness : 0.131144 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.28 [[ 0.99966655 -0.00356399 -0.02557532 -1.50990034] [ 0.00369926 0.99997941 0.00524365 0.00904798] [ 0.0255561 -0.00533651 0.99965915 -0.28172926] [ 0. 0. 0. 1. ]] SLAMing on 258.873133365 meters Centerline goodness : 0.128830 Centerline is valid? [False, False] Translation: X:-1.49, Y:0.01, Z:-0.28 [[ 0.99968859 0.0048964 -0.02446932 -1.49023603] [-0.00479525 0.99997972 0.00419052 0.00627274] [ 0.02448934 -0.00407188 0.9996918 -0.28044357] [ 0. 0. 0. 1. ]] SLAMing on 258.903133365 meters Centerline goodness : 0.138888 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.00, Z:-0.28 [[ 0.99963447 0.00400124 -0.02673788 -1.53526593] [-0.00388796 0.99998325 0.00428745 0.00293049] [ 0.02675459 -0.00418193 0.99963328 -0.28058962] [ 0. 0. 0. 1. ]] SLAMing on 258.933133365 meters Centerline goodness : 0.112999 Centerline is valid? [False, False] Translation: X:-1.52, Y:0.01, Z:-0.28 [[ 0.99963609 -0.00366795 -0.02672522 -1.51552196] [ 0.00380443 0.99997997 0.00505768 0.00678655] [ 0.02670613 -0.00515752 0.99963002 -0.27922918] [ 0. 0. 0. 1. ]] SLAMing on 258.963133365 meters Centerline goodness : 0.131459 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.00, Z:-0.28 [[ 9.99650621e-01 3.36422172e-03 -2.62167422e-02 -1.53366310e+00] [-3.26658598e-03 9.99987573e-01 3.76611291e-03 -3.29351131e-04] [ 2.62290865e-02 -3.67915787e-03 9.99649188e-01 -2.81658514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.993133365 meters Centerline goodness : 0.115724 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.00, Z:-0.28 [[ 0.99964864 0.00341394 -0.02628569 -1.5334484 ] [-0.00330877 0.99998635 0.00404346 -0.00196794] [ 0.02629914 -0.00395507 0.99964629 -0.2817269 ] [ 0. 0. 0. 1. ]] SLAMing on 259.023133365 meters Centerline goodness : 0.118572 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.01, Z:-0.28 [[ 0.99964449 0.00337841 -0.02644751 -1.53289405] [-0.00325648 0.99998388 0.004652 -0.00578176] [ 0.0264628 -0.00456422 0.99963938 -0.28190209] [ 0. 0. 0. 1. ]] SLAMing on 259.053133365 meters Centerline goodness : 0.128015 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.01, Z:-0.28 [[ 0.9996358 0.00331686 -0.02678192 -1.53216869] [-0.00318424 0.99998246 0.0049931 -0.00833514] [ 0.02679801 -0.00490601 0.99962883 -0.28178427] [ 0. 0. 0. 1. ]] SLAMing on 259.083133365 meters Centerline goodness : 0.123700 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.01, Z:-0.28 [[ 9.99575582e-01 1.06943208e-03 -2.91120612e-02 -1.57648632e+00] [-9.41807016e-04 9.99989888e-01 4.39728291e-03 -1.36569569e-02] [ 2.91164694e-02 -4.36799868e-03 9.99566482e-01 -2.82158654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.113133365 meters Centerline goodness : 0.122879 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.02, Z:-0.28 [[ 9.99571616e-01 6.76859367e-03 -2.84740251e-02 -1.55428596e+00] [-6.73167634e-03 9.99976373e-01 1.39218648e-03 -1.71952703e-02] [ 2.84827755e-02 -1.19991217e-03 9.99593563e-01 -2.82111923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.143133365 meters Centerline goodness : 0.119835 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.02, Z:-0.28 [[ 0.99959949 -0.0015924 -0.02825462 -1.53417166] [ 0.0016578 0.999996 0.00229119 -0.01569635] [ 0.02825086 -0.00233712 0.99959813 -0.28075839] [ 0. 0. 0. 1. ]] SLAMing on 259.173133365 meters Centerline goodness : 0.132526 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.02, Z:-0.28 [[ 9.99599360e-01 -1.49487126e-03 -2.82645675e-02 -1.53411075e+00] [ 1.57128344e-03 9.99995170e-01 2.68144472e-03 -1.79711891e-02] [ 2.82604226e-02 -2.72478207e-03 9.99596881e-01 -2.80796680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.203133365 meters Centerline goodness : 0.126011 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.02, Z:-0.28 [[ 9.99598093e-01 -1.40137511e-03 -2.83141098e-02 -1.53364855e+00] [ 1.49206844e-03 9.99993824e-01 3.18224073e-03 -2.11440805e-02] [ 2.83094754e-02 -3.22320835e-03 9.99594010e-01 -2.81287926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.233133365 meters Centerline goodness : 0.131373 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99959054 0.00667207 -0.02782497 -1.51455179] [-0.00662194 0.99997628 0.00189336 -0.02574552] [ 0.02783694 -0.00170833 0.99961102 -0.27973955] [ 0. 0. 0. 1. ]] SLAMing on 259.263133365 meters Centerline goodness : 0.126397 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99958976 0.00671131 -0.02784383 -1.51451562] [-0.00665804 0.99997582 0.00200518 -0.02645203] [ 0.02785662 -0.00181897 0.99961027 -0.27972018] [ 0. 0. 0. 1. ]] SLAMing on 259.29313336499996 meters Centerline goodness : 0.131513 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99957861 0.00681026 -0.02821735 -1.51336104] [-0.00674986 0.99997472 0.00223527 -0.02774909] [ 0.02823186 -0.00204386 0.99959931 -0.28012024] [ 0. 0. 0. 1. ]] SLAMing on 259.323133365 meters Centerline goodness : 0.131303 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99957141 0.00686603 -0.02845803 -1.51255029] [-0.0068004 0.99997399 0.002402 -0.02871949] [ 0.02847378 -0.00220745 0.9995921 -0.28047626] [ 0. 0. 0. 1. ]] SLAMing on 259.35313336499996 meters Centerline goodness : 0.121438 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99956342 0.0068827 -0.02873314 -1.51175116] [-0.00681184 0.99997351 0.0025633 -0.02999967] [ 0.02875002 -0.00236645 0.99958383 -0.28070338] [ 0. 0. 0. 1. ]] SLAMing on 259.383133365 meters Centerline goodness : 0.130377 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.03, Z:-0.28 [[ 0.99955734 0.00694919 -0.02892815 -1.5112766 ] [-0.00687039 0.99997242 0.00282238 -0.03149839] [ 0.02894696 -0.00262238 0.99957751 -0.28073283] [ 0. 0. 0. 1. ]] SLAMing on 259.41313336499996 meters Centerline goodness : 0.111205 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.28 [[ 9.99583560e-01 -1.33408713e-03 -2.88257979e-02 -1.49185516e+00] [ 1.44561180e-03 9.99991550e-01 3.84842528e-03 -2.85220884e-02] [ 2.88204202e-02 -3.88849355e-03 9.99577042e-01 -2.79317924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.443133365 meters Centerline goodness : 0.125074 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.28 [[ 9.99589116e-01 -1.30809964e-03 -2.86336745e-02 -1.49253119e+00] [ 1.42846067e-03 9.99990229e-01 4.18342660e-03 -3.03658809e-02] [ 2.86279224e-02 -4.22260977e-03 9.99581218e-01 -2.79122383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47313336499997 meters Centerline goodness : 0.121305 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.03, Z:-0.28 [[ 0.99960309 -0.00327589 -0.02798091 -1.49488263] [ 0.00335471 0.99999053 0.00277067 -0.03480355] [ 0.02797156 -0.00286343 0.99960462 -0.27843985] [ 0. 0. 0. 1. ]] SLAMing on 259.503133365 meters Centerline goodness : 0.121718 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.99960719 -0.00342098 -0.02781662 -1.49561263] [ 0.00350453 0.99998949 0.00295541 -0.03649221] [ 0.02780622 -0.00305173 0.99960867 -0.27813421] [ 0. 0. 0. 1. ]] SLAMing on 259.53313336499997 meters Centerline goodness : 0.122177 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.99961669 -0.00345714 -0.02746865 -1.49680497] [ 0.00354757 0.99998845 0.00324389 -0.03817637] [ 0.02745712 -0.0033401 0.9996174 -0.27778422] [ 0. 0. 0. 1. ]] SLAMing on 259.563133365 meters Centerline goodness : 0.119902 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.99964534 -0.00370434 -0.02637177 -1.50033249] [ 0.00380017 0.99998635 0.00358493 -0.04049408] [ 0.02635813 -0.00368387 0.99964578 -0.27667572] [ 0. 0. 0. 1. ]] SLAMing on 259.59313336499997 meters Centerline goodness : 0.120104 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.9996529 -0.00382254 -0.0260665 -1.50159535] [ 0.00391746 0.99998588 0.00359124 -0.04115634] [ 0.02605241 -0.00369211 0.99965376 -0.27591494] [ 0. 0. 0. 1. ]] SLAMing on 259.623133365 meters Centerline goodness : 0.155623 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.04, Z:-0.28 [[ 0.9996578 -0.00400339 -0.02585045 -1.50258268] [ 0.00409524 0.99998548 0.00350128 -0.04168329] [ 0.02583606 -0.00360594 0.99965969 -0.27520583] [ 0. 0. 0. 1. ]] SLAMing on 259.653133365 meters Centerline goodness : 0.120173 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.05, Z:-0.27 [[ 0.99967575 0.00383106 -0.02517394 -1.48428942] [-0.00378491 0.99999107 0.00188044 -0.04690118] [ 0.02518092 -0.00178455 0.99968132 -0.27286055] [ 0. 0. 0. 1. ]] SLAMing on 259.683133365 meters Centerline goodness : 0.111359 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.05, Z:-0.27 [[ 0.99967725 0.00390559 -0.02510275 -1.48477947] [-0.00385466 0.99999041 0.002077 -0.04785259] [ 0.02511063 -0.00197957 0.99968272 -0.27242101] [ 0. 0. 0. 1. ]] SLAMing on 259.713133365 meters Centerline goodness : 0.157961 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99967901 0.00402586 -0.0250135 -1.48516017] [-0.00396962 0.99998948 0.00229781 -0.04850078] [ 0.02502248 -0.00219777 0.99968447 -0.27218478] [ 0. 0. 0. 1. ]] SLAMing on 259.743133365 meters Centerline goodness : 0.100679 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99967989 0.00407795 -0.02496977 -1.48516815] [-0.00401937 0.99998905 0.00239581 -0.04886932] [ 0.02497927 -0.00229468 0.99968534 -0.27231714] [ 0. 0. 0. 1. ]] SLAMing on 259.773133365 meters Centerline goodness : 0.104096 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99968045 0.00395883 -0.02496647 -1.48510753] [-0.00390565 0.99999 0.00217848 -0.0480544 ] [ 0.02497484 -0.00208028 0.99968592 -0.27242292] [ 0. 0. 0. 1. ]] SLAMing on 259.803133365 meters Centerline goodness : 0.184315 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99968318 0.00387983 -0.02486944 -1.48543583] [-0.0038325 0.99999075 0.00195058 -0.04680381] [ 0.02487677 -0.00185465 0.9996888 -0.27228212] [ 0. 0. 0. 1. ]] SLAMing on 259.833133365 meters Centerline goodness : 0.146685 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.05, Z:-0.27 [[ 0.99968785 0.00381875 -0.02469053 -1.48610851] [-0.00377751 0.99999139 0.00171648 -0.04525529] [ 0.02469687 -0.00162268 0.99969367 -0.27194863] [ 0. 0. 0. 1. ]] SLAMing on 259.863133365 meters Centerline goodness : 0.095982 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.04, Z:-0.27 [[ 0.99968795 -0.00303072 -0.02479555 -1.46849735] [ 0.00310733 0.99999052 0.00305153 -0.03833196] [ 0.02478607 -0.00312762 0.99968789 -0.2691621 ] [ 0. 0. 0. 1. ]] SLAMing on 259.893133365 meters Centerline goodness : 0.132558 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.03, Z:-0.27 [[ 0.9996796 -0.00338512 -0.02508445 -1.46739732] [ 0.00344056 0.99999173 0.00216731 -0.03384701] [ 0.02507691 -0.00225292 0.99968299 -0.2698266 ] [ 0. 0. 0. 1. ]] SLAMing on 259.923133365 meters Centerline goodness : 0.099269 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.03, Z:-0.27 [[ 0.99967106 -0.00350636 -0.0254064 -1.46615892] [ 0.00355356 0.99999204 0.00181294 -0.03223817] [ 0.02539984 -0.00190262 0.99967556 -0.27059998] [ 0. 0. 0. 1. ]] SLAMing on 259.953133365 meters Centerline goodness : 0.099269 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.03, Z:-0.27 [[ 0.99967106 -0.00350636 -0.0254064 -1.46615892] [ 0.00355356 0.99999204 0.00181294 -0.03223817] [ 0.02539984 -0.00190262 0.99967556 -0.27059998] [ 0. 0. 0. 1. ]] SLAMing on 259.983133365 meters Centerline goodness : 0.201495 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99654335e-01 -3.84446439e-03 -2.60082826e-02 -1.46417656e+00] [ 3.87564467e-03 9.99991830e-01 1.14855773e-03 -2.88190585e-02] [ 2.60036545e-02 -1.24895958e-03 9.99661068e-01 -2.71542155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.013133365 meters Centerline goodness : 0.104485 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.27 [[ 9.99663027e-01 4.51943049e-03 -2.55618372e-02 -1.48214476e+00] [-4.52071557e-03 9.99989781e-01 7.51524830e-06 -3.36421421e-02] [ 2.55616099e-02 1.08045079e-04 9.99673243e-01 -2.73599928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04313336499996 meters Centerline goodness : 0.163916 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.27 [[ 9.99662370e-01 4.31965947e-03 -2.56219771e-02 -1.48186698e+00] [-4.32797267e-03 9.99990598e-01 -2.69009636e-04 -3.27423933e-02] [ 2.56205742e-02 3.79810027e-04 9.99671667e-01 -2.73787159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.073133365 meters Centerline goodness : 0.111745 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.03, Z:-0.27 [[ 9.99659099e-01 3.81191733e-03 -2.58293447e-02 -1.48137529e+00] [-3.83351871e-03 9.99992342e-01 -7.86846114e-04 -3.14996697e-02] [ 2.58261476e-02 8.85595154e-04 9.99666057e-01 -2.73834068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10313336499996 meters Centerline goodness : 0.109366 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99640311e-01 -3.69341423e-03 -2.65632781e-02 -1.46104871e+00] [ 3.69799723e-03 9.99993155e-01 1.23409266e-04 -2.64847849e-02] [ 2.65626405e-02 -2.21595806e-04 9.99647126e-01 -2.72078401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.133133365 meters Centerline goodness : 0.200301 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99629580e-01 -3.75024446e-03 -2.69562496e-02 -1.45984336e+00] [ 3.75148125e-03 9.99992963e-01 -4.69086311e-06 -2.55882794e-02] [ 2.69560775e-02 -9.64367395e-05 9.99636614e-01 -2.72550248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16313336499996 meters Centerline goodness : 0.117954 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.02, Z:-0.27 [[ 9.99620934e-01 -3.83519630e-03 -2.72631604e-02 -1.45882836e+00] [ 3.83057329e-03 9.99992639e-01 -2.21794293e-04 -2.43699872e-02] [ 2.72638103e-02 1.17276685e-04 9.99628266e-01 -2.73010691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.193133365 meters Centerline goodness : 0.113167 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.02, Z:-0.27 [[ 9.99619379e-01 -3.92915328e-03 -2.73067485e-02 -1.45871273e+00] [ 3.91858569e-03 9.99992225e-01 -4.40496563e-04 -2.32450690e-02] [ 2.73082670e-02 3.33325066e-04 9.99627004e-01 -2.73048895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22313336499997 meters Centerline goodness : 0.113167 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.02, Z:-0.27 [[ 9.99619379e-01 -3.92915328e-03 -2.73067485e-02 -1.45871273e+00] [ 3.91858569e-03 9.99992225e-01 -4.40496563e-04 -2.32450690e-02] [ 2.73082670e-02 3.33325066e-04 9.99627004e-01 -2.73048895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.253133365 meters Centerline goodness : 0.108912 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.03, Z:-0.27 [[ 0.99965961 0.00421064 -0.02574756 -1.43975998] [-0.0042558 0.9999895 -0.00169932 -0.02517338] [ 0.02574013 0.00180832 0.99966703 -0.27181983] [ 0. 0. 0. 1. ]] SLAMing on 260.28313336499997 meters Centerline goodness : 0.107799 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99966435 0.00411938 -0.02557779 -1.44044922] [-0.0041716 0.99998932 -0.00198876 -0.02357419] [ 0.02556932 0.0020948 0.99967086 -0.27134657] [ 0. 0. 0. 1. ]] SLAMing on 260.313133365 meters Centerline goodness : 0.106758 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99966548 0.00406061 -0.02554271 -1.44065806] [-0.00411856 0.99998906 -0.00221638 -0.02215855] [ 0.02553343 0.00232084 0.99967127 -0.27114135] [ 0. 0. 0. 1. ]] SLAMing on 260.34313336499997 meters Centerline goodness : 0.119088 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99966185 0.0040489 -0.02568647 -1.44032773] [-0.00410975 0.99998887 -0.0023166 -0.02125794] [ 0.0256768 0.00242138 0.99966736 -0.27116915] [ 0. 0. 0. 1. ]] SLAMing on 260.373133365 meters Centerline goodness : 0.162193 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99964722 0.00380132 -0.02628669 -1.43904032] [-0.00386451 0.99998976 -0.00235344 -0.02166263] [ 0.02627747 0.0024542 0.99965167 -0.27110209] [ 0. 0. 0. 1. ]] SLAMing on 260.403133365 meters Centerline goodness : 0.201938 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.99965002 0.00359906 -0.0262084 -1.4394394 ] [-0.00366071 0.99999064 -0.00230476 -0.02281337] [ 0.02619986 0.00239989 0.99965384 -0.27086028] [ 0. 0. 0. 1. ]] SLAMing on 260.433133365 meters Centerline goodness : 0.096320 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.02, Z:-0.27 [[ 0.9996503 0.00335627 -0.02622989 -1.43974664] [-0.00341359 0.99999188 -0.00214099 -0.02467029] [ 0.02622249 0.00222978 0.99965364 -0.27036963] [ 0. 0. 0. 1. ]] SLAMing on 260.463133365 meters Centerline goodness : 0.124692 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.03, Z:-0.27 [[ 0.99965315 0.00314473 -0.0261474 -1.44019209] [-0.0031969 0.99999298 -0.00195342 -0.0266428 ] [ 0.02614107 0.00203633 0.99965619 -0.27005577] [ 0. 0. 0. 1. ]] SLAMing on 260.493133365 meters Centerline goodness : 0.310508 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.03, Z:-0.27 [[ 0.99965268 0.00316962 -0.02616229 -1.44040607] [-0.0032113 0.99999364 -0.00155121 -0.02878953] [ 0.02615721 0.00163469 0.99965651 -0.26980265] [ 0. 0. 0. 1. ]] SLAMing on 260.523133365 meters Centerline goodness : 0.352059 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99642325e-01 -5.35139449e-03 -2.62027637e-02 -1.46031774e+00] [ 5.34476273e-03 9.99985664e-01 -3.23123355e-04 -2.58010393e-02] [ 2.62041172e-02 1.82960227e-04 9.99656596e-01 -2.71267477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.553133365 meters Centerline goodness : 0.236361 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99658528e-01 -5.36308789e-03 -2.55746843e-02 -1.46236687e+00] [ 5.35844361e-03 9.99985612e-01 -2.50125500e-04 -2.65435901e-02] [ 2.55756578e-02 1.12999586e-04 9.99672883e-01 -2.70326089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.583133365 meters Centerline goodness : 0.434421 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.03, Z:-0.27 [[ 9.99673636e-01 -5.31183809e-03 -2.49881268e-02 -1.46421106e+00] [ 5.30318547e-03 9.99985853e-01 -4.12525557e-04 -2.52488092e-02] [ 2.49899646e-02 2.79874253e-04 9.99687663e-01 -2.69557845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.613133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 260.643133365 meters Centerline goodness : 0.300464 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.02, Z:-0.27 [[ 9.99705641e-01 -2.86488248e-03 -2.40919933e-02 -1.46850711e+00] [ 2.89315073e-03 9.99995167e-01 1.13857212e-03 -1.87409740e-02] [ 2.40886149e-02 -1.20793874e-03 9.99709097e-01 -2.66946739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.673133365 meters Centerline goodness : 0.102016 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.02, Z:-0.27 [[ 9.99698432e-01 -2.92889671e-03 -2.43816999e-02 -1.46769273e+00] [ 2.94375718e-03 9.99995503e-01 5.73622750e-04 -1.52483087e-02] [ 2.43799101e-02 -6.45223567e-04 9.99702558e-01 -2.67161790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.703133365 meters Centerline goodness : 0.204635 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.01, Z:-0.27 [[ 9.99668801e-01 -6.87579995e-04 -2.57257757e-02 -1.46243394e+00] [ 7.38105607e-04 9.99997817e-01 1.95456314e-03 -8.32550237e-03] [ 2.57243756e-02 -1.97290413e-03 9.99667127e-01 -2.69633515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.733133365 meters Centerline goodness : 0.439050 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.01, Z:-0.27 [[ 9.99665125e-01 -8.12538258e-04 -2.58646209e-02 -1.46190223e+00] [ 8.50504125e-04 9.99998577e-01 1.45690171e-03 -5.29711690e-03] [ 2.58634003e-02 -1.47841179e-03 9.99664393e-01 -2.69977555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.763133365 meters Centerline goodness : 0.408321 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.00, Z:-0.27 [[ 9.99603379e-01 -9.24253555e-04 -2.81465803e-02 -1.50687728e+00] [ 9.67882370e-04 9.99998351e-01 1.53647285e-03 -1.26405990e-03] [ 2.81451138e-02 -1.56310603e-03 9.99602626e-01 -2.70251182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79313336499996 meters Centerline goodness : 0.434766 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.00, Z:-0.27 [[ 9.99600546e-01 -1.16619883e-03 -2.82380688e-02 -1.50658930e+00] [ 1.19594192e-03 9.99998748e-01 1.03643153e-03 1.17614982e-03] [ 2.82368248e-02 -1.06978862e-03 9.99600689e-01 -2.70379557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 260.85313336499996 meters Centerline goodness : 0.348203 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.01, Z:-0.27 [[ 9.99589193e-01 -1.55203920e-03 -2.86188050e-02 -1.50544577e+00] [ 1.55898192e-03 9.99998761e-01 2.20281892e-04 5.12905649e-03] [ 2.86184276e-02 -2.64807598e-04 9.99590374e-01 -2.70797140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.883133365 meters Centerline goodness : 0.438316 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.01, Z:-0.27 [[ 9.99562621e-01 1.52513977e-04 -2.95726692e-02 -1.50073654e+00] [-1.03941515e-04 9.99998643e-01 1.64400841e-03 9.19333548e-03] [ 2.95728798e-02 -1.64021553e-03 9.99561281e-01 -2.73631636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91313336499996 meters Centerline goodness : 0.438957 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.01, Z:-0.27 [[ 9.99556281e-01 -4.16423171e-05 -2.97865494e-02 -1.50006990e+00] [ 7.82910156e-05 9.99999241e-01 1.22921224e-03 1.12699283e-02] [ 2.97864756e-02 -1.23099883e-03 9.99555526e-01 -2.73859007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.943133365 meters Centerline goodness : 0.096180 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99479187e-01 -4.55985890e-04 -3.22667989e-02 -1.54542284e+00] [ 4.84780274e-04 9.99999491e-01 8.84566712e-04 1.53675960e-02] [ 3.22663791e-02 -8.99748326e-04 9.99478900e-01 -2.73714891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97313336499997 meters Centerline goodness : 0.442707 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99477817e-01 -6.23867863e-04 -3.23064158e-02 -1.54546291e+00] [ 6.37302148e-04 9.99999715e-01 4.05544052e-04 1.79380304e-02] [ 3.23061536e-02 -4.25921232e-04 9.99477929e-01 -2.73490444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.003133365 meters Centerline goodness : 0.244431 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99479192e-01 -7.68710397e-04 -3.22607148e-02 -1.54579413e+00] [ 7.65780342e-04 9.99999701e-01 -1.03179682e-04 2.09972487e-02] [ 3.22607845e-02 7.84213237e-05 9.99479482e-01 -2.73137261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03313336499997 meters Centerline goodness : 0.301439 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.02, Z:-0.27 [[ 9.99484415e-01 -9.17546270e-04 -3.20945908e-02 -1.54630492e+00] [ 8.98375658e-04 9.99999409e-01 -6.11731105e-04 2.39204629e-02] [ 3.20951331e-02 5.82582706e-04 9.99484649e-01 -2.72948172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.063133365 meters Centerline goodness : 0.446993 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 9.99483621e-01 -1.29419753e-03 -3.21063169e-02 -1.54634528e+00] [ 1.24308636e-03 9.99997928e-01 -1.61184463e-03 2.94377910e-02] [ 3.21083364e-02 1.57110138e-03 9.99483160e-01 -2.72808297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09313336499997 meters Centerline goodness : 0.270975 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 9.99480767e-01 -1.43201768e-03 -3.21892045e-02 -1.54619131e+00] [ 1.36931016e-03 9.99997122e-01 -1.97005124e-03 3.14310076e-02] [ 3.21919330e-02 1.92495132e-03 9.99479852e-01 -2.72802320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.123133365 meters Centerline goodness : 0.444576 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 9.99481651e-01 -1.45499155e-03 -3.21607175e-02 -1.54650234e+00] [ 1.38775223e-03 9.99996805e-01 -2.11295051e-03 3.26701029e-02] [ 3.21636890e-02 2.06722416e-03 9.99480477e-01 -2.72473788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 261.183133365 meters Centerline goodness : 0.116242 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 0.99952581 -0.00326875 -0.03061801 -1.55249479] [ 0.00315385 0.99998781 -0.00380012 0.03471529] [ 0.03063006 0.00370175 0.99952393 -0.26943711] [ 0. 0. 0. 1. ]] SLAMing on 261.213133365 meters Centerline goodness : 0.110952 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 0.99953416 -0.00354963 -0.03031275 -1.55330869] [ 0.00343172 0.99998635 -0.00394086 0.03419506] [ 0.03032633 0.003835 0.99953269 -0.26931433] [ 0. 0. 0. 1. ]] SLAMing on 261.243133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 261.273133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 261.303133365 meters Centerline goodness : 0.165916 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.03, Z:-0.27 [[ 0.99955048 -0.00388223 -0.02972816 -1.55445459] [ 0.00376542 0.99998497 -0.00398447 0.03381255] [ 0.02974318 0.00387074 0.99955008 -0.26967356] [ 0. 0. 0. 1. ]] SLAMing on 261.333133365 meters Centerline goodness : 0.119535 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99957204 0.00391209 -0.02899028 -1.53494006] [-0.00406064 0.99997892 -0.00506702 0.0295109 ] [ 0.02896985 0.00518257 0.99956685 -0.26885744] [ 0. 0. 0. 1. ]] SLAMing on 261.363133365 meters Centerline goodness : 0.127264 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99956747 0.00383952 -0.02915685 -1.53444502] [-0.00399253 0.99997855 -0.00519149 0.02992555] [ 0.02913629 0.00530565 0.99956137 -0.26899669] [ 0. 0. 0. 1. ]] SLAMing on 261.393133365 meters Centerline goodness : 0.127821 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99956443 0.00379263 -0.02926725 -1.53410213] [-0.00395111 0.99997783 -0.00535899 0.03094282] [ 0.02924628 0.0054723 0.99955726 -0.26908723] [ 0. 0. 0. 1. ]] SLAMing on 261.423133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 261.453133365 meters Centerline goodness : 0.117473 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.03, Z:-0.27 [[ 0.99955228 0.00377078 -0.02968192 -1.53278944] [-0.0039416 0.99997599 -0.00569859 0.03335811] [ 0.02965972 0.00581303 0.99954315 -0.2695355 ] [ 0. 0. 0. 1. ]] SLAMing on 261.483133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 261.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 261.54313336499996 meters Centerline goodness : 0.119511 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.04, Z:-0.27 [[ 0.99952321 0.00378545 -0.03064342 -1.52985065] [-0.00398842 0.99997049 -0.0065653 0.04181048] [ 0.03061766 0.00668438 0.99950882 -0.27035573] [ 0. 0. 0. 1. ]] SLAMing on 261.573133365 meters Centerline goodness : 0.127784 Centerline is valid? [False, False] Translation: X:-1.51, Y:0.05, Z:-0.27 [[ 0.99952843 -0.00173539 -0.03065774 -1.50967329] [ 0.00162856 0.99999252 -0.00350945 0.04591591] [ 0.03066361 0.00345787 0.99952378 -0.26879758] [ 0. 0. 0. 1. ]] SLAMing on 261.60313336499996 meters Centerline goodness : 0.119744 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.05, Z:-0.27 [[ 9.99466154e-01 -9.33608767e-04 -3.26578487e-02 -1.55494541e+00] [ 8.34412527e-04 9.99994998e-01 -3.05093635e-03 5.02346819e-02] [ 3.26605337e-02 3.02205751e-03 9.99461934e-01 -2.69206914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.633133365 meters Centerline goodness : 0.114113 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.05, Z:-0.27 [[ 9.99461878e-01 -1.06890228e-03 -3.27843207e-02 -1.55446839e+00] [ 9.57083744e-04 9.99993672e-01 -3.42623547e-03 5.22966305e-02] [ 3.27877756e-02 3.39301439e-03 9.99456577e-01 -2.69447619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66313336499996 meters Centerline goodness : 0.129260 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.05, Z:-0.27 [[ 9.99457998e-01 -1.22206285e-03 -3.28970681e-02 -1.55394780e+00] [ 1.09763816e-03 9.99992177e-01 -3.80003632e-03 5.41453997e-02] [ 3.29014546e-02 3.76186762e-03 9.99451521e-01 -2.69834538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.693133365 meters Centerline goodness : 0.117792 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.06, Z:-0.27 [[ 9.99443384e-01 -1.46280453e-03 -3.33283972e-02 -1.55255864e+00] [ 1.31159833e-03 9.99988751e-01 -4.55826877e-03 5.87456263e-02] [ 3.33346901e-02 4.51201810e-03 9.99434060e-01 -2.70339746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72313336499997 meters Centerline goodness : 0.117371 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.06, Z:-0.27 [[ 9.99439863e-01 -1.56688984e-03 -3.34291082e-02 -1.55227479e+00] [ 1.40068529e-03 9.99986545e-01 -4.99469029e-03 6.15511020e-02] [ 3.34364846e-02 4.94506892e-03 9.99428611e-01 -2.70344062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.753133365 meters Centerline goodness : 0.115792 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.06, Z:-0.27 [[ 0.99944251 -0.00178046 -0.03333901 -1.55247846] [ 0.00159594 0.99998327 -0.0055606 0.06447513] [ 0.03334835 0.0055043 0.99942863 -0.27030065] [ 0. 0. 0. 1. ]] SLAMing on 261.78313336499997 meters Centerline goodness : 0.120951 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.07, Z:-0.27 [[ 0.99944482 -0.00202868 -0.03325564 -1.55292792] [ 0.00182572 0.99997953 -0.00613222 0.06718658] [ 0.0332674 0.0060681 0.99942807 -0.26989207] [ 0. 0. 0. 1. ]] SLAMing on 261.813133365 meters Centerline goodness : 0.119963 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.07, Z:-0.27 [[ 0.99944591 -0.00223756 -0.03320955 -1.55342566] [ 0.00201697 0.99997569 -0.00667451 0.07008421] [ 0.03322368 0.00660383 0.99942612 -0.26930389] [ 0. 0. 0. 1. ]] SLAMing on 261.84313336499997 meters Centerline goodness : 0.116023 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99493308e-01 -3.87932763e-07 -3.18296685e-02 -1.55873191e+00] [-1.62913349e-04 9.99986839e-01 -5.12788027e-03 7.65877757e-02] [ 3.18292516e-02 5.13046749e-03 9.99480153e-01 -2.66816686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.873133365 meters Centerline goodness : 0.114339 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99501554e-01 -2.01478641e-04 -3.15690218e-02 -1.55961891e+00] [ 2.34903702e-05 9.99984104e-01 -5.63833678e-03 7.92620518e-02] [ 3.15696560e-02 5.63478480e-03 9.99485671e-01 -2.66336861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.903133365 meters Centerline goodness : 0.116220 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99509969e-01 -4.54797046e-04 -3.12988118e-02 -1.56043306e+00] [ 2.61051255e-04 9.99980783e-01 -6.19400430e-03 8.18045523e-02] [ 3.13010274e-02 6.18279845e-03 9.99490880e-01 -2.65999959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.933133365 meters Centerline goodness : 0.116933 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.08, Z:-0.27 [[ 9.99517081e-01 -6.73595652e-04 -3.10668717e-02 -1.56105684e+00] [ 4.65986491e-04 9.99977517e-01 -6.68941024e-03 8.41409489e-02] [ 3.10706792e-02 6.67170306e-03 9.99494923e-01 -2.65843783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.963133365 meters Centerline goodness : 0.118222 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99520001e-01 -8.33236528e-04 -3.09688957e-02 -1.56136583e+00] [ 6.14281807e-04 9.99974755e-01 -7.07899121e-03 8.61431849e-02] [ 3.09740124e-02 7.05656967e-03 9.99495280e-01 -2.65725038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.993133365 meters Centerline goodness : 0.133388 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99514217e-01 -9.66817499e-04 -3.11511679e-02 -1.56065903e+00] [ 7.37671144e-04 9.99972594e-01 -7.36660042e-03 8.75961656e-02] [ 3.11574363e-02 7.34004254e-03 9.99487538e-01 -2.66139255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.023133365 meters Centerline goodness : 0.115069 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99470386e-01 -1.37309439e-03 -3.25124813e-02 -1.55677809e+00] [ 1.12198075e-03 9.99969412e-01 -7.74059213e-03 8.86481073e-02] [ 3.25221154e-02 7.70001423e-03 9.99441355e-01 -2.67269843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.053133365 meters Centerline goodness : 0.101063 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99456876e-01 -1.44507882e-03 -3.29220951e-02 -1.55546064e+00] [ 1.19120976e-03 9.99969417e-01 -7.72951542e-03 8.83257787e-02] [ 3.29322581e-02 7.68610021e-03 9.99428032e-01 -2.67860562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.083133365 meters Centerline goodness : 0.241884 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.09, Z:-0.27 [[ 9.99450722e-01 -1.44114423e-03 -3.31085583e-02 -1.55479900e+00] [ 1.19014244e-03 9.99970414e-01 -7.59963247e-03 8.76004852e-02] [ 3.31185310e-02 7.55605426e-03 9.99422868e-01 -2.68280858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.113133365 meters Centerline goodness : 0.241884 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.09, Z:-0.27 [[ 9.99450722e-01 -1.44114423e-03 -3.31085583e-02 -1.55479900e+00] [ 1.19014244e-03 9.99970414e-01 -7.59963247e-03 8.76004852e-02] [ 3.31185310e-02 7.55605426e-03 9.99422868e-01 -2.68280858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.143133365 meters Centerline goodness : 0.104724 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.09, Z:-0.27 [[ 9.99449885e-01 -1.40892826e-03 -3.31352158e-02 -1.55469867e+00] [ 1.16264014e-03 9.99971566e-01 -7.45091405e-03 8.68322817e-02] [ 3.31447714e-02 7.40829086e-03 9.99423104e-01 -2.68367689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.173133365 meters Centerline goodness : 0.103332 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99459096e-01 -1.39065584e-03 -3.28569950e-02 -1.55560893e+00] [ 1.15049906e-03 9.99972496e-01 -7.32692805e-03 8.61083138e-02] [ 3.28662805e-02 7.28516294e-03 9.99433206e-01 -2.68021342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.203133365 meters Centerline goodness : 0.242493 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99473733e-01 -1.43792002e-03 -3.24066410e-02 -1.55734678e+00] [ 1.19921590e-03 9.99972018e-01 -7.38413435e-03 8.62107060e-02] [ 3.24163520e-02 7.34138576e-03 9.99447489e-01 -2.67005318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.233133365 meters Centerline goodness : 0.148722 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99506016e-01 -1.65041757e-03 -3.13847098e-02 -1.56082670e+00] [ 1.40485662e-03 9.99968243e-01 -7.84466435e-03 8.78544069e-02] [ 3.13966601e-02 7.79669820e-03 9.99476594e-01 -2.65219406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.263133365 meters Centerline goodness : 0.117620 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 9.99509213e-01 -1.75735492e-03 -3.12768905e-02 -1.56109372e+00] [ 1.50282194e-03 9.99965580e-01 -8.15970040e-03 8.94315918e-02] [ 3.12901534e-02 8.10869213e-03 9.99477451e-01 -2.65157522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29313336499996 meters Centerline goodness : 0.102446 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.09, Z:-0.26 [[ 0.99948151 -0.0075613 -0.03129761 -1.53851831] [ 0.00740171 0.99995902 -0.00521181 0.09172509] [ 0.03133573 0.00497745 0.99949652 -0.26479823] [ 0. 0. 0. 1. ]] SLAMing on 262.323133365 meters Centerline goodness : 0.103784 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.09, Z:-0.27 [[ 0.99950044 -0.00429559 -0.03131174 -1.53786941] [ 0.00423427 0.99998899 -0.00202434 0.09241008] [ 0.03132009 0.00189074 0.99950762 -0.2656535 ] [ 0. 0. 0. 1. ]] SLAMing on 262.35313336499996 meters Centerline goodness : 0.118754 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.9994923 -0.00442437 -0.03155255 -1.53678322] [ 0.00434708 0.99998738 -0.00251793 0.09540715] [ 0.03156329 0.00237949 0.99949892 -0.26638868] [ 0. 0. 0. 1. ]] SLAMing on 262.383133365 meters Centerline goodness : 0.104772 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99948982 -0.00459696 -0.0316063 -1.53665181] [ 0.00450826 0.9999857 -0.00287704 0.09689699] [ 0.03161907 0.00273308 0.99949626 -0.26639802] [ 0. 0. 0. 1. ]] SLAMing on 262.41313336499996 meters Centerline goodness : 0.098686 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99948263 -0.00473669 -0.03181237 -1.53621787] [ 0.00463807 0.99998421 -0.00317303 0.09824762] [ 0.0318269 0.00302384 0.99948882 -0.26635977] [ 0. 0. 0. 1. ]] SLAMing on 262.443133365 meters Centerline goodness : 0.231314 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99947285 -0.00480484 -0.03210816 -1.53549088] [ 0.00469874 0.99998325 -0.00337894 0.09965966] [ 0.03212386 0.00322629 0.99947869 -0.26643467] [ 0. 0. 0. 1. ]] SLAMing on 262.47313336499997 meters Centerline goodness : 0.118768 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.10, Z:-0.27 [[ 0.99946559 -0.00484068 -0.03232813 -1.534815 ] [ 0.00472853 0.99998254 -0.00354472 0.10110173] [ 0.03234473 0.00338996 0.99947102 -0.26666466] [ 0. 0. 0. 1. ]] SLAMing on 262.503133365 meters Centerline goodness : 0.118174 Centerline is valid? [False, False] Translation: X:-1.53, Y:0.10, Z:-0.27 [[ 0.99946433 -0.00513657 -0.03232128 -1.53488919] [ 0.00500418 0.99997876 -0.00417563 0.10422751] [ 0.03234205 0.00401165 0.99946881 -0.26656491] [ 0. 0. 0. 1. ]] SLAMing on 262.53313336499997 meters Centerline goodness : 0.103094 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948459 0.00297131 -0.03196454 -1.55483656] [-0.00314932 0.99997981 -0.00551995 0.10181278] [ 0.0319475 0.00561777 0.99947376 -0.26859397] [ 0. 0. 0. 1. ]] SLAMing on 262.563133365 meters Centerline goodness : 0.167863 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948665 0.00285228 -0.03191072 -1.5549621 ] [-0.00303411 0.99997943 -0.00565094 0.10224674] [ 0.03189395 0.00574486 0.99947475 -0.26862829] [ 0. 0. 0. 1. ]] SLAMing on 262.59313336499997 meters Centerline goodness : 0.066349 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948243 0.00281807 -0.03204588 -1.55455267] [-0.00299819 0.99997997 -0.00557411 0.10185333] [ 0.03202953 0.0056673 0.99947086 -0.26884688] [ 0. 0. 0. 1. ]] SLAMing on 262.623133365 meters Centerline goodness : 0.125982 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99947995 0.00284269 -0.03212089 -1.5542814 ] [-0.00301674 0.99998102 -0.00537143 0.10093001] [ 0.03210501 0.00546554 0.99946956 -0.26907491] [ 0. 0. 0. 1. ]] SLAMing on 262.653133365 meters Centerline goodness : 0.129092 Centerline is valid? [False, False] Translation: X:-1.55, Y:0.10, Z:-0.27 [[ 0.99948254 0.00284644 -0.03203977 -1.55448762] [-0.00301231 0.9999823 -0.00513012 0.09946804] [ 0.0320246 0.00522398 0.99947343 -0.26915925] [ 0. 0. 0. 1. ]] SLAMing on 262.683133365 meters Centerline goodness : 0.135458 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.10, Z:-0.27 [[ 0.99950472 0.00242907 -0.03137553 -1.55645087] [-0.00259111 0.99998351 -0.00512495 0.09722905] [ 0.03136257 0.00520371 0.99949453 -0.26868764] [ 0. 0. 0. 1. ]] SLAMing on 262.713133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 262.743133365 meters Centerline goodness : 0.096141 Centerline is valid? [False, False] Translation: X:-1.54, Y:0.10, Z:-0.27 [[ 0.99953414 -0.00585068 -0.02995463 -1.53709294] [ 0.00574786 0.99997729 -0.00351775 0.0955531 ] [ 0.02997453 0.00334394 0.99954507 -0.2666973 ] [ 0. 0. 0. 1. ]] SLAMing on 262.773133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 262.803133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 262.833133365 meters Centerline goodness : 0.098587 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99957349 0.00272614 -0.02907584 -1.55810944] [-0.00283547 0.99998906 -0.0037197 0.08710353] [ 0.02906538 0.00380056 0.99957029 -0.26896244] [ 0. 0. 0. 1. ]] SLAMing on 262.863133365 meters Centerline goodness : 0.117146 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99958319 0.00277778 -0.02873547 -1.55960298] [-0.00288195 0.99998942 -0.0035843 0.08542396] [ 0.02872521 0.00366562 0.99958062 -0.2680182 ] [ 0. 0. 0. 1. ]] SLAMing on 262.893133365 meters Centerline goodness : 0.113064 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99958332 0.0028973 -0.02871913 -1.5599435 ] [-0.00299889 0.9999894 -0.00349497 0.08523829] [ 0.0287087 0.00357964 0.99958141 -0.26754666] [ 0. 0. 0. 1. ]] SLAMing on 262.923133365 meters Centerline goodness : 0.154915 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99954272 0.00454569 -0.02989462 -1.60717526] [-0.0046318 0.99998532 -0.00281194 0.08829527] [ 0.02988139 0.00294912 0.9995491 -0.26718924] [ 0. 0. 0. 1. ]] SLAMing on 262.953133365 meters Centerline goodness : 0.124678 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99955174 0.00471367 -0.0295653 -1.60826043] [-0.00479782 0.99998464 -0.00277583 0.08870066] [ 0.02955176 0.00291644 0.999559 -0.26663653] [ 0. 0. 0. 1. ]] SLAMing on 262.983133365 meters Centerline goodness : 0.106876 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99955967 0.004798 -0.02928221 -1.60914873] [-0.00488198 0.99998417 -0.00279692 0.08912105] [ 0.02926832 0.00293865 0.99956727 -0.26629535] [ 0. 0. 0. 1. ]] SLAMing on 263.013133365 meters Centerline goodness : 0.102210 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.09, Z:-0.27 [[ 0.99955528 0.00499783 -0.02939832 -1.60859648] [-0.00508121 0.99998328 -0.00276241 0.08969394] [ 0.02938403 0.00291056 0.99956396 -0.26673359] [ 0. 0. 0. 1. ]] SLAMing on 263.04313336499996 meters Centerline goodness : 0.092352 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 9.99547758e-01 -2.82402477e-03 -2.99383457e-02 -1.58902637e+00] [ 2.77772706e-03 9.99994881e-01 -1.58791203e-03 9.23414730e-02] [ 2.99426767e-02 1.50403336e-03 9.99550486e-01 -2.64961694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.073133365 meters Centerline goodness : 0.101296 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 9.99547123e-01 -2.86736684e-03 -2.99554087e-02 -1.58900228e+00] [ 2.81882845e-03 9.99994645e-01 -1.66245800e-03 9.25045194e-02] [ 2.99600152e-02 1.57726596e-03 9.99549854e-01 -2.64940512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10313336499996 meters Centerline goodness : 0.103153 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 0.99954376 -0.00292425 -0.03006205 -1.5889517 ] [ 0.00287346 0.99999437 -0.00173233 0.09254281] [ 0.03006695 0.00164516 0.99954653 -0.26467989] [ 0. 0. 0. 1. ]] SLAMing on 263.133133365 meters Centerline goodness : 0.105119 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 0.99953341 -0.00296399 -0.03040024 -1.58798426] [ 0.00291012 0.99999412 -0.00181614 0.09299084] [ 0.03040545 0.00172682 0.99953616 -0.26497567] [ 0. 0. 0. 1. ]] SLAMing on 263.16313336499996 meters Centerline goodness : 0.103466 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953139 -0.00290592 -0.03047209 -1.58772405] [ 0.00285297 0.99999434 -0.00178107 0.09332006] [ 0.03047709 0.0016933 0.99953403 -0.26514641] [ 0. 0. 0. 1. ]] SLAMing on 263.193133365 meters Centerline goodness : 0.108127 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953071 -0.00285594 -0.03049933 -1.58767295] [ 0.00280258 0.99999447 -0.00179229 0.09402977] [ 0.03050428 0.00170598 0.99953318 -0.26512142] [ 0. 0. 0. 1. ]] SLAMing on 263.22313336499997 meters Centerline goodness : 0.102467 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953105 -0.00282763 -0.03049079 -1.58773045] [ 0.00277326 0.99999449 -0.0018252 0.09462503] [ 0.03049579 0.00173979 0.99953338 -0.26504899] [ 0. 0. 0. 1. ]] SLAMing on 263.253133365 meters Centerline goodness : 0.099708 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.26 [[ 0.9995308 -0.0028622 -0.03049572 -1.58778327] [ 0.00280611 0.99999429 -0.00188197 0.09492308] [ 0.03050093 0.00179551 0.99953313 -0.26496079] [ 0. 0. 0. 1. ]] SLAMing on 263.28313336499997 meters Centerline goodness : 0.101976 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99953128 -0.00292566 -0.03047404 -1.58769566] [ 0.00286814 0.99999402 -0.00193105 0.09484955] [ 0.0304795 0.00184274 0.99953369 -0.26518496] [ 0. 0. 0. 1. ]] SLAMing on 263.313133365 meters Centerline goodness : 0.071754 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 0.99951783 -0.00307408 -0.03089742 -1.58633575] [ 0.00301836 0.99999373 -0.00185001 0.09386997] [ 0.03090291 0.00175585 0.99952085 -0.26591125] [ 0. 0. 0. 1. ]] SLAMing on 263.34313336499997 meters Centerline goodness : 0.102482 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 9.99514995e-01 -2.98621793e-03 -3.09976905e-02 -1.58587892e+00] [ 2.93873463e-03 9.99994438e-01 -1.57727851e-03 9.27415392e-02] [ 3.10022282e-02 1.48541954e-03 9.99518212e-01 -2.66323964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.373133365 meters Centerline goodness : 0.073598 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.09, Z:-0.27 [[ 9.99512917e-01 -2.89857941e-03 -3.10729369e-02 -1.58544492e+00] [ 2.85966675e-03 9.99995070e-01 -1.29666735e-03 9.14979214e-02] [ 3.10765423e-02 1.20717752e-03 9.99516279e-01 -2.66821375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.403133365 meters Centerline goodness : 0.123869 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99950974 0.00253808 -0.03120638 -1.56314758] [-0.00266215 0.99998872 -0.00393465 0.08695836] [ 0.03119604 0.00401579 0.99950522 -0.26680965] [ 0. 0. 0. 1. ]] SLAMing on 263.433133365 meters Centerline goodness : 0.102455 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99951306 0.00254988 -0.03109889 -1.56335894] [-0.00267053 0.99998907 -0.00383847 0.08625845] [ 0.03108876 0.00391965 0.99950894 -0.2669151 ] [ 0. 0. 0. 1. ]] SLAMing on 263.463133365 meters Centerline goodness : 0.176051 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.09, Z:-0.27 [[ 0.99951995 0.00252437 -0.03087875 -1.56417254] [-0.00264552 0.99998896 -0.00388323 0.08634445] [ 0.03086861 0.00396305 0.99951559 -0.26648307] [ 0. 0. 0. 1. ]] SLAMing on 263.493133365 meters Centerline goodness : 0.099791 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99956152 0.0027903 -0.02947833 -1.56838344] [-0.00291125 0.99998752 -0.00406095 0.08828026] [ 0.02946664 0.00414499 0.99955717 -0.26483816] [ 0. 0. 0. 1. ]] SLAMing on 263.523133365 meters Centerline goodness : 0.104176 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99957589 0.00274968 -0.02899085 -1.56981073] [-0.00287914 0.99998607 -0.00442477 0.09035824] [ 0.02897828 0.00450636 0.99956988 -0.26429305] [ 0. 0. 0. 1. ]] SLAMing on 263.553133365 meters Centerline goodness : 0.243805 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99958316 0.00269839 -0.02874411 -1.57034175] [-0.00283763 0.99998443 -0.00480452 0.09255464] [ 0.0287307 0.00488408 0.99957526 -0.26427826] [ 0. 0. 0. 1. ]] SLAMing on 263.583133365 meters Centerline goodness : 0.173157 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.09, Z:-0.26 [[ 0.99957772 0.00265119 -0.02893695 -1.56966208] [-0.00280054 0.99998296 -0.00512206 0.09449754] [ 0.02892288 0.00520093 0.99956812 -0.26459806] [ 0. 0. 0. 1. ]] SLAMing on 263.613133365 meters Centerline goodness : 0.113612 Centerline is valid? [False, False] Translation: X:-1.57, Y:0.10, Z:-0.26 [[ 0.99956731 0.00262657 -0.02929679 -1.56859316] [-0.00278498 0.99998172 -0.00536764 0.09610897] [ 0.02928216 0.00544691 0.99955634 -0.26494004] [ 0. 0. 0. 1. ]] SLAMing on 263.643133365 meters Centerline goodness : 0.109508 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.10, Z:-0.27 [[ 0.99948336 0.00344639 -0.03195529 -1.61172741] [-0.0036194 0.9999791 -0.00535799 0.100787 ] [ 0.03193615 0.00547088 0.99947494 -0.26608452] [ 0. 0. 0. 1. ]] SLAMing on 263.673133365 meters Centerline goodness : 0.129818 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.10, Z:-0.26 [[ 0.99944435 -0.00439785 -0.03304001 -1.59165861] [ 0.00425707 0.99998156 -0.00433024 0.10469543] [ 0.03305845 0.00418719 0.99944465 -0.26407631] [ 0. 0. 0. 1. ]] SLAMing on 263.703133365 meters Centerline goodness : 0.092696 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943419 -0.00442363 -0.03334251 -1.59072513] [ 0.00427761 0.99998095 -0.00444939 0.10544738] [ 0.03336156 0.00430424 0.99943408 -0.26440677] [ 0. 0. 0. 1. ]] SLAMing on 263.733133365 meters Centerline goodness : 0.109599 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99941794 -0.0044088 -0.03382824 -1.58934905] [ 0.00425762 0.99998063 -0.00453984 0.10653884] [ 0.0338476 0.00439317 0.99941735 -0.26477976] [ 0. 0. 0. 1. ]] SLAMing on 263.763133365 meters Centerline goodness : 0.101425 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99941868 -0.0044106 -0.033806 -1.58940217] [ 0.00425814 0.99998044 -0.00458056 0.10695927] [ 0.03382554 0.00443395 0.99941792 -0.26478055] [ 0. 0. 0. 1. ]] SLAMing on 263.79313336499996 meters Centerline goodness : 0.118768 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99942499 -0.00446049 -0.03361253 -1.59008445] [ 0.00430606 0.99997984 -0.00466559 0.10734628] [ 0.03363266 0.00451817 0.99942405 -0.26447399] [ 0. 0. 0. 1. ]] SLAMing on 263.823133365 meters Centerline goodness : 0.121282 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943108 -0.00452229 -0.03342244 -1.59086029] [ 0.00436457 0.999979 -0.00479047 0.10784938] [ 0.0334434 0.00464187 0.99942983 -0.2640145 ] [ 0. 0. 0. 1. ]] SLAMing on 263.85313336499996 meters Centerline goodness : 0.109491 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943651 -0.00456847 -0.03325354 -1.59140705] [ 0.00440882 0.99997841 -0.00487269 0.10824726] [ 0.03327508 0.00472333 0.99943507 -0.2637998 ] [ 0. 0. 0. 1. ]] SLAMing on 263.883133365 meters Centerline goodness : 0.110009 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943896 -0.00456125 -0.03318062 -1.59164394] [ 0.0044028 0.99997856 -0.00484693 0.10830404] [ 0.03320202 0.00469812 0.99943762 -0.26373305] [ 0. 0. 0. 1. ]] SLAMing on 263.91313336499996 meters Centerline goodness : 0.123011 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99944852 -0.00452637 -0.03289635 -1.59222421] [ 0.00437153 0.99997903 -0.00477748 0.10835228] [ 0.03291728 0.00463104 0.99944735 -0.26385306] [ 0. 0. 0. 1. ]] SLAMing on 263.943133365 meters Centerline goodness : 0.163688 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.11, Z:-0.27 [[ 0.99945849 0.00395438 -0.03266628 -1.61295232] [-0.00414431 0.99997489 -0.00574867 0.10579957] [ 0.03264273 0.00588094 0.99944978 -0.26557307] [ 0. 0. 0. 1. ]] SLAMing on 263.97313336499997 meters Centerline goodness : 0.126444 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.11, Z:-0.27 [[ 0.99945578 0.00390617 -0.03275488 -1.61289178] [-0.00410011 0.99997445 -0.00585603 0.1063776 ] [ 0.03273117 0.00598714 0.99944626 -0.26534918] [ 0. 0. 0. 1. ]] SLAMing on 264.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 264.03313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 264.063133365 meters Centerline goodness : 0.118041 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945892 -0.00390593 -0.03265916 -1.59366009] [ 0.00376153 0.99998288 -0.00448162 0.11049729] [ 0.03267611 0.00435635 0.9994565 -0.26278375] [ 0. 0. 0. 1. ]] SLAMing on 264.09313336499997 meters Centerline goodness : 0.253339 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946029 -0.00387927 -0.03262029 -1.5938342 ] [ 0.00373627 0.99998315 -0.00444357 0.11048266] [ 0.03263697 0.00431929 0.99945794 -0.26265114] [ 0. 0. 0. 1. ]] SLAMing on 264.123133365 meters Centerline goodness : 0.110527 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946496 -0.00404025 -0.03245717 -1.59430632] [ 0.0038937 0.99998194 -0.00457728 0.11013722] [ 0.03247508 0.00444845 0.99946265 -0.26251684] [ 0. 0. 0. 1. ]] SLAMing on 264.153133365 meters Centerline goodness : 0.120720 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946373 -0.00408053 -0.03249001 -1.59420301] [ 0.00393264 0.99998162 -0.00461436 0.11011008] [ 0.03250824 0.00448411 0.99946141 -0.26259821] [ 0. 0. 0. 1. ]] SLAMing on 264.183133365 meters Centerline goodness : 0.120778 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945985 -0.00411304 -0.03260498 -1.59373969] [ 0.00396366 0.99998136 -0.00464499 0.11030355] [ 0.03262348 0.00451325 0.99945752 -0.26288114] [ 0. 0. 0. 1. ]] SLAMing on 264.213133365 meters Centerline goodness : 0.103579 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.9994576 -0.00407233 -0.03267901 -1.59340731] [ 0.00392373 0.99998168 -0.00461015 0.11045313] [ 0.03269718 0.00447942 0.99945527 -0.26314562] [ 0. 0. 0. 1. ]] SLAMing on 264.243133365 meters Centerline goodness : 0.173623 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945871 -0.00403992 -0.0326491 -1.59347272] [ 0.0038912 0.99998177 -0.00461735 0.11084408] [ 0.03266716 0.00448781 0.99945621 -0.26315233] [ 0. 0. 0. 1. ]] SLAMing on 264.273133365 meters Centerline goodness : 0.109493 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99946194 -0.00407466 -0.03254565 -1.59392222] [ 0.00392281 0.99998113 -0.00472847 0.1114908 ] [ 0.0325643 0.00459825 0.99945906 -0.2628452 ] [ 0. 0. 0. 1. ]] SLAMing on 264.303133365 meters Centerline goodness : 0.154742 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945896 -0.00414256 -0.03262866 -1.59399238] [ 0.00398449 0.99998002 -0.00490829 0.11239544] [ 0.03264834 0.00477563 0.99945549 -0.26243235] [ 0. 0. 0. 1. ]] SLAMing on 264.333133365 meters Centerline goodness : 0.100371 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99945458 -0.00412785 -0.03276438 -1.59358685] [ 0.00396799 0.99997991 -0.00494259 0.11277053] [ 0.03278412 0.00480989 0.99945088 -0.26254722] [ 0. 0. 0. 1. ]] SLAMing on 264.363133365 meters Centerline goodness : 0.107349 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99944712 -0.00412157 -0.0329918 -1.5928652 ] [ 0.00396036 0.99997991 -0.00495014 0.11286977] [ 0.03301154 0.00481675 0.99944336 -0.26285027] [ 0. 0. 0. 1. ]] SLAMing on 264.393133365 meters Centerline goodness : 0.115719 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943292 -0.00412114 -0.03341948 -1.59152919] [ 0.00395692 0.99997978 -0.0049786 0.11280918] [ 0.03343932 0.00484354 0.99942901 -0.26332791] [ 0. 0. 0. 1. ]] SLAMing on 264.423133365 meters Centerline goodness : 0.100992 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99942967 -0.00412791 -0.03351556 -1.59130976] [ 0.00396076 0.99997939 -0.00505224 0.11323701] [ 0.03353573 0.00491661 0.99942543 -0.26329934] [ 0. 0. 0. 1. ]] SLAMing on 264.453133365 meters Centerline goodness : 0.108494 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943196 -0.00410437 -0.03345012 -1.59166014] [ 0.00393469 0.99997907 -0.00513677 0.11388461] [ 0.0334705 0.00500224 0.99942719 -0.26298731] [ 0. 0. 0. 1. ]] SLAMing on 264.483133365 meters Centerline goodness : 0.095649 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.11, Z:-0.26 [[ 0.99943904 -0.00405973 -0.03324351 -1.59240201] [ 0.00388729 0.99997866 -0.00525024 0.1147584 ] [ 0.03326411 0.00511806 0.99943349 -0.26254281] [ 0. 0. 0. 1. ]] SLAMing on 264.513133365 meters Centerline goodness : 0.121432 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 0.99945229 -0.00400331 -0.0328497 -1.59370285] [ 0.00382626 0.99997782 -0.00545085 0.1160838 ] [ 0.0328708 0.00532218 0.99944544 -0.26188802] [ 0. 0. 0. 1. ]] SLAMing on 264.54313336499996 meters Centerline goodness : 0.103471 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 0.99945715 -0.00397475 -0.0327048 -1.59432771] [ 0.00379035 0.99997658 -0.00569841 0.11757652] [ 0.03272669 0.00557135 0.99944881 -0.26140174] [ 0. 0. 0. 1. ]] SLAMing on 264.573133365 meters Centerline goodness : 0.107743 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99461457e-01 -2.67812010e-04 -3.28134799e-02 -1.59444890e+00] [ 1.89843055e-04 9.99997152e-01 -2.37921828e-03 1.18809555e-01] [ 3.28140236e-02 2.37170756e-03 9.99458661e-01 -2.61006544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60313336499996 meters Centerline goodness : 0.116197 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99455107e-01 -2.03100804e-04 -3.30067929e-02 -1.59412626e+00] [ 1.20598261e-04 9.99996864e-01 -2.50153413e-03 1.20060328e-01] [ 3.30071974e-02 2.49619050e-03 9.99451997e-01 -2.60845538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.633133365 meters Centerline goodness : 0.107370 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99452432e-01 -1.62796114e-04 -3.30879116e-02 -1.59395316e+00] [ 7.71270581e-05 9.99996642e-01 -2.59039442e-03 1.20920810e-01] [ 3.30882222e-02 2.58642403e-03 9.99449088e-01 -2.60795688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66313336499996 meters Centerline goodness : 0.110980 Centerline is valid? [False, False] Translation: X:-1.59, Y:0.12, Z:-0.26 [[ 9.99456820e-01 -1.94637084e-04 -3.29549197e-02 -1.59429547e+00] [ 1.03535161e-04 9.99996169e-01 -2.76612465e-03 1.21864099e-01] [ 3.29553319e-02 2.76121016e-03 9.99453011e-01 -2.60742142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.693133365 meters Centerline goodness : 0.106439 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.12, Z:-0.26 [[ 9.99466383e-01 -1.92986967e-04 -3.26636132e-02 -1.59519697e+00] [ 9.91101881e-05 9.99995860e-01 -2.87564229e-03 1.22604798e-01] [ 3.26640329e-02 2.87087050e-03 9.99462265e-01 -2.60440315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72313336499997 meters Centerline goodness : 0.106664 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.12, Z:-0.26 [[ 9.99474936e-01 -1.66627716e-04 -3.24009963e-02 -1.59613716e+00] [ 6.92985144e-05 9.99995483e-01 -3.00499510e-03 1.23619347e-01] [ 3.24013507e-02 3.00117194e-03 9.99470433e-01 -2.59951716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.753133365 meters Centerline goodness : 0.107656 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.13, Z:-0.26 [[ 9.99476396e-01 -4.78902816e-03 -3.19999888e-02 -1.61786266e+00] [ 4.80765468e-03 9.99988316e-01 5.05161747e-04 1.28607857e-01] [ 3.19971957e-02 -6.58742138e-04 9.99487742e-01 -2.60977157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78313336499997 meters Centerline goodness : 0.110303 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99485046e-01 3.37534400e-03 -3.19100423e-02 -1.59797933e+00] [-3.38773358e-03 9.99994206e-01 -3.34208378e-04 1.25632637e-01] [ 3.19087293e-02 4.42138998e-04 9.99490689e-01 -2.59668358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.813133365 meters Centerline goodness : 0.107046 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99488335e-01 3.36774647e-03 -3.18076345e-02 -1.59828245e+00] [-3.38510426e-03 9.99994150e-01 -4.91877277e-04 1.26555836e-01] [ 3.18057919e-02 5.99297760e-04 9.99493888e-01 -2.59561031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84313336499997 meters Centerline goodness : 0.106913 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99497717e-01 3.37781193e-03 -3.15103781e-02 -1.59929347e+00] [-3.39906215e-03 9.99994030e-01 -6.20845910e-04 1.27337557e-01] [ 3.15080929e-02 7.27639803e-04 9.99503232e-01 -2.59099832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.873133365 meters Centerline goodness : 0.105358 Centerline is valid? [False, False] Translation: X:-1.60, Y:0.13, Z:-0.26 [[ 9.99509955e-01 3.38817699e-03 -3.11186437e-02 -1.60050603e+00] [-3.41446879e-03 9.99993857e-01 -7.91788067e-04 1.28378032e-01] [ 3.11157698e-02 8.97653693e-04 9.99515384e-01 -2.58679248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.903133365 meters Centerline goodness : 0.103394 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.13, Z:-0.26 [[ 0.99958463 -0.00179989 -0.02876345 -1.62277732] [ 0.00185107 0.99999675 0.00175287 0.13386381] [ 0.0287602 -0.00180538 0.99958471 -0.26021392] [ 0. 0. 0. 1. ]] SLAMing on 264.933133365 meters Centerline goodness : 0.115901 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99580664e-01 -1.31839594e-03 -2.89267814e-02 -1.62218779e+00] [ 1.37065555e-03 9.99997464e-01 1.78686262e-03 1.35882456e-01] [ 2.89243523e-02 -1.82576198e-03 9.99579936e-01 -2.60555263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.963133365 meters Centerline goodness : 0.104350 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99570779e-01 -1.26804159e-03 -2.92685696e-02 -1.62101341e+00] [ 1.31792452e-03 9.99997712e-01 1.68508916e-03 1.36781284e-01] [ 2.92663659e-02 -1.72293966e-03 9.99570163e-01 -2.61146856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.993133365 meters Centerline goodness : 0.111672 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99558199e-01 -1.26670618e-03 -2.96951423e-02 -1.61971553e+00] [ 1.31477573e-03 9.99997857e-01 1.59929839e-03 1.37175409e-01] [ 2.96930528e-02 -1.63763427e-03 9.99557723e-01 -2.61622038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.023133365 meters Centerline goodness : 0.114824 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99546500e-01 -1.26219254e-03 -3.00865506e-02 -1.61853707e+00] [ 1.30914294e-03 9.99997956e-01 1.54086418e-03 1.37413586e-01] [ 3.00845442e-02 -1.57955299e-03 9.99546110e-01 -2.62072982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.053133365 meters Centerline goodness : 0.113132 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99535477e-01 -1.21831190e-03 -3.04523420e-02 -1.61754187e+00] [ 1.26535017e-03 9.99998036e-01 1.52542893e-03 1.37626162e-01] [ 3.04504238e-02 -1.56325321e-03 9.99535056e-01 -2.62310570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.083133365 meters Centerline goodness : 0.113537 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99518238e-01 -1.02136825e-03 -3.10201449e-02 -1.61590099e+00] [ 1.06787159e-03 9.99998331e-01 1.48260369e-03 1.38409281e-01] [ 3.10185788e-02 -1.51501496e-03 9.99517660e-01 -2.62849261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.113133365 meters Centerline goodness : 0.109705 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99520539e-01 -1.01964093e-03 -3.09459762e-02 -1.61598491e+00] [ 1.06088428e-03 9.99998571e-01 1.31636333e-03 1.39365507e-01] [ 3.09445898e-02 -1.34856229e-03 9.99520192e-01 -2.63028282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.143133365 meters Centerline goodness : 0.154478 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99523458e-01 -9.51031472e-04 -3.08537408e-02 -1.61625112e+00] [ 9.87236945e-04 9.99998842e-01 1.15824251e-03 1.40504930e-01] [ 3.08526035e-02 -1.18815051e-03 9.99523239e-01 -2.63015127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.173133365 meters Centerline goodness : 0.105391 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99519550e-01 -9.29870502e-04 -3.09806965e-02 -1.61602180e+00] [ 9.57270143e-04 9.99999164e-01 8.69589845e-04 1.42003698e-01] [ 3.09798620e-02 -8.98828947e-04 9.99519605e-01 -2.62958616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.203133365 meters Centerline goodness : 0.110951 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.14, Z:-0.26 [[ 9.99513215e-01 -1.02112866e-03 -3.11815823e-02 -1.61557672e+00] [ 1.03664854e-03 9.99999347e-01 4.81563960e-04 1.43865665e-01] [ 3.11810701e-02 -5.13653884e-04 9.99513620e-01 -2.62989132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.233133365 meters Centerline goodness : 0.120617 Centerline is valid? [False, False] Translation: X:-1.61, Y:0.15, Z:-0.26 [[ 9.99505156e-01 -1.05426149e-03 -3.14377486e-02 -1.61486663e+00] [ 1.06010078e-03 9.99999424e-01 1.69074190e-04 1.45483373e-01] [ 3.14375522e-02 -2.02317706e-04 9.99505698e-01 -2.63250783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.263133365 meters Centerline goodness : 0.108546 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.15, Z:-0.26 [[ 9.99518906e-01 -7.09071133e-04 -3.10073070e-02 -1.61609731e+00] [ 7.08240871e-04 9.99999748e-01 -3.77592944e-05 1.48165270e-01] [ 3.10073260e-02 1.57804865e-05 9.99519157e-01 -2.62986438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29313336499996 meters Centerline goodness : 0.115451 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.15, Z:-0.26 [[ 9.99518515e-01 7.90043320e-03 -3.00053540e-02 -1.63744207e+00] [-7.93127953e-03 9.99968134e-01 -9.09147697e-04 1.45732244e-01] [ 2.99972151e-02 1.14669081e-03 9.99549325e-01 -2.64325543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.323133365 meters Centerline goodness : 0.102745 Centerline is valid? [False, False] Translation: X:-1.64, Y:0.15, Z:-0.26 [[ 9.99521274e-01 7.83810300e-03 -2.99297068e-02 -1.63775546e+00] [-7.87783350e-03 9.99968238e-01 -1.20977233e-03 1.47254788e-01] [ 2.99192739e-02 1.44497443e-03 9.99551274e-01 -2.64210951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35313336499996 meters Centerline goodness : 0.115907 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.15, Z:-0.26 [[ 9.99525442e-01 9.20820208e-06 -3.08040713e-02 -1.61811541e+00] [-3.06172267e-05 9.99999758e-01 -6.94534724e-04 1.53347100e-01] [ 3.08040574e-02 6.95148263e-04 9.99525201e-01 -2.62539524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.383133365 meters Centerline goodness : 0.142024 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.15, Z:-0.26 [[ 9.99517143e-01 -3.41476262e-05 -3.10721631e-02 -1.61734385e+00] [ 5.93084948e-06 9.99999588e-01 -9.08196392e-04 1.54590605e-01] [ 3.10721813e-02 9.07573579e-04 9.99516731e-01 -2.62808038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41313336499996 meters Centerline goodness : 0.158446 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99440218e-01 1.11518411e-03 -3.34365980e-02 -1.66197006e+00] [-1.13236103e-03 9.99999236e-01 -4.94784328e-04 1.54101038e-01] [ 3.34360207e-02 5.32369657e-04 9.99440718e-01 -2.63553493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.443133365 meters Centerline goodness : 0.170931 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99464180e-01 1.33107327e-03 -3.27044592e-02 -1.66425119e+00] [-1.34263692e-03 9.99999044e-01 -3.31622003e-04 1.54300452e-01] [ 3.27039865e-02 3.75354527e-04 9.99465011e-01 -2.62752388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47313336499997 meters Centerline goodness : 0.201931 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99480316e-01 1.36644737e-03 -3.22060814e-02 -1.66581163e+00] [-1.37498381e-03 9.99999025e-01 -2.42911167e-04 1.53820590e-01] [ 3.22057180e-02 2.87067770e-04 9.99481220e-01 -2.62178299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.503133365 meters Centerline goodness : 0.108093 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99485640e-01 1.37740552e-03 -3.20399592e-02 -1.66640599e+00] [-1.38240606e-03 9.99999036e-01 -1.33920694e-04 1.52995683e-01] [ 3.20397439e-02 1.78144045e-04 9.99486580e-01 -2.61926495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53313336499997 meters Centerline goodness : 0.107627 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99481432e-01 1.39695856e-03 -3.21700908e-02 -1.66586562e+00] [-1.39819497e-03 9.99999022e-01 -1.59376905e-05 1.52189624e-01] [ 3.21700371e-02 6.09094850e-05 9.99482409e-01 -2.62298637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.563133365 meters Centerline goodness : 0.108001 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99475544e-01 1.41918721e-03 -3.23515618e-02 -1.66500393e+00] [-1.41783671e-03 9.99998993e-01 6.46850682e-05 1.51643869e-01] [ 3.23516210e-02 -1.87819118e-05 9.99476549e-01 -2.63020655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59313336499997 meters Centerline goodness : 0.105674 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99469288e-01 1.46332737e-03 -3.25422815e-02 -1.66415181e+00] [-1.46000758e-03 9.99998926e-01 1.25776597e-04 1.51406122e-01] [ 3.25424306e-02 -7.81978681e-05 9.99470352e-01 -2.63650412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.623133365 meters Centerline goodness : 0.107376 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.26 [[ 9.99477941e-01 1.58787793e-03 -3.22695449e-02 -1.66474226e+00] [-1.58622598e-03 9.99998739e-01 7.67922994e-05 1.52427929e-01] [ 3.22696261e-02 -2.55654188e-05 9.99479200e-01 -2.63813183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.653133365 meters Centerline goodness : 0.106456 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.15, Z:-0.26 [[ 9.99481960e-01 1.60398321e-03 -3.21440252e-02 -1.66510408e+00] [-1.60850862e-03 9.99998700e-01 -1.14927333e-04 1.53848802e-01] [ 3.21437991e-02 1.66571738e-04 9.99483241e-01 -2.63797875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.683133365 meters Centerline goodness : 0.126961 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.16, Z:-0.26 [[ 9.99482004e-01 1.55101689e-03 -3.21452730e-02 -1.66504633e+00] [-1.56529606e-03 9.99998687e-01 -4.19047404e-04 1.55617214e-01] [ 3.21445808e-02 4.69147208e-04 9.99483119e-01 -2.63950999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.713133365 meters Centerline goodness : 0.107763 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.26 [[ 9.99480178e-01 1.47720330e-03 -3.22054551e-02 -1.66474878e+00] [-1.50130984e-03 9.99998611e-01 -7.24354979e-04 1.57159255e-01] [ 3.22043404e-02 7.72328810e-04 9.99481007e-01 -2.64286515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.743133365 meters Centerline goodness : 0.119208 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.26 [[ 9.99478567e-01 1.38012694e-03 -3.22597279e-02 -1.66448343e+00] [-1.41247255e-03 9.99998522e-01 -9.79895047e-04 1.58270599e-01] [ 3.22583279e-02 1.02495008e-03 9.99479039e-01 -2.64562568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.773133365 meters Centerline goodness : 0.365334 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99475715e-01 1.34011607e-03 -3.23496548e-02 -1.66395955e+00] [-1.37741168e-03 9.99998412e-01 -1.13063281e-03 1.59010835e-01] [ 3.23480883e-02 1.17459883e-03 9.99475973e-01 -2.65088615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.803133365 meters Centerline goodness : 0.357907 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99473457e-01 1.31638457e-03 -3.24203069e-02 -1.66353703e+00] [-1.35877240e-03 9.99998251e-01 -1.28545009e-03 1.59867167e-01] [ 3.24185580e-02 1.32882506e-03 9.99473497e-01 -2.65584564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.833133365 meters Centerline goodness : 0.235669 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99473675e-01 1.34759182e-03 -3.24122932e-02 -1.66341657e+00] [-1.38768989e-03 9.99998299e-01 -1.21466223e-03 1.59505108e-01] [ 3.24106012e-02 1.25900114e-03 9.99473846e-01 -2.65796597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.863133365 meters Centerline goodness : 0.219044 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99471292e-01 1.40567937e-03 -3.24832453e-02 -1.66307865e+00] [-1.44167414e-03 9.99998372e-01 -1.08470772e-03 1.58843564e-01] [ 3.24816676e-02 1.13096448e-03 9.99471692e-01 -2.66093219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.893133365 meters Centerline goodness : 0.088669 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99472229e-01 1.43684862e-03 -3.24530196e-02 -1.66292699e+00] [-1.46976762e-03 9.99998429e-01 -9.90525929e-04 1.58238521e-01] [ 3.24515454e-02 1.03770156e-03 9.99472771e-01 -2.66440957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.923133365 meters Centerline goodness : 0.106474 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99470579e-01 1.47942885e-03 -3.25018827e-02 -1.66255911e+00] [-1.50936508e-03 9.99998459e-01 -8.96545582e-04 1.57652830e-01] [ 3.25005062e-02 9.45128139e-04 9.99471272e-01 -2.66832690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.953133365 meters Centerline goodness : 0.106474 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99470579e-01 1.47942885e-03 -3.25018827e-02 -1.66255911e+00] [-1.50936508e-03 9.99998459e-01 -8.96545582e-04 1.57652830e-01] [ 3.25005062e-02 9.45128139e-04 9.99471272e-01 -2.66832690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 266.013133365 meters Centerline goodness : 0.443868 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99446994e-01 1.82520521e-03 -3.32020302e-02 -1.66051839e+00] [-1.84836238e-03 9.99998069e-01 -6.66782846e-04 1.57347937e-01] [ 3.32007491e-02 7.27783495e-04 9.99448438e-01 -2.67614254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04313336499996 meters Centerline goodness : 0.096043 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99445829e-01 1.87610724e-03 -3.32342362e-02 -1.66061049e+00] [-1.89866366e-03 9.99997988e-01 -6.47164121e-04 1.57316387e-01] [ 3.32329552e-02 7.09906118e-04 9.99447381e-01 -2.67408566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.073133365 meters Centerline goodness : 0.093207 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.16, Z:-0.27 [[ 9.99452720e-01 1.93861033e-03 -3.30227640e-02 -1.66119722e+00] [-1.95667215e-03 9.99997953e-01 -5.14643017e-04 1.56593305e-01] [ 3.30216987e-02 5.78976086e-04 9.99454467e-01 -2.67356332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10313336499996 meters Centerline goodness : 0.432995 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99462756e-01 2.16333001e-03 -3.27035041e-02 -1.66227777e+00] [-2.16248406e-03 9.99997660e-01 6.12373520e-05 1.53500506e-01] [ 3.27035600e-02 9.51635364e-06 9.99465095e-01 -2.66920857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.133133365 meters Centerline goodness : 0.196570 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99465715e-01 2.30961488e-03 -3.26029290e-02 -1.66267454e+00] [-2.29662551e-03 9.99997268e-01 4.35853982e-04 1.51657351e-01] [ 3.26038466e-02 -3.60744393e-04 9.99468288e-01 -2.66649409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16313336499996 meters Centerline goodness : 0.447132 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99469350e-01 2.42109168e-03 -3.24831768e-02 -1.66310472e+00] [-2.39725224e-03 9.99996828e-01 7.72826650e-04 1.49797827e-01] [ 3.24849448e-02 -6.94546181e-04 9.99471984e-01 -2.66408374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.193133365 meters Centerline goodness : 0.275087 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99473373e-01 2.49891076e-03 -3.23532315e-02 -1.66364227e+00] [-2.46580165e-03 9.99996395e-01 1.06322142e-03 1.48011706e-01] [ 3.23557717e-02 -9.82884844e-04 9.99475932e-01 -2.66071627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22313336499997 meters Centerline goodness : 0.186414 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.15, Z:-0.27 [[ 9.99478061e-01 2.59783515e-03 -3.22002521e-02 -1.66419634e+00] [-2.55541327e-03 9.99995812e-01 1.35852256e-03 1.46321456e-01] [ 3.22036465e-02 -1.27552854e-03 9.99480514e-01 -2.65772778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.253133365 meters Centerline goodness : 0.363319 Centerline is valid? [False, False] Translation: X:-1.66, Y:0.14, Z:-0.27 [[ 9.99479865e-01 2.71720002e-03 -3.21343375e-02 -1.66443905e+00] [-2.66659541e-03 9.99995136e-01 1.61753385e-03 1.44985653e-01] [ 3.21385764e-02 -1.53100324e-03 9.99482250e-01 -2.65673510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28313336499997 meters Centerline goodness : 0.206933 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.99941237 0.00378483 -0.03406739 -1.70966914] [-0.00370052 0.99998993 0.00253759 0.1397993 ] [ 0.03407665 -0.00241003 0.99941632 -0.26680583] [ 0. 0. 0. 1. ]] SLAMing on 266.313133365 meters Centerline goodness : 0.432575 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.14, Z:-0.27 [[ 0.99940907 -0.00352238 -0.03419205 -1.69121607] [ 0.00365644 0.99998587 0.00385897 0.14461081] [ 0.03417797 -0.00398171 0.99940783 -0.26522061] [ 0. 0. 0. 1. ]] SLAMing on 266.34313336499997 meters Centerline goodness : 0.100179 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.9993772 0.00464077 -0.03498113 -1.71032077] [-0.00454626 0.9999858 0.0027806 0.13873615] [ 0.03499354 -0.00261983 0.9993841 -0.26709786] [ 0. 0. 0. 1. ]] SLAMing on 266.373133365 meters Centerline goodness : 0.136327 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.99937092 0.00466644 -0.03515673 -1.70986943] [-0.00457055 0.99998561 0.00280725 0.13856766] [ 0.03516932 -0.0026448 0.99937787 -0.26718425] [ 0. 0. 0. 1. ]] SLAMing on 266.403133365 meters Centerline goodness : 0.441877 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.14, Z:-0.27 [[ 0.99936822 0.00472295 -0.0352257 -1.70973877] [-0.00462388 0.99998512 0.00289343 0.13833761] [ 0.03523885 -0.00272872 0.99937519 -0.26716994] [ 0. 0. 0. 1. ]] SLAMing on 266.433133365 meters Centerline goodness : 0.089703 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.14, Z:-0.26 [[ 0.99937864 -0.00289246 -0.03512778 -1.69166455] [ 0.0030457 0.99998607 0.00430975 0.14294482] [ 0.03511482 -0.00441406 0.99937354 -0.26496077] [ 0. 0. 0. 1. ]] SLAMing on 266.463133365 meters Centerline goodness : 0.101754 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 0.99941936 0.0039374 -0.03384431 -1.7097145 ] [-0.00383875 0.99998819 0.00297912 0.13432796] [ 0.03385564 -0.00284747 0.99942268 -0.26777466] [ 0. 0. 0. 1. ]] SLAMing on 266.493133365 meters Centerline goodness : 0.439928 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 0.99941102 0.00389575 -0.03409451 -1.70886041] [-0.00378865 0.99998769 0.00320531 0.132325 ] [ 0.03410658 -0.00307425 0.99941347 -0.26813059] [ 0. 0. 0. 1. ]] SLAMing on 266.523133365 meters Centerline goodness : 0.098901 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99400074e-01 5.11087293e-04 -3.46299268e-02 -1.70711626e+00] [-5.11885565e-04 9.99999869e-01 -1.41855956e-05 1.31241820e-01] [ 3.46299150e-02 3.19036449e-05 9.99400204e-01 -2.68856786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.553133365 meters Centerline goodness : 0.094872 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99387240e-01 5.73141772e-04 -3.49973817e-02 -1.70588556e+00] [-5.64505555e-04 9.99999808e-01 2.56648134e-04 1.29570958e-01] [ 3.49975221e-02 -2.36734653e-04 9.99387371e-01 -2.69368423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.583133365 meters Centerline goodness : 0.137556 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99380235e-01 6.43782316e-04 -3.51956057e-02 -1.70529949e+00] [-6.28317722e-04 9.99999701e-01 4.50448580e-04 1.28616158e-01] [ 3.51958851e-02 -4.28055385e-04 9.99380341e-01 -2.69567206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.613133365 meters Centerline goodness : 0.226110 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99377773e-01 7.30365179e-04 -3.52637708e-02 -1.70517802e+00] [-7.08759363e-04 9.99999553e-01 6.25188337e-04 1.27874575e-01] [ 3.52642117e-02 -5.99805800e-04 9.99377844e-01 -2.69511379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.643133365 meters Centerline goodness : 0.095063 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.13, Z:-0.27 [[ 9.99372770e-01 7.84239251e-04 -3.54041199e-02 -1.70491214e+00] [-7.56734771e-04 9.99999401e-01 7.90265563e-04 1.26833735e-01] [ 3.54047185e-02 -7.62978356e-04 9.99372765e-01 -2.69395598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.673133365 meters Centerline goodness : 0.091227 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.13, Z:-0.27 [[ 9.99370832e-01 7.82424587e-04 -3.54588269e-02 -1.70472492e+00] [-7.53594966e-04 9.99999375e-01 8.26402703e-04 1.26322709e-01] [ 3.54594513e-02 -7.99161163e-04 9.99370796e-01 -2.69511136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.703133365 meters Centerline goodness : 0.094498 Centerline is valid? [False, False] Translation: X:-1.70, Y:0.13, Z:-0.27 [[ 9.99373047e-01 7.70623390e-04 -3.53966002e-02 -1.70495393e+00] [-7.42496866e-04 9.99999398e-01 8.07749050e-04 1.26295892e-01] [ 3.53972014e-02 -7.80960764e-04 9.99373018e-01 -2.69422216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.733133365 meters Centerline goodness : 0.269850 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99379587e-01 8.18434721e-04 -3.52103895e-02 -1.70566935e+00] [-7.89597284e-04 9.99999341e-01 8.32901179e-04 1.26343213e-01] [ 3.52110480e-02 -8.04582408e-04 9.99379575e-01 -2.69047734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.763133365 meters Centerline goodness : 0.278814 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99386136e-01 8.66483412e-04 -3.50228526e-02 -1.70624044e+00] [-8.36088445e-04 9.99999261e-01 8.82497240e-04 1.26251989e-01] [ 3.50235914e-02 -8.52673305e-04 9.99386122e-01 -2.68886641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79313336499996 meters Centerline goodness : 0.092215 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.13, Z:-0.27 [[ 9.99389031e-01 9.06838729e-04 -3.49391111e-02 -1.70655119e+00] [-8.73467702e-04 9.99999148e-01 9.70371433e-04 1.25787066e-01] [ 3.49399613e-02 -9.39260382e-04 9.99388972e-01 -2.68763880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.823133365 meters Centerline goodness : 0.101499 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99390437e-01 9.84732467e-04 -3.48967776e-02 -1.70669628e+00] [-9.40844176e-04 9.99998746e-01 1.27405916e-03 1.23844592e-01] [ 3.48979885e-02 -1.24045011e-03 9.99390110e-01 -2.68686000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85313336499996 meters Centerline goodness : 0.098365 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99389162e-01 1.06726493e-03 -3.49308295e-02 -1.70668860e+00] [-1.01363995e-03 9.99998281e-01 1.55284929e-03 1.22233385e-01] [ 3.49324267e-02 -1.51649347e-03 9.99388526e-01 -2.68539123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.883133365 meters Centerline goodness : 0.449794 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99389218e-01 1.13285975e-03 -3.49271815e-02 -1.70685367e+00] [-1.07089938e-03 9.99997820e-01 1.79264331e-03 1.20782719e-01] [ 3.49291361e-02 -1.75414489e-03 9.99388252e-01 -2.68281341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91313336499996 meters Centerline goodness : 0.096434 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99386974e-01 1.23567958e-03 -3.49878502e-02 -1.70678996e+00] [-1.16357985e-03 9.99997158e-01 2.08099443e-03 1.19209731e-01] [ 3.49903222e-02 -2.03900757e-03 9.99385571e-01 -2.68123804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.943133365 meters Centerline goodness : 0.194814 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 9.99386246e-01 1.35619720e-03 -3.50041693e-02 -1.70672649e+00] [-1.27395652e-03 9.99996376e-01 2.37165072e-03 1.17766004e-01] [ 3.50072589e-02 -2.32560133e-03 9.99384352e-01 -2.68184593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97313336499997 meters Centerline goodness : 0.091659 Centerline is valid? [False, False] Translation: X:-1.69, Y:0.11, Z:-0.27 [[ 9.99353725e-01 9.33572924e-03 -3.47127652e-02 -1.68710447e+00] [-9.28766153e-03 9.99955674e-01 1.54572165e-03 1.13236856e-01] [ 3.47256569e-02 -1.22232227e-03 9.99396135e-01 -2.66272071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 267.03313336499997 meters Centerline goodness : 0.094046 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941685 0.00207383 -0.03408306 -1.70782748] [-0.00195325 0.99999172 0.00357091 0.11411108] [ 0.03409019 -0.00350226 0.99941262 -0.26840061] [ 0. 0. 0. 1. ]] SLAMing on 267.063133365 meters Centerline goodness : 0.098443 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941196 0.00206765 -0.03422654 -1.70741845] [-0.00194948 0.99999203 0.00348549 0.11450438] [ 0.03423347 -0.00341671 0.99940802 -0.268592 ] [ 0. 0. 0. 1. ]] SLAMing on 267.09313336499997 meters Centerline goodness : 0.396788 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99940658 0.00207762 -0.03438264 -1.70682124] [-0.00196142 0.99999225 0.0034129 0.11489184] [ 0.03438946 -0.00334344 0.99940291 -0.26902518] [ 0. 0. 0. 1. ]] SLAMing on 267.123133365 meters Centerline goodness : 0.200156 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 0.99940185 0.0021453 -0.03451575 -1.70631337] [-0.00202815 0.99999207 0.00342855 0.11513318] [ 0.03452283 -0.00335649 0.99939827 -0.26937689] [ 0. 0. 0. 1. ]] SLAMing on 267.153133365 meters Centerline goodness : 0.093326 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.12, Z:-0.27 [[ 0.99940965 0.00232865 -0.03427728 -1.70669521] [-0.00220703 0.99999114 0.0035855 0.11512651] [ 0.03428533 -0.00350773 0.99940593 -0.26965095] [ 0. 0. 0. 1. ]] SLAMing on 267.183133365 meters Centerline goodness : 0.090396 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941524 0.00229065 -0.03411635 -1.70724947] [-0.00217061 0.99999132 0.00355534 0.11496284] [ 0.0341242 -0.00347921 0.99941154 -0.26941033] [ 0. 0. 0. 1. ]] SLAMing on 267.213133365 meters Centerline goodness : 0.446113 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99941806 0.00223901 -0.0340372 -1.70762572] [-0.00212011 0.99999153 0.00352877 0.11470346] [ 0.03404482 -0.00345456 0.99941434 -0.26913135] [ 0. 0. 0. 1. ]] SLAMing on 267.243133365 meters Centerline goodness : 0.172691 Centerline is valid? [False, False] Translation: X:-1.71, Y:0.11, Z:-0.27 [[ 0.99942128 0.00216781 -0.03394706 -1.70783197] [-0.00205239 0.999992 0.00343451 0.11477353] [ 0.03395423 -0.00336285 0.99941773 -0.26916728] [ 0. 0. 0. 1. ]] SLAMing on 267.273133365 meters Centerline goodness : 0.101344 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99329435e-01 1.84132277e-03 -3.65689745e-02 -1.75212233e+00] [-1.72202895e-03 9.99993094e-01 3.29338832e-03 1.11722693e-01] [ 3.65747861e-02 -3.22820706e-03 9.99325705e-01 -2.70176465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.303133365 meters Centerline goodness : 0.090216 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99324022e-01 1.83336324e-03 -3.67169995e-02 -1.75130415e+00] [-1.71699140e-03 9.99993404e-01 3.20070817e-03 1.12343186e-01] [ 3.67226254e-02 -3.13550179e-03 9.99320578e-01 -2.70925406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.333133365 meters Centerline goodness : 0.188134 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99307964e-01 1.85070921e-03 -3.71506002e-02 -1.74968562e+00] [-1.74045536e-03 9.99993986e-01 2.99987564e-03 1.13748389e-01] [ 3.71559286e-02 -2.93314066e-03 9.99305175e-01 -2.71928567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.363133365 meters Centerline goodness : 0.190942 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.11, Z:-0.27 [[ 9.99299719e-01 1.75793729e-03 -3.73762001e-02 -1.74906289e+00] [-1.65650984e-03 9.99994862e-01 2.74448540e-03 1.14889251e-01] [ 3.73808327e-02 -2.68064945e-03 9.99297497e-01 -2.72153232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.393133365 meters Centerline goodness : 0.100812 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.12, Z:-0.27 [[ 9.99290664e-01 1.64285150e-03 -3.76227290e-02 -1.74836086e+00] [-1.55304581e-03 9.99995875e-01 2.41610720e-03 1.16434142e-01] [ 3.76265432e-02 -2.35596355e-03 9.99289094e-01 -2.72424127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.423133365 meters Centerline goodness : 0.445609 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.12, Z:-0.27 [[ 9.99282439e-01 1.51439530e-03 -3.78459168e-02 -1.74775456e+00] [-1.43878307e-03 9.99996915e-01 2.02505246e-03 1.18312044e-01] [ 3.78488668e-02 -1.96914730e-03 9.99281535e-01 -2.72634820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.453133365 meters Centerline goodness : 0.427345 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.12, Z:-0.27 [[ 9.99280663e-01 1.36292338e-03 -3.78985230e-02 -1.74749240e+00] [-1.30472823e-03 9.99997932e-01 1.56024212e-03 1.20662608e-01] [ 3.79005711e-02 -1.50967251e-03 9.99280375e-01 -2.72981241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.483133365 meters Centerline goodness : 0.099939 Centerline is valid? [False, False] Translation: X:-1.79, Y:0.12, Z:-0.27 [[ 9.99212697e-01 1.74917656e-03 -3.96349125e-02 -1.79376300e+00] [-1.68370801e-03 9.99997163e-01 1.68510967e-03 1.20074159e-01] [ 3.96377476e-02 -1.61704936e-03 9.99212807e-01 -2.73516662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.513133365 meters Centerline goodness : 0.446833 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.12, Z:-0.27 [[ 9.99250638e-01 1.74543368e-03 -3.86667416e-02 -1.79672632e+00] [-1.70200783e-03 9.99997883e-01 1.15596955e-03 1.24103261e-01] [ 3.86686774e-02 -1.08929222e-03 9.99251493e-01 -2.72679047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54313336499996 meters Centerline goodness : 0.422613 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.13, Z:-0.27 [[ 9.99336073e-01 1.98016045e-03 -3.63798344e-02 -1.75426283e+00] [-1.94875261e-03 9.99997697e-01 8.98770363e-04 1.30346938e-01] [ 3.63815303e-02 -8.27278348e-04 9.99337631e-01 -2.70905042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.573133365 meters Centerline goodness : 0.443756 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.13, Z:-0.27 [[ 9.99336360e-01 1.85754030e-03 -3.63784132e-02 -1.75461746e+00] [-1.83631943e-03 9.99998124e-01 6.16740363e-04 1.31796494e-01] [ 3.63794905e-02 -5.49528682e-04 9.99337896e-01 -2.70439402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60313336499996 meters Centerline goodness : 0.448744 Centerline is valid? [False, False] Translation: X:-1.75, Y:0.13, Z:-0.27 [[ 9.99331774e-01 1.73645570e-03 -3.65101410e-02 -1.75449102e+00] [-1.72271477e-03 9.99998433e-01 4.07814742e-04 1.32780374e-01] [ 3.65107919e-02 -3.44645671e-04 9.99333199e-01 -2.70178781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.633133365 meters Centerline goodness : 0.102606 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99250619e-01 9.65961779e-04 -3.86945294e-02 -1.79962354e+00] [-9.68704235e-04 9.99999529e-01 -5.21257639e-05 1.29883930e-01] [ 3.86944608e-02 8.95702564e-05 9.99251085e-01 -2.70547527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66313336499996 meters Centerline goodness : 0.097280 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.13, Z:-0.27 [[ 9.99321704e-01 1.27799189e-03 -3.68035104e-02 -1.75739071e+00] [-1.26616683e-03 9.99999139e-01 3.44608203e-04 1.34285949e-01] [ 3.68039191e-02 -2.97775073e-04 9.99322462e-01 -2.68057348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.693133365 meters Centerline goodness : 0.193577 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.13, Z:-0.27 [[ 9.99323999e-01 1.24083951e-03 -3.67424192e-02 -1.75776718e+00] [-1.23267010e-03 9.99999210e-01 2.44995404e-04 1.34907370e-01] [ 3.67426942e-02 -1.99538505e-04 9.99324739e-01 -2.67745312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72313336499997 meters Centerline goodness : 0.092061 Centerline is valid? [False, False] Translation: X:-1.76, Y:0.14, Z:-0.27 [[ 9.99327871e-01 1.18008154e-03 -3.66389685e-02 -1.75823520e+00] [-1.17856101e-03 9.99999304e-01 6.30980580e-05 1.35884528e-01] [ 3.66390174e-02 -1.98743881e-05 9.99328566e-01 -2.67455054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.753133365 meters Centerline goodness : 0.218967 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99258684e-01 1.14343454e-03 -3.84808385e-02 -1.80388282e+00] [-1.15125650e-03 9.99999321e-01 -1.81110709e-04 1.33864739e-01] [ 3.84806053e-02 2.25277764e-04 9.99259322e-01 -2.68134439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78313336499997 meters Centerline goodness : 0.097562 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99260231e-01 1.07379982e-03 -3.84426614e-02 -1.80403336e+00] [-1.09075763e-03 9.99999317e-01 -4.20148687e-04 1.35117719e-01] [ 3.84421840e-02 4.61769500e-04 9.99260719e-01 -2.68103287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.813133365 meters Centerline goodness : 0.108801 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99260527e-01 1.05913737e-03 -3.84353735e-02 -1.80392564e+00] [-1.08184612e-03 9.99999252e-01 -5.70036090e-04 1.36167261e-01] [ 3.84347411e-02 6.11195723e-04 9.99260925e-01 -2.68374894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84313336499997 meters Centerline goodness : 0.108801 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99260527e-01 1.05913737e-03 -3.84353735e-02 -1.80392564e+00] [-1.08184612e-03 9.99999252e-01 -5.70036090e-04 1.36167261e-01] [ 3.84347411e-02 6.11195723e-04 9.99260925e-01 -2.68374894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.873133365 meters Centerline goodness : 0.199255 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99243967e-01 1.29775683e-03 -3.88562666e-02 -1.80270108e+00] [-1.31590901e-03 9.99999037e-01 -4.41590737e-04 1.36597850e-01] [ 3.88556561e-02 4.92388191e-04 9.99244713e-01 -2.68821965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.903133365 meters Centerline goodness : 0.146300 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99241769e-01 1.28203041e-03 -3.89132927e-02 -1.80246500e+00] [-1.29952777e-03 9.99999066e-01 -4.24359406e-04 1.36213848e-01] [ 3.89127123e-02 4.74606548e-04 9.99242501e-01 -2.68958135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.933133365 meters Centerline goodness : 0.195109 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99242085e-01 1.25163902e-03 -3.89061577e-02 -1.80252233e+00] [-1.26507759e-03 9.99999148e-01 -3.20792993e-04 1.35065027e-01] [ 3.89057231e-02 3.69769167e-04 9.99242817e-01 -2.68907407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.963133365 meters Centerline goodness : 0.095914 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99241881e-01 1.18848826e-03 -3.89133716e-02 -1.80261106e+00] [-1.19769513e-03 9.99999260e-01 -2.13287920e-04 1.33855206e-01] [ 3.89130893e-02 2.59732578e-04 9.99242565e-01 -2.68726556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.993133365 meters Centerline goodness : 0.100117 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99244319e-01 1.23188418e-03 -3.88493685e-02 -1.80282816e+00] [-1.23395723e-03 9.99999238e-01 -2.93828759e-05 1.32759552e-01] [ 3.88493027e-02 7.72991308e-05 9.99245078e-01 -2.68623938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.023133365 meters Centerline goodness : 0.090632 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99242947e-01 1.31562629e-03 -3.88818964e-02 -1.80266760e+00] [-1.31024719e-03 9.99999128e-01 1.63826280e-04 1.31949978e-01] [ 3.88820780e-02 -1.12757359e-04 9.99243800e-01 -2.68726806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.053133365 meters Centerline goodness : 0.093141 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99245620e-01 1.34576445e-03 -3.88121037e-02 -1.80245493e+00] [-1.33682681e-03 9.99999074e-01 2.56230915e-04 1.31445321e-01] [ 3.88124126e-02 -2.04152558e-04 9.99246494e-01 -2.69267135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.083133365 meters Centerline goodness : 0.167221 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99240214e-01 1.26958384e-03 -3.89536012e-02 -1.80213100e+00] [-1.26360066e-03 9.99999186e-01 1.78217634e-04 1.31385800e-01] [ 3.89537958e-02 -1.28860430e-04 9.99241005e-01 -2.69261457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.113133365 meters Centerline goodness : 0.137039 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99234542e-01 1.19707021e-03 -3.91011033e-02 -1.80179488e+00] [-1.19505741e-03 9.99999283e-01 7.48497931e-05 1.31557074e-01] [ 3.91011649e-02 -2.80644354e-05 9.99235257e-01 -2.69281521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.143133365 meters Centerline goodness : 0.448309 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99227553e-01 1.15646698e-03 -3.92805303e-02 -1.80123236e+00] [-1.15974776e-03 9.99999326e-01 -6.07352639e-05 1.32250855e-01] [ 3.92804335e-02 1.06243856e-04 9.99228220e-01 -2.69546952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.173133365 meters Centerline goodness : 0.327776 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99219877e-01 1.16420288e-03 -3.94750794e-02 -1.80045114e+00] [-1.17109066e-03 9.99999303e-01 -1.51361141e-04 1.33002261e-01] [ 3.94748756e-02 1.97471958e-04 9.99220544e-01 -2.70039856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.203133365 meters Centerline goodness : 0.450208 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.13, Z:-0.27 [[ 9.99212833e-01 1.09441332e-03 -3.96549783e-02 -1.79968675e+00] [-1.10946290e-03 9.99999321e-01 -3.57508506e-04 1.34044167e-01] [ 3.96545601e-02 4.01222814e-04 9.99213368e-01 -2.70610137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.233133365 meters Centerline goodness : 0.445596 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99204451e-01 9.65876617e-04 -3.98689391e-02 -1.79874259e+00] [-9.96017090e-04 9.99999233e-01 -7.36132798e-04 1.35819923e-01] [ 3.98681975e-02 7.75257313e-04 9.99204647e-01 -2.71380173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.263133365 meters Centerline goodness : 0.445801 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99208275e-01 9.73879821e-04 -3.97727932e-02 -1.79920157e+00] [-1.00788477e-03 9.99999144e-01 -8.34937910e-04 1.36657063e-01] [ 3.97719460e-02 8.74363261e-04 9.99208401e-01 -2.71093250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29313336499996 meters Centerline goodness : 0.099953 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99220331e-01 9.53629265e-04 -3.94692457e-02 -1.80019596e+00] [-9.91992332e-04 9.99999054e-01 -9.52400840e-04 1.37504627e-01] [ 3.94683001e-02 9.90811471e-04 9.99220332e-01 -2.70724921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.323133365 meters Centerline goodness : 0.443218 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99227394e-01 8.61882506e-04 -3.92921515e-02 -1.80090468e+00] [-9.09994780e-04 9.99998858e-01 -1.20660714e-03 1.38755643e-01] [ 3.92910667e-02 1.24143056e-03 9.99227037e-01 -2.70341590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35313336499996 meters Centerline goodness : 0.090228 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99230821e-01 7.30883272e-04 -3.92075571e-02 -1.80113899e+00] [-7.93995676e-04 9.99998414e-01 -1.59415282e-03 1.40664091e-01] [ 3.92063298e-02 1.62405726e-03 9.99229816e-01 -2.70385449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.383133365 meters Centerline goodness : 0.098119 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.14, Z:-0.27 [[ 9.99232146e-01 6.38639937e-04 -3.91753851e-02 -1.80116122e+00] [-7.16926901e-04 9.99997774e-01 -1.98435550e-03 1.42812680e-01] [ 3.91740306e-02 2.01091769e-03 9.99230380e-01 -2.70607102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41313336499996 meters Centerline goodness : 0.199013 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.15, Z:-0.27 [[ 9.99250080e-01 -4.09751826e-03 -3.85031013e-02 -1.82244541e+00] [ 4.16121339e-03 9.99990103e-01 1.57429150e-03 1.48964100e-01] [ 3.84962695e-02 -1.73333053e-03 9.99257241e-01 -2.72525806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.443133365 meters Centerline goodness : 0.381930 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.15, Z:-0.27 [[ 9.99274443e-01 4.10445401e-03 -3.78647759e-02 -1.80178687e+00] [-4.08499662e-03 9.99991482e-01 5.91217517e-04 1.49741256e-01] [ 3.78668800e-02 -4.36111073e-04 9.99282697e-01 -2.71093565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47313336499997 meters Centerline goodness : 0.447206 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.15, Z:-0.27 [[ 9.99273504e-01 3.95097052e-03 -3.79058664e-02 -1.80184966e+00] [-3.94501879e-03 9.99992192e-01 2.31808990e-04 1.51451582e-01] [ 3.79064863e-02 -8.21012262e-05 9.99281288e-01 -2.70926115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.503133365 meters Centerline goodness : 0.103676 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.16, Z:-0.27 [[ 9.99291965e-01 -4.27360268e-03 -3.73805562e-02 -1.82246844e+00] [ 4.30379773e-03 9.99990474e-01 7.27343915e-04 1.56314146e-01] [ 3.73770917e-02 -8.87707282e-04 9.99300838e-01 -2.72751387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53313336499997 meters Centerline goodness : 0.094548 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.16, Z:-0.27 [[ 9.99290064e-01 -4.35917081e-03 -3.74214481e-02 -1.82266407e+00] [ 4.37921456e-03 9.99990308e-01 4.53671370e-04 1.57912921e-01] [ 3.74191078e-02 -6.17225844e-04 9.99299469e-01 -2.72383353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.563133365 meters Centerline goodness : 0.449596 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.16, Z:-0.27 [[ 9.99296151e-01 -4.41129889e-03 -3.72524301e-02 -1.82342861e+00] [ 4.42319538e-03 9.99990190e-01 2.36937506e-04 1.59452307e-01] [ 3.72510195e-02 -4.01545514e-04 9.99305859e-01 -2.71919321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59313336499997 meters Centerline goodness : 0.198481 Centerline is valid? [False, False] Translation: X:-1.80, Y:0.16, Z:-0.27 [[ 9.99384926e-01 3.25531021e-03 -3.49166546e-02 -1.80468508e+00] [-3.30330997e-03 9.99993677e-01 -1.31709555e-03 1.62263498e-01] [ 3.49121463e-02 1.43162597e-03 9.99389360e-01 -2.70336901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.623133365 meters Centerline goodness : 0.202004 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 0.99931334 0.00293748 -0.03693539 -1.8500756 ] [-0.00301311 0.99999348 -0.00199209 0.16059927] [ 0.0369293 0.00210201 0.99931567 -0.27098891] [ 0. 0. 0. 1. ]] SLAMing on 268.653133365 meters Centerline goodness : 0.098241 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 0.99931149 0.00279289 -0.03699657 -1.84987962] [-0.00288218 0.99999306 -0.0023604 0.16249374] [ 0.03698972 0.0024654 0.9993126 -0.27112257] [ 0. 0. 0. 1. ]] SLAMing on 268.683133365 meters Centerline goodness : 0.440139 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99287587e-01 -2.52721299e-03 -3.76554276e-02 -1.82822292e+00] [ 2.54684434e-03 9.99996645e-01 4.73382507e-04 1.71581775e-01] [ 3.76541049e-02 -5.68947776e-04 9.99290671e-01 -2.70518794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.713133365 meters Centerline goodness : 0.395522 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99285742e-01 -2.69944923e-03 -3.76924146e-02 -1.82825744e+00] [ 2.70452690e-03 9.99996339e-01 8.37255597e-05 1.73468248e-01] [ 3.76920506e-02 -1.85605907e-04 9.99289385e-01 -2.70401489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.743133365 meters Centerline goodness : 0.204812 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99282460e-01 -2.87257900e-03 -3.77665611e-02 -1.82815394e+00] [ 2.86474904e-03 9.99995862e-01 -2.61438791e-04 1.74909951e-01] [ 3.77671559e-02 1.53059479e-04 9.99286555e-01 -2.70326176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.773133365 meters Centerline goodness : 0.445506 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99278523e-01 -3.06256742e-03 -3.78557046e-02 -1.82792816e+00] [ 3.04221359e-03 9.99995195e-01 -5.95260473e-04 1.76210892e-01] [ 3.78573457e-02 4.79665867e-04 9.99283039e-01 -2.70379369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.803133365 meters Centerline goodness : 0.193887 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99269009e-01 -3.22234261e-03 -3.80928265e-02 -1.82714427e+00] [ 3.19077234e-03 9.99994514e-01 -8.89537924e-04 1.77464178e-01] [ 3.80954839e-02 7.67342143e-04 9.99273809e-01 -2.70729613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.833133365 meters Centerline goodness : 0.218305 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99251794e-01 -3.43812885e-03 -3.85231290e-02 -1.82587197e+00] [ 3.39439026e-03 9.99993518e-01 -1.20073346e-03 1.78763804e-01] [ 3.85270076e-02 1.06907253e-03 9.99256987e-01 -2.71068867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.863133365 meters Centerline goodness : 0.195786 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99252683e-01 -3.54337515e-03 -3.84905149e-02 -1.82619786e+00] [ 3.49636270e-03 9.99993057e-01 -1.28864850e-03 1.78855489e-01] [ 3.84948138e-02 1.15310867e-03 9.99258135e-01 -2.70649553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.893133365 meters Centerline goodness : 0.450831 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99255399e-01 -3.64035307e-03 -3.84108725e-02 -1.82659209e+00] [ 3.59266516e-03 9.99992688e-01 -1.31047240e-03 1.78508085e-01] [ 3.84153622e-02 1.17149922e-03 9.99261171e-01 -2.70282725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.923133365 meters Centerline goodness : 0.095741 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99258371e-01 -3.69019177e-03 -3.83287182e-02 -1.82713862e+00] [ 3.64618200e-03 9.99992611e-01 -1.21805858e-03 1.77668163e-01] [ 3.83329299e-02 1.07740175e-03 9.99264442e-01 -2.69692461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.953133365 meters Centerline goodness : 0.356289 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.18, Z:-0.27 [[ 9.99263534e-01 -3.64525808e-03 -3.81981906e-02 -1.82754798e+00] [ 3.61091409e-03 9.99993012e-01 -9.68051907e-04 1.76378794e-01] [ 3.82014524e-02 8.29408585e-04 9.99269714e-01 -2.69441977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.983133365 meters Centerline goodness : 0.118355 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99267364e-01 -3.53943321e-03 -3.81078442e-02 -1.82796208e+00] [ 3.51842904e-03 9.99993619e-01 -6.18227445e-04 1.74668102e-01] [ 3.81097892e-02 4.83694763e-04 9.99273441e-01 -2.69049863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.013133365 meters Centerline goodness : 0.235321 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99292231e-01 -3.75414348e-03 -3.74291684e-02 -1.82969775e+00] [ 3.74795621e-03 9.99992949e-01 -2.35470848e-04 1.70848785e-01] [ 3.74297884e-02 9.50213046e-05 9.99299255e-01 -2.68614531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04313336499996 meters Centerline goodness : 0.195373 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99290041e-01 -3.72188287e-03 -3.74908082e-02 -1.82941989e+00] [ 3.72672078e-03 9.99993054e-01 5.91596598e-05 1.68760119e-01] [ 3.74903276e-02 -1.98835433e-04 9.99296971e-01 -2.68733452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.073133365 meters Centerline goodness : 0.095512 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99285511e-01 -3.61484569e-03 -3.76218087e-02 -1.82893597e+00] [ 3.63016766e-03 9.99993353e-01 3.38959761e-04 1.67224003e-01] [ 3.76203333e-02 -4.75291051e-04 9.99291992e-01 -2.68970269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10313336499996 meters Centerline goodness : 0.088985 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.17, Z:-0.27 [[ 9.99283199e-01 -3.47286880e-03 -3.76965129e-02 -1.82870240e+00] [ 3.49597070e-03 9.99993740e-01 5.46939835e-04 1.66549674e-01] [ 3.76943774e-02 -6.78333693e-04 9.99289084e-01 -2.69055018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.133133365 meters Centerline goodness : 0.447978 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 9.99269199e-01 5.19403001e-03 -3.78693761e-02 -1.84868438e+00] [-5.20161095e-03 9.99986466e-01 -1.01662477e-04 1.61149122e-01] [ 3.78683356e-02 2.98569943e-04 9.99282693e-01 -2.70687166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16313336499996 meters Centerline goodness : 0.100296 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 9.99261969e-01 5.29361871e-03 -3.80459455e-02 -1.84818769e+00] [-5.30738296e-03 9.99985882e-01 -2.60789304e-04 1.62488122e-01] [ 3.80440278e-02 4.62521236e-04 9.99275957e-01 -2.70928662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.193133365 meters Centerline goodness : 0.099531 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99250292e-01 5.86461583e-03 -3.82682622e-02 -1.84715132e+00] [-5.88700032e-03 9.99982560e-01 -4.72277563e-04 1.66111288e-01] [ 3.82648251e-02 6.97208765e-04 9.99267390e-01 -2.71978844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22313336499997 meters Centerline goodness : 0.095749 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99247878e-01 5.99132088e-03 -3.83116457e-02 -1.84688717e+00] [-6.02583104e-03 9.99981536e-01 -7.85364918e-04 1.68704185e-01] [ 3.83062329e-02 1.01563373e-03 9.99265531e-01 -2.72437797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.253133365 meters Centerline goodness : 0.441069 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99255207e-01 6.00340891e-03 -3.81181057e-02 -1.84724342e+00] [-6.05374950e-03 9.99980949e-01 -1.20536342e-03 1.71651573e-01] [ 3.81101432e-02 1.43522314e-03 9.99272514e-01 -2.72790804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28313336499997 meters Centerline goodness : 0.106351 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.17, Z:-0.27 [[ 9.99261738e-01 5.86203368e-03 -3.79686070e-02 -1.84763427e+00] [-5.93185354e-03 9.99980916e-01 -1.72649123e-03 1.74524939e-01] [ 3.79577616e-02 1.95044084e-03 9.99277441e-01 -2.72889927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.313133365 meters Centerline goodness : 0.442496 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.18, Z:-0.27 [[ 0.99926248 0.00564337 -0.03798216 -1.84769782] [-0.00573282 0.99998104 -0.00224669 0.17693069] [ 0.03796876 0.00246278 0.99927589 -0.27284743] [ 0. 0. 0. 1. ]] SLAMing on 269.34313336499997 meters Centerline goodness : 0.156827 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.18, Z:-0.27 [[ 0.99925586 0.00545829 -0.03818281 -1.84738051] [-0.00556248 0.99998109 -0.00262308 0.17852541] [ 0.03816777 0.00283352 0.99926733 -0.27269422] [ 0. 0. 0. 1. ]] SLAMing on 269.373133365 meters Centerline goodness : 0.097581 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99140102e-01 8.18782903e-05 -4.14614255e-02 -1.83309318e+00] [-1.68351198e-04 9.99997818e-01 -2.08213586e-03 1.86353686e-01] [ 4.14611646e-02 2.08732552e-03 9.99137936e-01 -2.68924996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.403133365 meters Centerline goodness : 0.094490 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99142141e-01 -3.12502458e-05 -4.14123394e-02 -1.83327095e+00] [-6.21413626e-05 9.99997458e-01 -2.25387461e-03 1.87196009e-01] [ 4.14123045e-02 2.25451453e-03 9.99139599e-01 -2.68799604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.433133365 meters Centerline goodness : 0.097425 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99143068e-01 -2.30295590e-04 -4.13893276e-02 -1.83344378e+00] [ 1.24713520e-04 9.99996732e-01 -2.55351308e-03 1.88205960e-01] [ 4.13897804e-02 2.54616308e-03 9.99139832e-01 -2.68615776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.463133365 meters Centerline goodness : 0.101893 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99131588e-01 -6.43427457e-04 -4.16612141e-02 -1.83297471e+00] [ 5.06086904e-04 9.99994404e-01 -3.30706743e-03 1.91326435e-01] [ 4.16631088e-02 3.28311134e-03 9.99126322e-01 -2.68395272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.493133365 meters Centerline goodness : 0.094851 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 9.99122651e-01 -7.27912588e-04 -4.18735993e-02 -1.83238106e+00] [ 5.76492242e-04 9.99993252e-01 -3.62809079e-03 1.93402150e-01] [ 4.18759577e-02 3.60076788e-03 9.99116329e-01 -2.68598303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.523133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 269.553133365 meters Centerline goodness : 0.092476 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.20, Z:-0.27 [[ 9.99116615e-01 -9.46673925e-04 -4.20130042e-02 -1.83174238e+00] [ 7.73336931e-04 9.99991123e-01 -4.14185436e-03 1.96303136e-01] [ 4.20165523e-02 4.10570530e-03 9.99108479e-01 -2.69046349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.583133365 meters Centerline goodness : 0.107026 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.20, Z:-0.27 [[ 9.99114402e-01 -1.10487354e-03 -4.20617515e-02 -1.83153016e+00] [ 9.23330865e-04 9.99990176e-01 -4.33528109e-03 1.96842052e-01] [ 4.20661282e-02 4.29260486e-03 9.99105607e-01 -2.69120611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.613133365 meters Centerline goodness : 0.111652 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.20, Z:-0.27 [[ 9.99103311e-01 -1.25742023e-03 -4.23201143e-02 -1.83107843e+00] [ 1.06966325e-03 9.99989487e-01 -4.45894156e-03 1.96928842e-01] [ 4.23252762e-02 4.40967501e-03 9.99094153e-01 -2.68849680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 269.673133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 269.703133365 meters Centerline goodness : 0.204677 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.19, Z:-0.27 [[ 0.99910644 -0.00471307 -0.04200118 -1.83408314] [ 0.00442242 0.99996565 -0.00701016 0.19297205] [ 0.04203277 0.00681814 0.99909297 -0.26597964] [ 0. 0. 0. 1. ]] SLAMing on 269.733133365 meters Centerline goodness : 0.115544 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.19, Z:-0.27 [[ 9.99218659e-01 1.81808691e-03 -3.94812227e-02 -1.85661370e+00] [-2.15852042e-03 9.99960846e-01 -8.58175426e-03 1.85316153e-01] [ 3.94640745e-02 8.66027000e-03 9.99183460e-01 -2.67285464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.763133365 meters Centerline goodness : 0.115544 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.19, Z:-0.27 [[ 9.99218659e-01 1.81808691e-03 -3.94812227e-02 -1.85661370e+00] [-2.15852042e-03 9.99960846e-01 -8.58175426e-03 1.85316153e-01] [ 3.94640745e-02 8.66027000e-03 9.99183460e-01 -2.67285464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79313336499996 meters Centerline goodness : 0.123927 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.19, Z:-0.27 [[ 0.99926019 -0.00641491 -0.03791997 -1.83740037] [ 0.0061429 0.99995459 -0.00728544 0.18708568] [ 0.03796499 0.00704711 0.99925422 -0.26583095] [ 0. 0. 0. 1. ]] SLAMing on 269.823133365 meters Centerline goodness : 0.133348 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.18, Z:-0.27 [[ 0.99926795 -0.00629857 -0.03773451 -1.83791745] [ 0.00604425 0.99995827 -0.00684983 0.18459431] [ 0.03777608 0.00661673 0.99926432 -0.26562835] [ 0. 0. 0. 1. ]] SLAMing on 269.85313336499996 meters Centerline goodness : 0.098811 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.18, Z:-0.27 [[ 0.99926506 -0.00608933 -0.03784513 -1.83745991] [ 0.00586344 0.99996434 -0.00607695 0.17923454] [ 0.03788079 0.00585058 0.99926514 -0.26576429] [ 0. 0. 0. 1. ]] SLAMing on 269.883133365 meters Centerline goodness : 0.137787 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.18, Z:-0.27 [[ 0.9992615 -0.00597794 -0.03795676 -1.83713462] [ 0.0057618 0.99996657 -0.00580136 0.17767377] [ 0.03799017 0.00557838 0.99926254 -0.26584491] [ 0. 0. 0. 1. ]] SLAMing on 269.91313336499996 meters Centerline goodness : 0.152234 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99927028 0.00254088 -0.03811091 -1.85676896] [-0.00279642 0.99997396 -0.00665352 0.17116689] [ 0.03809301 0.00675523 0.99925136 -0.26762439] [ 0. 0. 0. 1. ]] SLAMing on 269.943133365 meters Centerline goodness : 0.103951 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99926135 0.00270944 -0.03833289 -1.85614835] [-0.00296445 0.99997385 -0.00659706 0.17143585] [ 0.03831402 0.00670582 0.99924325 -0.26786405] [ 0. 0. 0. 1. ]] SLAMing on 269.97313336499997 meters Centerline goodness : 0.110070 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99925822 0.00284597 -0.03840445 -1.85580296] [-0.00310224 0.99997331 -0.00661506 0.17209419] [ 0.0383846 0.00672929 0.99924038 -0.26823473] [ 0. 0. 0. 1. ]] SLAMing on 270.003133365 meters Centerline goodness : 0.284064 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99927675 0.00306544 -0.03790212 -1.85684597] [-0.00332047 0.99997226 -0.00666762 0.17295838] [ 0.03788063 0.00678865 0.99925921 -0.26859918] [ 0. 0. 0. 1. ]] SLAMing on 270.03313336499997 meters Centerline goodness : 0.446402 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99928556 0.00308678 -0.03766759 -1.85762236] [-0.00333831 0.99997254 -0.00661636 0.17261264] [ 0.03764613 0.00673738 0.99926842 -0.26834074] [ 0. 0. 0. 1. ]] SLAMing on 270.063133365 meters Centerline goodness : 0.446895 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99929412 0.00317975 -0.03743185 -1.85837145] [-0.00342169 0.99997366 -0.00640125 0.17156038] [ 0.03741051 0.00652481 0.99927868 -0.26810919] [ 0. 0. 0. 1. ]] SLAMing on 270.09313336499997 meters Centerline goodness : 0.161534 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99929659 0.00331816 -0.03735388 -1.8586206 ] [-0.00354621 0.99997547 -0.00604075 0.16981779] [ 0.03733292 0.00616896 0.99928384 -0.26799057] [ 0. 0. 0. 1. ]] SLAMing on 270.123133365 meters Centerline goodness : 0.111140 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.27 [[ 0.99929031 0.00343117 -0.03751145 -1.85810108] [-0.00364617 0.99997731 -0.00566454 0.16774465] [ 0.03749116 0.0057973 0.99928014 -0.26814593] [ 0. 0. 0. 1. ]] SLAMing on 270.153133365 meters Centerline goodness : 0.183224 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99927323 0.00332106 -0.03797349 -1.85643099] [-0.00352459 0.99997978 -0.00529394 0.16359627] [ 0.03795514 0.00542393 0.99926472 -0.26886498] [ 0. 0. 0. 1. ]] SLAMing on 270.183133365 meters Centerline goodness : 0.099053 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99927142 0.00341924 -0.03801222 -1.8563371 ] [-0.00361185 0.99998098 -0.00499959 0.16189612] [ 0.0379944 0.00513324 0.99926477 -0.26885472] [ 0. 0. 0. 1. ]] SLAMing on 270.213133365 meters Centerline goodness : 0.140962 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.9992719 0.00353819 -0.03798896 -1.85642966] [-0.00372149 0.99998177 -0.00475555 0.16078458] [ 0.03797144 0.00489346 0.99926684 -0.26880461] [ 0. 0. 0. 1. ]] SLAMing on 270.243133365 meters Centerline goodness : 0.261713 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99927273 0.00365853 -0.03795545 -1.85649282] [-0.00383472 0.9999822 -0.00457033 0.16022241] [ 0.03793806 0.00471256 0.99926898 -0.2688491 ] [ 0. 0. 0. 1. ]] SLAMing on 270.273133365 meters Centerline goodness : 0.440948 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.99926839 0.00379487 -0.03805627 -1.8560727 ] [-0.0039649 0.99998249 -0.00439328 0.15977366] [ 0.03803893 0.00454096 0.99926594 -0.26916582] [ 0. 0. 0. 1. ]] SLAMing on 270.303133365 meters Centerline goodness : 0.100026 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.16, Z:-0.27 [[ 0.9992614 0.0038489 -0.03823402 -1.85531805] [-0.0040153 0.99998279 -0.00427635 0.15915114] [ 0.0382169 0.00442671 0.99925966 -0.26968018] [ 0. 0. 0. 1. ]] SLAMing on 270.333133365 meters Centerline goodness : 0.440308 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.27 [[ 0.99924286 0.0039021 -0.03871019 -1.85369628] [-0.00405873 0.99998389 -0.0039686 0.1570626 ] [ 0.03869408 0.00412271 0.9992426 -0.27042146] [ 0. 0. 0. 1. ]] SLAMing on 270.363133365 meters Centerline goodness : 0.274308 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-0.27 [[ 0.9992378 -0.00390991 -0.03883984 -1.83488916] [ 0.00381427 0.99998951 -0.00253626 0.16064789] [ 0.03884935 0.00238618 0.99924223 -0.26839257] [ 0. 0. 0. 1. ]] SLAMing on 270.393133365 meters Centerline goodness : 0.285922 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 0.99923867 -0.00377896 -0.03883031 -1.8351056 ] [ 0.00369595 0.99999073 -0.00220925 0.15917076] [ 0.03883829 0.00206405 0.99924338 -0.2680475 ] [ 0. 0. 0. 1. ]] SLAMing on 270.423133365 meters Centerline goodness : 0.107338 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99234444e-01 -3.67263528e-03 -3.89491564e-02 -1.83508379e+00] [ 3.60082054e-03 9.99991686e-01 -1.91379820e-03 1.57764783e-01] [ 3.89558612e-02 1.77208416e-03 9.99239361e-01 -2.67594947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.453133365 meters Centerline goodness : 0.436900 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-0.27 [[ 9.99231202e-01 -3.60617407e-03 -3.90384405e-02 -1.83499793e+00] [ 3.54379006e-03 9.99992331e-01 -1.66709563e-03 1.56420938e-01] [ 3.90441530e-02 1.52746993e-03 9.99236319e-01 -2.67361363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.483133365 meters Centerline goodness : 0.112031 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.16, Z:-0.27 [[ 9.99227763e-01 -3.55870491e-03 -3.91307179e-02 -1.83475069e+00] [ 3.50295300e-03 9.99992750e-01 -1.49323141e-03 1.55378168e-01] [ 3.91357481e-02 1.35500521e-03 9.99232984e-01 -2.67346459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.513133365 meters Centerline goodness : 0.108174 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99236887e-01 -3.50479437e-03 -3.89019275e-02 -1.83552812e+00] [ 3.45228902e-03 9.99993037e-01 -1.41677882e-03 1.55264219e-01] [ 3.89066221e-02 1.28139696e-03 9.99242029e-01 -2.67028637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54313336499996 meters Centerline goodness : 0.094712 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99245765e-01 -3.50479814e-03 -3.86732207e-02 -1.83632328e+00] [ 3.45003248e-03 9.99992949e-01 -1.48275959e-03 1.55753889e-01] [ 3.86781448e-02 1.34821738e-03 9.99250811e-01 -2.66655949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.573133365 meters Centerline goodness : 0.264778 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.16, Z:-0.27 [[ 9.99250678e-01 -3.50228200e-03 -3.85462837e-02 -1.83682442e+00] [ 3.44562143e-03 9.99992884e-01 -1.53627070e-03 1.56140423e-01] [ 3.85513898e-02 1.40230363e-03 9.99255635e-01 -2.66395107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60313336499996 meters Centerline goodness : 0.343824 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.15, Z:-0.27 [[ 0.99928949 0.00421107 -0.03745372 -1.85640147] [-0.00430685 0.99998766 -0.00247696 0.14956267] [ 0.03744282 0.00263651 0.99929529 -0.26776621] [ 0. 0. 0. 1. ]] SLAMing on 270.633133365 meters Centerline goodness : 0.093449 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.15, Z:-0.27 [[ 9.99302660e-01 -4.01563719e-03 -3.71223421e-02 -1.83655314e+00] [ 3.96247167e-03 9.99991016e-01 -1.50563318e-03 1.53501068e-01] [ 3.71280547e-02 1.35748701e-03 9.99309594e-01 -2.65997780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66313336499996 meters Centerline goodness : 0.444574 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.15, Z:-0.27 [[ 9.99297051e-01 -4.05543047e-03 -3.72687231e-02 -1.83607929e+00] [ 4.01111209e-03 9.99991157e-01 -1.26385141e-03 1.51746714e-01] [ 3.72735190e-02 1.11347396e-03 9.99304481e-01 -2.66096561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.693133365 meters Centerline goodness : 0.166412 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.15, Z:-0.27 [[ 9.99285137e-01 -4.21913619e-03 -3.75687841e-02 -1.83512145e+00] [ 4.18250419e-03 9.99990698e-01 -1.05360534e-03 1.49686351e-01] [ 3.75728799e-02 8.95720556e-04 9.99293489e-01 -2.66335957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72313336499997 meters Centerline goodness : 0.175709 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.15, Z:-0.27 [[ 9.99280229e-01 -4.36891855e-03 -3.76820434e-02 -1.83476374e+00] [ 4.34423670e-03 9.99990292e-01 -7.36857450e-04 1.47209745e-01] [ 3.76848969e-02 5.72627365e-04 9.99289508e-01 -2.66319363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.753133365 meters Centerline goodness : 0.343647 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.14, Z:-0.26 [[ 9.99305762e-01 -5.70185214e-03 -3.68168781e-02 -1.83786858e+00] [ 5.66579315e-03 9.99983362e-01 -1.08367518e-03 1.40336421e-01] [ 3.68224445e-02 8.74326039e-04 9.99321441e-01 -2.64698140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78313336499997 meters Centerline goodness : 0.259685 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99358181e-01 1.51542741e-03 -3.57900724e-02 -1.81937430e+00] [-1.59314784e-03 9.99996434e-01 -2.14314511e-03 1.34421167e-01] [ 3.57866970e-02 2.19878847e-03 9.99357032e-01 -2.62601878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.813133365 meters Centerline goodness : 0.441634 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99366631e-01 1.55331589e-03 -3.55517172e-02 -1.81995515e+00] [-1.61651961e-03 9.99997164e-01 -1.74912167e-03 1.31975688e-01] [ 3.55488994e-02 1.80548388e-03 9.99366307e-01 -2.62470422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84313336499997 meters Centerline goodness : 0.099635 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99372193e-01 1.56581920e-03 -3.53944762e-02 -1.82016765e+00] [-1.61537165e-03 9.99997755e-01 -1.37145191e-03 1.29428472e-01] [ 3.53922492e-02 1.42776614e-03 9.99372478e-01 -2.62652163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.873133365 meters Centerline goodness : 0.092799 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.13, Z:-0.26 [[ 9.99374133e-01 1.64262131e-03 -3.53361712e-02 -1.82009879e+00] [-1.67716511e-03 9.99998144e-01 -9.47956757e-04 1.26946013e-01] [ 3.53345485e-02 1.00662806e-03 9.99375033e-01 -2.62925127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.903133365 meters Centerline goodness : 0.356197 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99367909e-01 1.71820476e-03 -3.55081841e-02 -1.81955540e+00] [-1.73930282e-03 9.99998329e-01 -5.63293489e-04 1.24748988e-01] [ 3.55071569e-02 6.24696921e-04 9.99369227e-01 -2.63104843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.933133365 meters Centerline goodness : 0.443506 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99343589e-01 1.83841577e-03 -3.61802686e-02 -1.81784471e+00] [-1.83483401e-03 9.99998308e-01 1.32200610e-04 1.20640609e-01] [ 3.61804505e-02 -6.57290448e-05 9.99345271e-01 -2.63231349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.963133365 meters Centerline goodness : 0.437535 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99333157e-01 1.92744199e-03 -3.64626734e-02 -1.81712337e+00] [-1.91153331e-03 9.99998062e-01 4.71156628e-04 1.18675197e-01] [ 3.64635108e-02 -4.01142826e-04 9.99334905e-01 -2.63293578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.993133365 meters Centerline goodness : 0.335491 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-0.26 [[ 9.99327698e-01 2.01807664e-03 -3.66070920e-02 -1.81677691e+00] [-1.98885348e-03 9.99997674e-01 8.34690224e-04 1.16555930e-01] [ 3.66086914e-02 -7.61322918e-04 9.99329387e-01 -2.63280920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.023133365 meters Centerline goodness : 0.439150 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.11, Z:-0.26 [[ 9.99268620e-01 1.33524000e-03 -3.82157443e-02 -1.86261575e+00] [-1.32431883e-03 9.99999075e-01 3.11089443e-04 1.13068380e-01] [ 3.82161243e-02 -2.60252088e-04 9.99269463e-01 -2.63986682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.053133365 meters Centerline goodness : 0.454982 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.12, Z:-0.26 [[ 9.99299705e-01 -6.83527223e-03 -3.67882820e-02 -1.84307892e+00] [ 6.88731955e-03 9.99975452e-01 1.28823515e-03 1.15079366e-01] [ 3.67785735e-02 -1.54070566e-03 9.99322252e-01 -2.62886477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.083133365 meters Centerline goodness : 0.175566 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99352589e-01 7.65511196e-04 -3.59696683e-02 -1.82498987e+00] [-7.66160098e-04 9.99999706e-01 -4.25651824e-06 1.10218009e-01] [ 3.59696545e-02 3.18122871e-05 9.99352882e-01 -2.60597419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.113133365 meters Centerline goodness : 0.450428 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.11, Z:-0.26 [[ 9.99354686e-01 7.96907583e-04 -3.59106631e-02 -1.82508408e+00] [-7.92576680e-04 9.99999677e-01 1.34837560e-04 1.09343910e-01] [ 3.59107590e-02 -1.06288594e-04 9.99354995e-01 -2.60662788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.143133365 meters Centerline goodness : 0.257156 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99335857e-01 9.16120767e-04 -3.64280944e-02 -1.82340268e+00] [-9.03445977e-04 9.99999525e-01 3.64399334e-04 1.08445562e-01] [ 3.64284109e-02 -3.31246505e-04 9.99336210e-01 -2.61419770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.173133365 meters Centerline goodness : 0.443974 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99327862e-01 9.73956076e-04 -3.66452694e-02 -1.82262576e+00] [-9.56910403e-04 9.99999426e-01 4.82689593e-04 1.07939693e-01] [ 3.66457185e-02 -4.47298919e-04 9.99328220e-01 -2.61836859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.203133365 meters Centerline goodness : 0.354741 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99322639e-01 9.42332202e-04 -3.67882589e-02 -1.82206867e+00] [-9.23762502e-04 9.99999437e-01 5.21766781e-04 1.07444804e-01] [ 3.67887299e-02 -4.87429743e-04 9.99322947e-01 -2.62176508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.233133365 meters Centerline goodness : 0.109023 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.11, Z:-0.26 [[ 9.99316430e-01 8.89004195e-04 -3.69578514e-02 -1.82178529e+00] [-8.60745742e-04 9.99999325e-01 7.80517048e-04 1.05351275e-01] [ 3.69585204e-02 -7.48172196e-04 9.99316520e-01 -2.61984912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.263133365 meters Centerline goodness : 0.437608 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.10, Z:-0.26 [[ 9.99319106e-01 9.06580130e-04 -3.68849805e-02 -1.82214628e+00] [-8.68279840e-04 9.99999067e-01 1.05437634e-03 1.03651590e-01] [ 3.68859019e-02 -1.02163194e-03 9.99318961e-01 -2.61690363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29313336499996 meters Centerline goodness : 0.284170 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.10, Z:-0.26 [[ 9.99319351e-01 9.34408411e-04 -3.68776635e-02 -1.82226439e+00] [-8.83437596e-04 9.99998632e-01 1.39843046e-03 1.01536529e-01] [ 3.68789197e-02 -1.36489951e-03 9.99318809e-01 -2.61525510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.323133365 meters Centerline goodness : 0.166248 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.10, Z:-0.26 [[ 9.99310214e-01 9.11897861e-04 -3.71249950e-02 -1.82166742e+00] [-8.48468627e-04 9.99998154e-01 1.72425107e-03 9.93105533e-02] [ 3.71264988e-02 -1.69156232e-03 9.99309142e-01 -2.61521187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35313336499996 meters Centerline goodness : 0.094018 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 9.99330087e-01 6.40507901e-03 -3.60326678e-02 -1.84146885e+00] [-6.44805210e-03 9.99978632e-01 -1.07653197e-03 9.30658644e-02] [ 3.60250026e-02 1.30815131e-03 9.99350033e-01 -2.63923188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.383133365 meters Centerline goodness : 0.290779 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99934879 0.00274959 -0.03597822 -1.84225717] [-0.00290242 0.99998698 -0.00419626 0.09050002] [ 0.03596621 0.00429795 0.99934376 -0.26311212] [ 0. 0. 0. 1. ]] SLAMing on 271.41313336499996 meters Centerline goodness : 0.090490 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99935372 0.00279892 -0.03583728 -1.84296919] [-0.00294026 0.9999881 -0.00389194 0.08873005] [ 0.03582596 0.0039948 0.99935006 -0.26253188] [ 0. 0. 0. 1. ]] SLAMing on 271.443133365 meters Centerline goodness : 0.442113 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936103 0.0028393 -0.03562973 -1.84371914] [-0.00297049 0.999989 -0.00362959 0.08719922] [ 0.03561903 0.00373311 0.99935847 -0.26213878] [ 0. 0. 0. 1. ]] SLAMing on 271.47313336499997 meters Centerline goodness : 0.101839 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936094 0.00287029 -0.03562957 -1.84376511] [-0.00299352 0.99998972 -0.00340577 0.08587153] [ 0.03561942 0.00351025 0.99935926 -0.26206968] [ 0. 0. 0. 1. ]] SLAMing on 271.503133365 meters Centerline goodness : 0.095690 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.09, Z:-0.26 [[ 0.99934662 -0.0051116 -0.03577992 -1.82413082] [ 0.00502431 0.99998418 -0.00252919 0.08895034] [ 0.03579228 0.00234777 0.99935649 -0.26051382] [ 0. 0. 0. 1. ]] SLAMing on 271.53313336499997 meters Centerline goodness : 0.450530 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.08, Z:-0.26 [[ 0.9993676 0.00264171 -0.03546003 -1.84313413] [-0.00277658 0.9999891 -0.00375482 0.08356309] [ 0.03544972 0.0038509 0.99936404 -0.26289341] [ 0. 0. 0. 1. ]] SLAMing on 271.563133365 meters Centerline goodness : 0.091162 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.08, Z:-0.26 [[ 0.99937307 0.00256517 -0.0353112 -1.84369231] [-0.00270272 0.99998894 -0.00384836 0.08431773] [ 0.03530094 0.00394138 0.99936896 -0.26261392] [ 0. 0. 0. 1. ]] SLAMing on 271.59313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 271.623133365 meters Centerline goodness : 0.323045 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99938612 0.00254975 -0.03494119 -1.844895 ] [-0.00269103 0.99998839 -0.00399699 0.08555859] [ 0.03493059 0.00408857 0.99938138 -0.26210246] [ 0. 0. 0. 1. ]] SLAMing on 271.653133365 meters Centerline goodness : 0.323045 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99938612 0.00254975 -0.03494119 -1.844895 ] [-0.00269103 0.99998839 -0.00399699 0.08555859] [ 0.03493059 0.00408857 0.99938138 -0.26210246] [ 0. 0. 0. 1. ]] SLAMing on 271.683133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 271.713133365 meters Centerline goodness : 0.442268 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99937703 0.00222482 -0.0352223 -1.84400931] [-0.00238322 0.99998723 -0.00445599 0.08711282] [ 0.03521193 0.00453716 0.99936957 -0.26242706] [ 0. 0. 0. 1. ]] SLAMing on 271.743133365 meters Centerline goodness : 0.253074 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936869 0.00215206 -0.03546262 -1.84350662] [-0.00231046 0.99998753 -0.00442635 0.08670244] [ 0.03545265 0.00450549 0.9993612 -0.26230828] [ 0. 0. 0. 1. ]] SLAMing on 271.773133365 meters Centerline goodness : 0.095295 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99936278 0.00215926 -0.03562814 -1.84307275] [-0.00231327 0.99998816 -0.00428203 0.08592958] [ 0.03561847 0.00436172 0.99935594 -0.2623981 ] [ 0. 0. 0. 1. ]] SLAMing on 271.803133365 meters Centerline goodness : 0.091201 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99935644 0.00215463 -0.03580581 -1.84250543] [-0.00230529 0.99998866 -0.00416673 0.08530783] [ 0.03579643 0.00424659 0.99935008 -0.26264081] [ 0. 0. 0. 1. ]] SLAMing on 271.833133365 meters Centerline goodness : 0.098183 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99934948 0.00215382 -0.03599974 -1.84188991] [-0.00230335 0.99998889 -0.00411265 0.08501705] [ 0.03599048 0.0041929 0.99934334 -0.2628908 ] [ 0. 0. 0. 1. ]] SLAMing on 271.863133365 meters Centerline goodness : 0.098150 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.99934084 0.00213589 -0.03623975 -1.84110054] [-0.00228696 0.99998887 -0.00412764 0.08513129] [ 0.03623053 0.0042078 0.9993346 -0.26324427] [ 0. 0. 0. 1. ]] SLAMing on 271.893133365 meters Centerline goodness : 0.099776 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.09, Z:-0.26 [[ 0.9993313 0.00201803 -0.03650855 -1.84017789] [-0.00218146 0.99998778 -0.00443735 0.08657768] [ 0.03649915 0.00451402 0.99932349 -0.26364679] [ 0. 0. 0. 1. ]] SLAMing on 271.923133365 meters Centerline goodness : 0.103412 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.09, Z:-0.27 [[ 0.99934019 -0.00554229 -0.03589527 -1.85966917] [ 0.00542164 0.99997933 -0.00345763 0.09333886] [ 0.03591369 0.00326074 0.99934958 -0.26529552] [ 0. 0. 0. 1. ]] SLAMing on 271.953133365 meters Centerline goodness : 0.103078 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.09, Z:-0.26 [[ 0.99934078 -0.00553972 -0.03587927 -1.85998172] [ 0.00541291 0.99997876 -0.00363052 0.09459253] [ 0.03589862 0.00343391 0.99934954 -0.26491363] [ 0. 0. 0. 1. ]] SLAMing on 271.983133365 meters Centerline goodness : 0.102527 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99933347 -0.00553279 -0.0360832 -1.85965656] [ 0.00539896 0.99997818 -0.00380539 0.09584644] [ 0.03610347 0.00360804 0.99934154 -0.26472683] [ 0. 0. 0. 1. ]] SLAMing on 272.013133365 meters Centerline goodness : 0.141360 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99932437 -0.00575562 -0.03629988 -1.8589784 ] [ 0.00560058 0.99997476 -0.00437144 0.09826175] [ 0.03632412 0.00416518 0.99933138 -0.26497569] [ 0. 0. 0. 1. ]] SLAMing on 272.04313336499996 meters Centerline goodness : 0.100350 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.27 [[ 0.99932297 -0.00588491 -0.03631764 -1.8589274 ] [ 0.00572072 0.99997295 -0.00462331 0.09909944] [ 0.03634386 0.00441242 0.9993296 -0.26500236] [ 0. 0. 0. 1. ]] SLAMing on 272.073133365 meters Centerline goodness : 0.111413 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99932752 -0.00594476 -0.03618231 -1.85938029] [ 0.00577745 0.99997214 -0.00472689 0.09966522] [ 0.0362094 0.00451467 0.99933403 -0.26488957] [ 0. 0. 0. 1. ]] SLAMing on 272.10313336499996 meters Centerline goodness : 0.113009 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99932959 -0.00592483 -0.03612846 -1.85967564] [ 0.0057598 0.99997251 -0.00467035 0.09963129] [ 0.03615513 0.00445913 0.99933624 -0.26463659] [ 0. 0. 0. 1. ]] SLAMing on 272.133133365 meters Centerline goodness : 0.116049 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99933515 -0.00589413 -0.03597953 -1.86021741] [ 0.00573445 0.99997325 -0.00453972 0.09904674] [ 0.03600532 0.00433038 0.99934222 -0.26434447] [ 0. 0. 0. 1. ]] SLAMing on 272.16313336499996 meters Centerline goodness : 0.146004 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.09, Z:-0.27 [[ 9.99451942e-01 -1.46011955e-03 -3.30708942e-02 -1.87778132e+00] [ 1.23069246e-03 9.99975044e-01 -6.95672579e-03 9.41375713e-02] [ 3.30802265e-02 6.91221300e-03 9.99428797e-01 -2.66809887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.193133365 meters Centerline goodness : 0.124383 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.10, Z:-0.26 [[ 0.99941647 -0.00950943 -0.0328069 -1.85840549] [ 0.00932536 0.99993993 -0.0057592 0.09792228] [ 0.03285969 0.0054499 0.99944512 -0.26477344] [ 0. 0. 0. 1. ]] SLAMing on 272.22313336499997 meters Centerline goodness : 0.164750 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.09, Z:-0.27 [[ 9.99465459e-01 -9.13475466e-04 -3.26796932e-02 -1.87922815e+00] [ 7.09856719e-04 9.99980268e-01 -6.24180186e-03 9.45561547e-02] [ 3.26847501e-02 6.21526746e-03 9.99446386e-01 -2.65870558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.253133365 meters Centerline goodness : 0.112139 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99471944e-01 -9.26078664e-04 -3.24803841e-02 -1.87991512e+00] [ 7.20495733e-04 9.99979639e-01 -6.34058194e-03 9.54972980e-02] [ 3.24855947e-02 6.31383178e-03 9.99452261e-01 -2.65554345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28313336499997 meters Centerline goodness : 0.124800 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99476291e-01 -1.02870650e-03 -3.23432375e-02 -1.88036733e+00] [ 8.16586139e-04 9.99978078e-01 -6.57093962e-03 9.66381671e-02] [ 3.23492881e-02 6.54108732e-03 9.99455220e-01 -2.65318986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.313133365 meters Centerline goodness : 0.109917 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99475930e-01 -1.18193448e-03 -3.23491595e-02 -1.88036253e+00] [ 9.60124008e-04 9.99975930e-01 -6.87143641e-03 9.79082610e-02] [ 3.23565024e-02 6.83677609e-03 9.99453008e-01 -2.65309889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34313336499997 meters Centerline goodness : 0.110837 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99456501e-01 -1.45664943e-03 -3.29329849e-02 -1.87870906e+00] [ 1.21145837e-03 9.99971411e-01 -7.46387980e-03 1.00677553e-01] [ 3.29429156e-02 7.41992624e-03 9.99429692e-01 -2.65749892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.373133365 meters Centerline goodness : 0.106632 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99448218e-01 -1.52506534e-03 -3.31803062e-02 -1.87788164e+00] [ 1.27113638e-03 9.99969756e-01 -7.67275091e-03 1.02071082e-01] [ 3.31910041e-02 7.62634053e-03 9.99419930e-01 -2.66134410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.403133365 meters Centerline goodness : 0.110346 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99445476e-01 -1.57965338e-03 -3.32602500e-02 -1.87750735e+00] [ 1.31886421e-03 9.99968229e-01 -7.86134579e-03 1.03324875e-01] [ 3.32716115e-02 7.81312073e-03 9.99415807e-01 -2.66395466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.433133365 meters Centerline goodness : 0.108176 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.10, Z:-0.27 [[ 9.99448860e-01 -1.69052490e-03 -3.31529584e-02 -1.87763602e+00] [ 1.42138716e-03 9.99965860e-01 -8.13994975e-03 1.04787196e-01] [ 3.31655874e-02 8.08834030e-03 9.99417141e-01 -2.66574779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.463133365 meters Centerline goodness : 0.107408 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.27 [[ 9.99451224e-01 -1.95847230e-03 -3.30668342e-02 -1.87780837e+00] [ 1.67037796e-03 9.99960429e-01 -8.73786403e-03 1.07475661e-01] [ 3.30826386e-02 8.67783478e-03 9.99414946e-01 -2.66596386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.493133365 meters Centerline goodness : 0.120443 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.27 [[ 9.99443672e-01 -2.08519370e-03 -3.32865984e-02 -1.87733682e+00] [ 1.78617074e-03 9.99957809e-01 -9.01049366e-03 1.09140550e-01] [ 3.33039827e-02 8.94602532e-03 9.99405230e-01 -2.66559748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.523133365 meters Centerline goodness : 0.108909 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.27 [[ 9.99437712e-01 -2.14243240e-03 -3.34614613e-02 -1.87690796e+00] [ 1.83376515e-03 9.99955513e-01 -9.25252621e-03 1.10770735e-01] [ 3.34797956e-02 9.18596317e-03 9.99397179e-01 -2.66562943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.553133365 meters Centerline goodness : 0.124155 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.12, Z:-0.27 [[ 9.99359019e-01 -1.29124805e-03 -3.57754667e-02 -1.92144767e+00] [ 9.57202041e-04 9.99955803e-01 -9.35284765e-03 1.15353201e-01] [ 3.57859623e-02 9.31260830e-03 9.99316086e-01 -2.67273952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.583133365 meters Centerline goodness : 0.123269 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.12, Z:-0.27 [[ 0.99930766 -0.00900872 -0.03609756 -1.90212275] [ 0.00870917 0.9999264 -0.00844695 0.12212841] [ 0.036171 0.00812672 0.99931257 -0.26525091] [ 0. 0. 0. 1. ]] SLAMing on 272.613133365 meters Centerline goodness : 0.121572 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.12, Z:-0.27 [[ 9.99343989e-01 -6.00673707e-04 -3.62109198e-02 -1.92193970e+00] [ 2.45709232e-04 9.99951886e-01 -9.80634472e-03 1.21288534e-01] [ 3.62150680e-02 9.79101429e-03 9.99296055e-01 -2.66954623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.643133365 meters Centerline goodness : 0.111375 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.27 [[ 0.99934455 0.00278553 -0.03609312 -1.92204683] [-0.00304371 0.99997016 -0.00710016 0.12603059] [ 0.03607226 0.00720537 0.99932321 -0.26709517] [ 0. 0. 0. 1. ]] SLAMing on 272.673133365 meters Centerline goodness : 0.128435 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.27 [[ 0.99934087 0.00262121 -0.03620722 -1.92157605] [-0.0028986 0.99996684 -0.00761091 0.12901501] [ 0.03618607 0.00771084 0.99931532 -0.26735295] [ 0. 0. 0. 1. ]] SLAMing on 272.703133365 meters Centerline goodness : 0.127176 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.27 [[ 0.99933667 0.0024315 -0.03633614 -1.92115879] [-0.00272833 0.9999633 -0.0081217 0.1317079 ] [ 0.03631506 0.00821545 0.99930662 -0.26749502] [ 0. 0. 0. 1. ]] SLAMing on 272.733133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 272.763133365 meters Centerline goodness : 0.121312 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.14, Z:-0.27 [[ 9.99343976e-01 1.79276441e-03 -3.61718686e-02 -1.92210589e+00] [-2.13137696e-03 9.99954251e-01 -9.32482474e-03 1.37430569e-01] [ 3.61534965e-02 9.39580332e-03 9.99302078e-01 -2.66616036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79313336499996 meters Centerline goodness : 0.125494 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.14, Z:-0.27 [[ 9.99342913e-01 1.70139310e-03 -3.62056177e-02 -1.92197137e+00] [-2.04524919e-03 9.99953139e-01 -9.46239647e-03 1.38226044e-01] [ 3.61878218e-02 9.53022837e-03 9.99299563e-01 -2.66704515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.823133365 meters Centerline goodness : 0.073666 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.99929277 -0.00692639 -0.03695931 -1.90084225] [ 0.00660888 0.99994026 -0.00870599 0.14209258] [ 0.0370174 0.00845557 0.99927885 -0.2652641 ] [ 0. 0. 0. 1. ]] SLAMing on 272.85313336499996 meters Centerline goodness : 0.147129 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.99927462 -0.00709971 -0.03741422 -1.89928832] [ 0.00677552 0.99993846 -0.00878453 0.1419551 ] [ 0.03747429 0.00852466 0.99926123 -0.26589687] [ 0. 0. 0. 1. ]] SLAMing on 272.883133365 meters Centerline goodness : 0.154618 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.14, Z:-0.27 [[ 9.99280011e-01 8.86754193e-04 -3.79298538e-02 -1.91753990e+00] [-1.27085477e-03 9.99948149e-01 -1.01036918e-02 1.38051800e-01] [ 3.79189276e-02 1.01446206e-02 9.99229324e-01 -2.68109012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 272.943133365 meters Centerline goodness : 0.124010 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.9993657 -0.00546116 -0.0351905 -1.89880638] [ 0.00521093 0.99996051 -0.00719873 0.1410506 ] [ 0.03522842 0.00701078 0.9993547 -0.26706992] [ 0. 0. 0. 1. ]] SLAMing on 272.97313336499997 meters Centerline goodness : 0.161945 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.14, Z:-0.27 [[ 0.99937214 -0.00557575 -0.03498924 -1.89950446] [ 0.00531523 0.99995749 -0.0075341 0.14270621] [ 0.03502976 0.0073434 0.99935929 -0.26669553] [ 0. 0. 0. 1. ]] SLAMing on 273.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.03313336499997 meters Centerline goodness : 0.152119 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.15, Z:-0.27 [[ 0.99937703 -0.00213597 -0.03522759 -1.89901881] [ 0.00195289 0.99998441 -0.00523049 0.14998248] [ 0.03523821 0.00515843 0.99936563 -0.26663259] [ 0. 0. 0. 1. ]] SLAMing on 273.063133365 meters Centerline goodness : 0.068181 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.15, Z:-0.27 [[ 9.99381771e-01 1.53414167e-03 -3.51243892e-02 -1.89913066e+00] [-1.60244465e-03 9.99996880e-01 -1.91653415e-03 1.51629633e-01] [ 3.51213394e-02 1.97163419e-03 9.99381111e-01 -2.66762833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.183133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 273.213133365 meters Centerline goodness : 0.138443 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.26 [[ 0.99942016 0.00201154 -0.03398974 -1.90355915] [-0.00211242 0.99999347 -0.0029322 0.16651066] [ 0.03398362 0.0030023 0.99941788 -0.26433025] [ 0. 0. 0. 1. ]] SLAMing on 273.243133365 meters Centerline goodness : 0.115873 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.26 [[ 9.99411038e-01 1.87905329e-03 -3.42643668e-02 -1.90267100e+00] [-1.99256350e-03 9.99992639e-01 -3.27893103e-03 1.68371699e-01] [ 3.42579533e-02 3.34527379e-03 9.99407425e-01 -2.64653625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.273133365 meters Centerline goodness : 0.152686 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.26 [[ 9.99417941e-01 1.52972981e-03 -3.40799064e-02 -1.90320502e+00] [-1.67448852e-03 9.99989696e-01 -4.21948982e-03 1.73549825e-01] [ 3.40731006e-02 4.27410023e-03 9.99410204e-01 -2.64402944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.303133365 meters Centerline goodness : 0.117453 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 9.99462545e-01 -4.91878980e-03 -3.24102971e-02 -1.88240216e+00] [ 4.86670900e-03 9.99986737e-01 -1.68561261e-03 1.77897528e-01] [ 3.24181584e-02 1.52697518e-03 9.99473227e-01 -2.63950863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.333133365 meters Centerline goodness : 0.148768 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99946654 -0.0051295 -0.0322542 -1.88283853] [ 0.00505955 0.99998467 -0.00225009 0.18071013] [ 0.03226525 0.0020857 0.99947717 -0.26376824] [ 0. 0. 0. 1. ]] SLAMing on 273.363133365 meters Centerline goodness : 0.151483 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99945983 -0.00533733 -0.03242792 -1.88234997] [ 0.00525196 0.99998252 -0.00271738 0.18305009] [ 0.03244186 0.0025456 0.99947038 -0.26382767] [ 0. 0. 0. 1. ]] SLAMing on 273.393133365 meters Centerline goodness : 0.115502 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99944635 -0.00556255 -0.03280322 -1.88119552] [ 0.00546363 0.99998025 -0.00310459 0.18481097] [ 0.03281984 0.00292365 0.99945701 -0.26409623] [ 0. 0. 0. 1. ]] SLAMing on 273.423133365 meters Centerline goodness : 0.156487 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99942583 -0.00577341 -0.0333869 -1.87956875] [ 0.00566561 0.99997843 -0.00332237 0.18568782] [ 0.03340537 0.0031313 0.99943698 -0.26430465] [ 0. 0. 0. 1. ]] SLAMing on 273.453133365 meters Centerline goodness : 0.146362 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.9993767 -0.00637 -0.03472238 -1.87596778] [ 0.0062493 0.99997405 -0.00358357 0.18615567] [ 0.03474431 0.00336434 0.99939057 -0.2646031 ] [ 0. 0. 0. 1. ]] SLAMing on 273.483133365 meters Centerline goodness : 0.162606 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99936681 -0.00649329 -0.03498316 -1.87540253] [ 0.00637601 0.99997368 -0.00346297 0.18527358] [ 0.03500472 0.00323773 0.9993819 -0.26435859] [ 0. 0. 0. 1. ]] SLAMing on 273.513133365 meters Centerline goodness : 0.160555 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99420267e-01 1.36183198e-03 -3.40187353e-02 -1.89597225e+00] [-1.53032255e-03 9.99986690e-01 -4.92732958e-03 1.81340424e-01] [ 3.40115723e-02 4.97653268e-03 9.99409049e-01 -2.66177393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54313336499996 meters Centerline goodness : 0.160555 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99420267e-01 1.36183198e-03 -3.40187353e-02 -1.89597225e+00] [-1.53032255e-03 9.99986690e-01 -4.92732958e-03 1.81340424e-01] [ 3.40115723e-02 4.97653268e-03 9.99409049e-01 -2.66177393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.573133365 meters Centerline goodness : 0.123097 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99424432e-01 1.20372364e-03 -3.39021459e-02 -1.89641004e+00] [-1.37098330e-03 9.99987002e-01 -4.91078676e-03 1.80629479e-01] [ 3.38957940e-02 4.95443955e-03 9.99413092e-01 -2.66005248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60313336499996 meters Centerline goodness : 0.129335 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99425631e-01 1.15561796e-03 -3.38684618e-02 -1.89653079e+00] [-1.32061930e-03 9.99987367e-01 -4.84986334e-03 1.80124033e-01] [ 3.38624294e-02 4.89180507e-03 9.99414532e-01 -2.65953716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.633133365 meters Centerline goodness : 0.109592 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99425780e-01 1.20554928e-03 -3.38623172e-02 -1.89650766e+00] [-1.36550728e-03 9.99988018e-01 -4.70104695e-03 1.79537283e-01] [ 3.38562441e-02 4.74458676e-03 9.99415451e-01 -2.66020119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66313336499996 meters Centerline goodness : 0.110349 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99426614e-01 1.24077282e-03 -3.38364133e-02 -1.89648683e+00] [-1.39463245e-03 9.99988794e-01 -4.52393924e-03 1.78518449e-01] [ 3.38304210e-02 4.56853464e-03 9.99417146e-01 -2.66155370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.693133365 meters Centerline goodness : 0.109357 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99424174e-01 1.25420518e-03 -3.39079294e-02 -1.89629411e+00] [-1.40638813e-03 9.99989044e-01 -4.46464483e-03 1.78072456e-01] [ 3.39019583e-02 4.50976168e-03 9.99414989e-01 -2.66195220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72313336499997 meters Centerline goodness : 0.132510 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99423213e-01 1.26406661e-03 -3.39358587e-02 -1.89618677e+00] [-1.41579412e-03 9.99989108e-01 -4.44735083e-03 1.77934356e-01] [ 3.39298673e-02 4.49283185e-03 9.99414118e-01 -2.66285044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.753133365 meters Centerline goodness : 0.149030 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99420611e-01 1.29506574e-03 -3.40112395e-02 -1.89590626e+00] [-1.44612464e-03 9.99989198e-01 -4.41721694e-03 1.77881489e-01] [ 3.40051515e-02 4.46384215e-03 9.99411689e-01 -2.66452356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78313336499997 meters Centerline goodness : 0.148425 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99419758e-01 1.34927758e-03 -3.40342129e-02 -1.89572311e+00] [-1.49725670e-03 9.99989536e-01 -4.32284045e-03 1.77485152e-01] [ 3.40280240e-02 4.37129011e-03 9.99411319e-01 -2.66665991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.813133365 meters Centerline goodness : 0.150785 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99418973e-01 1.40874684e-03 -3.40548309e-02 -1.89538997e+00] [-1.54958582e-03 9.99990355e-01 -4.10961420e-03 1.76105048e-01] [ 3.40487130e-02 4.15999729e-03 9.99411517e-01 -2.67136662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84313336499997 meters Centerline goodness : 0.112991 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.18, Z:-0.27 [[ 9.99422954e-01 1.45416485e-03 -3.39358823e-02 -1.89570002e+00] [-1.58887861e-03 9.99990964e-01 -3.94302563e-03 1.75055782e-01] [ 3.39298418e-02 3.99467032e-03 9.99416234e-01 -2.67164741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.873133365 meters Centerline goodness : 0.155044 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99429556e-01 1.48780691e-03 -3.37394208e-02 -1.89639363e+00] [-1.61642238e-03 9.99991530e-01 -3.78506752e-03 1.73960501e-01] [ 3.37335036e-02 3.83744551e-03 9.99423496e-01 -2.66836983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.903133365 meters Centerline goodness : 0.123865 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99440141e-01 1.50722206e-03 -3.34235445e-02 -1.89752005e+00] [-1.62934718e-03 9.99992095e-01 -3.62692931e-03 1.72726579e-01] [ 3.34178137e-02 3.67935730e-03 9.99434696e-01 -2.66296693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.933133365 meters Centerline goodness : 0.110395 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99452116e-01 1.45629344e-03 -3.30658060e-02 -1.89909457e+00] [-1.57015526e-03 9.99992927e-01 -3.41778643e-03 1.70381817e-01] [ 3.30605949e-02 3.46783233e-03 9.99447333e-01 -2.65341083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.963133365 meters Centerline goodness : 0.109564 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99449636e-01 1.57121478e-03 -3.31354290e-02 -1.89882171e+00] [-1.67551472e-03 9.99993729e-01 -3.12015428e-03 1.68776062e-01] [ 3.31303188e-02 3.17395596e-03 9.99446001e-01 -2.65569736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.993133365 meters Centerline goodness : 0.111270 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.17, Z:-0.27 [[ 9.99446522e-01 1.76050039e-03 -3.32197322e-02 -1.89843652e+00] [-1.85066939e-03 9.99994686e-01 -2.68376789e-03 1.66720035e-01] [ 3.32148309e-02 2.74376122e-03 9.99444469e-01 -2.65913006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.023133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 274.053133365 meters Centerline goodness : 0.115384 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.16, Z:-0.27 [[ 9.99445198e-01 2.16119162e-03 -3.32358948e-02 -1.89851357e+00] [-2.22225650e-03 9.99995910e-01 -1.80048739e-03 1.62457272e-01] [ 3.32318677e-02 1.87334716e-03 9.99445913e-01 -2.65824075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.083133365 meters Centerline goodness : 0.122375 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.17, Z:-0.27 [[ 9.99427896e-01 -5.16346789e-03 -3.34248215e-02 -1.91779860e+00] [ 5.14743037e-03 9.99986592e-01 -5.65841375e-04 1.66199305e-01] [ 3.34272950e-02 3.93465714e-04 9.99441074e-01 -2.67224629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.113133365 meters Centerline goodness : 0.116520 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.16, Z:-0.27 [[ 9.99416198e-01 -4.52010636e-03 -3.38649109e-02 -1.91708971e+00] [ 4.52835824e-03 9.99989733e-01 1.66975935e-04 1.64089830e-01] [ 3.38638084e-02 -3.20230903e-04 9.99426405e-01 -2.66751765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.143133365 meters Centerline goodness : 0.153479 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.16, Z:-0.27 [[ 9.99412163e-01 -4.26499657e-03 -3.40167409e-02 -1.91687857e+00] [ 4.27722641e-03 9.99990812e-01 2.86762376e-04 1.64399906e-01] [ 3.40152053e-02 -4.32091109e-04 9.99421222e-01 -2.66509716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.173133365 meters Centerline goodness : 0.118006 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.17, Z:-0.27 [[ 9.99412721e-01 -3.98350012e-03 -3.40344704e-02 -1.91699036e+00] [ 3.99569894e-03 9.99991975e-01 2.90417283e-04 1.65468299e-01] [ 3.40330404e-02 -4.26238224e-04 9.99420617e-01 -2.66256816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.203133365 meters Centerline goodness : 0.143850 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.17, Z:-0.27 [[ 9.99417183e-01 -3.79408129e-03 -3.39249104e-02 -1.91740246e+00] [ 3.79916652e-03 9.99992779e-01 8.54360426e-05 1.67433242e-01] [ 3.39243413e-02 -2.14272633e-04 9.99424381e-01 -2.65965280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.233133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 274.263133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 274.29313336499996 meters Centerline goodness : 0.126095 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.19, Z:-0.27 [[ 0.9994753 0.0021654 -0.03231763 -1.92195945] [-0.0020859 0.99999472 0.00249335 0.18598827] [ 0.03232286 -0.00242463 0.99947454 -0.26617289] [ 0. 0. 0. 1. ]] SLAMing on 274.323133365 meters Centerline goodness : 0.150486 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.19, Z:-0.27 [[ 9.99469938e-01 2.00841262e-03 -3.24932096e-02 -1.92167489e+00] [-1.94999575e-03 9.99996425e-01 1.82940687e-03 1.89727752e-01] [ 3.24967677e-02 -1.76507555e-03 9.99470282e-01 -2.66017177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35313336499996 meters Centerline goodness : 0.166595 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.19, Z:-0.27 [[ 9.99469846e-01 1.87519557e-03 -3.25040183e-02 -1.92186334e+00] [-1.83698358e-03 9.99997586e-01 1.20543084e-03 1.92841079e-01] [ 3.25062002e-02 -1.14508242e-03 9.99470878e-01 -2.65882256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.383133365 meters Centerline goodness : 0.161328 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.20, Z:-0.27 [[ 9.99468048e-01 1.67268682e-03 -3.25702945e-02 -1.92191022e+00] [-1.65372422e-03 9.99998447e-01 6.09134771e-04 1.95999540e-01] [ 3.25712628e-02 -5.54948456e-04 9.99469262e-01 -2.65591185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41313336499996 meters Centerline goodness : 0.165910 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.20, Z:-0.27 [[ 9.99471012e-01 1.45387393e-03 -3.24897418e-02 -1.92221535e+00] [-1.45334400e-03 9.99998943e-01 3.99261785e-05 1.98922001e-01] [ 3.24897656e-02 7.31371348e-06 9.99472068e-01 -2.65409991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.443133365 meters Centerline goodness : 0.117223 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.20, Z:-0.27 [[ 9.99479069e-01 1.33761889e-03 -3.22459493e-02 -1.92301689e+00] [-1.35155816e-03 9.99999002e-01 -4.10486906e-04 2.00871667e-01] [ 3.22453680e-02 4.53855346e-04 9.99479880e-01 -2.65132238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47313336499997 meters Centerline goodness : 0.194166 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.21, Z:-0.26 [[ 9.99478389e-01 8.98549249e-04 -3.22822292e-02 -1.92307288e+00] [-9.45987903e-04 9.99998495e-01 -1.45425423e-03 2.06405242e-01] [ 3.22808739e-02 1.48403427e-03 9.99477735e-01 -2.64867306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.503133365 meters Centerline goodness : 0.116507 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.21, Z:-0.26 [[ 9.99469271e-01 7.68029566e-04 -3.25666334e-02 -1.92240109e+00] [-8.32021097e-04 9.99997750e-01 -1.95143542e-03 2.09348873e-01] [ 3.25650613e-02 1.97749586e-03 9.99467661e-01 -2.64802628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53313336499997 meters Centerline goodness : 0.116585 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.21, Z:-0.27 [[ 0.99938895 0.00237578 -0.0348725 -1.96628187] [-0.00245359 0.99999459 -0.00218875 0.21487761] [ 0.03486711 0.00227298 0.99938937 -0.26577409] [ 0. 0. 0. 1. ]] SLAMing on 274.563133365 meters Centerline goodness : 0.192256 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.22, Z:-0.27 [[ 9.99383396e-01 -4.07093267e-03 -3.48748606e-02 -1.94425242e+00] [ 4.08050359e-03 9.99991654e-01 2.03265077e-04 2.19519158e-01] [ 3.48737421e-02 -3.45446736e-04 9.99391666e-01 -2.65270813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59313336499997 meters Centerline goodness : 0.106034 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.22, Z:-0.27 [[ 9.99365011e-01 4.75554693e-03 -3.53123076e-02 -1.96469895e+00] [-4.80110957e-03 9.99987748e-01 -1.20559250e-03 2.18982965e-01] [ 3.53061417e-02 1.37436522e-03 9.99375599e-01 -2.66716872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.623133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 274.653133365 meters Centerline goodness : 0.152361 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.23, Z:-0.27 [[ 9.99409403e-01 -5.53278601e-04 -3.43589644e-02 -1.94561653e+00] [ 5.94057516e-04 9.99999131e-01 1.17665210e-03 2.30491331e-01] [ 3.43582836e-02 -1.19636837e-03 9.99408864e-01 -2.65376889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.683133365 meters Centerline goodness : 0.161105 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.23, Z:-0.26 [[ 9.99446698e-01 -2.11127166e-04 -3.32603725e-02 -1.90146007e+00] [ 2.82807608e-04 9.99997648e-01 2.15044074e-03 2.33728816e-01] [ 3.32598403e-02 -2.15865719e-03 9.99444407e-01 -2.63983777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.713133365 meters Centerline goodness : 0.119758 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99435634e-01 -2.84166258e-04 -3.35906519e-02 -1.90077130e+00] [ 3.39088585e-04 9.99998615e-01 1.62936256e-03 2.36965430e-01] [ 3.35901424e-02 -1.63983322e-03 9.99434347e-01 -2.63917404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.743133365 meters Centerline goodness : 0.212863 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99431716e-01 -3.84996445e-04 -3.37060444e-02 -1.90055016e+00] [ 4.23284580e-04 9.99999273e-01 1.12881441e-03 2.39827476e-01] [ 3.37055853e-02 -1.14244017e-03 9.99431152e-01 -2.63881394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.773133365 meters Centerline goodness : 0.169923 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99437080e-01 -5.30133285e-04 -3.35446416e-02 -1.90100390e+00] [ 5.52395983e-04 9.99999633e-01 6.54409660e-04 2.42317457e-01] [ 3.35442824e-02 -6.72571205e-04 9.99437006e-01 -2.63821950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.803133365 meters Centerline goodness : 0.124787 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.24, Z:-0.26 [[ 9.99440037e-01 -6.39299809e-04 -3.34545049e-02 -1.90145801e+00] [ 6.48793946e-04 9.99999752e-01 2.72937671e-04 2.44451608e-01] [ 3.34543221e-02 -2.94489916e-04 9.99440204e-01 -2.63486914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.833133365 meters Centerline goodness : 0.114745 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.24, Z:-0.26 [[ 9.99431215e-01 6.64060896e-03 -3.30628134e-02 -1.88163435e+00] [-6.68222985e-03 9.99977014e-01 -1.14850390e-03 2.43764039e-01] [ 3.30544267e-02 1.36878397e-03 9.99452616e-01 -2.61934857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.863133365 meters Centerline goodness : 0.112194 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.24, Z:-0.26 [[ 9.99422542e-01 6.52323724e-03 -3.33471131e-02 -1.88089713e+00] [-6.57377636e-03 9.99977404e-01 -1.40613204e-03 2.44893522e-01] [ 3.33371871e-02 1.62453653e-03 9.99442841e-01 -2.62081806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.893133365 meters Centerline goodness : 0.180370 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.25, Z:-0.26 [[ 9.99414980e-01 6.51062908e-03 -3.35754266e-02 -1.88025021e+00] [-6.56500420e-03 9.99977311e-01 -1.50950242e-03 2.45581726e-01] [ 3.35648370e-02 1.72904215e-03 9.99435046e-01 -2.62260584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.923133365 meters Centerline goodness : 0.117655 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.25, Z:-0.26 [[ 9.99411901e-01 6.51002797e-03 -3.36670663e-02 -1.88014533e+00] [-6.56745403e-03 9.99977161e-01 -1.59539992e-03 2.46278939e-01] [ 3.36559113e-02 1.81556858e-03 9.99431830e-01 -2.62091987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.953133365 meters Centerline goodness : 0.114159 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99457913e-01 -1.66338787e-03 -3.28802731e-02 -1.86230914e+00] [ 1.66470236e-03 9.99998614e-01 1.26025546e-05 2.50501030e-01] [ 3.28802066e-02 -6.73315910e-05 9.99459298e-01 -2.60086488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.983133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 275.013133365 meters Centerline goodness : 0.131441 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99463287e-01 -1.57977404e-03 -3.27206612e-02 -1.86286636e+00] [ 1.57752476e-03 9.99998751e-01 -9.45576372e-05 2.51158866e-01] [ 3.27207697e-02 4.28892339e-05 9.99464531e-01 -2.59801524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04313336499996 meters Centerline goodness : 0.122289 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99460946e-01 -1.50595064e-03 -3.27955697e-02 -1.86259856e+00] [ 1.50488672e-03 9.99998866e-01 -5.71244361e-05 2.51225974e-01] [ 3.27956186e-02 7.74002570e-06 9.99462079e-01 -2.60000015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.073133365 meters Centerline goodness : 0.135062 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.25, Z:-0.26 [[ 9.99458341e-01 -1.43937936e-03 -3.28778493e-02 -1.86223581e+00] [ 1.43865557e-03 9.99998964e-01 -4.56706317e-05 2.51316456e-01] [ 3.28778809e-02 -1.65400732e-06 9.99459376e-01 -2.60272366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10313336499996 meters Centerline goodness : 0.115973 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.25, Z:-0.26 [[ 9.99441369e-01 5.87223967e-03 -3.29008571e-02 -1.84286557e+00] [-5.91126005e-03 9.99981936e-01 -1.08885453e-03 2.47537439e-01] [ 3.28938688e-02 1.28273178e-03 9.99458027e-01 -2.58280669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.133133365 meters Centerline goodness : 0.114948 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.25, Z:-0.26 [[ 9.99440231e-01 5.86719476e-03 -3.29363190e-02 -1.84283556e+00] [-5.90888013e-03 9.99981860e-01 -1.16844256e-03 2.47784191e-01] [ 3.29288661e-02 1.36240526e-03 9.99456769e-01 -2.58268040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16313336499996 meters Centerline goodness : 0.117666 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99450062e-01 -2.11556697e-03 -3.30922747e-02 -1.82438547e+00] [ 2.12425119e-03 9.99997718e-01 2.27268760e-04 2.51800524e-01] [ 3.30917184e-02 -2.97440080e-04 9.99452275e-01 -2.56313074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.193133365 meters Centerline goodness : 0.113717 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99442239e-01 -1.98551997e-03 -3.33357029e-02 -1.82375687e+00] [ 1.99581269e-03 9.99997970e-01 2.75487017e-04 2.52083762e-01] [ 3.33350883e-02 -3.41865180e-04 9.99444173e-01 -2.56473960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22313336499997 meters Centerline goodness : 0.121124 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99452317e-01 -1.93620169e-03 -3.30350961e-02 -1.82446927e+00] [ 1.94652061e-03 9.99998066e-01 2.80204628e-04 2.51892509e-01] [ 3.30344897e-02 -3.44354660e-04 9.99454153e-01 -2.56585615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.253133365 meters Centerline goodness : 0.121478 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99455450e-01 -1.91666283e-03 -3.29413234e-02 -1.82475892e+00] [ 1.92911010e-03 9.99998079e-01 3.46083858e-04 2.51236031e-01] [ 3.29405968e-02 -4.09442837e-04 9.99457227e-01 -2.56498603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28313336499997 meters Centerline goodness : 0.122073 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.25, Z:-0.26 [[ 9.99459107e-01 -1.86726814e-03 -3.28330024e-02 -1.82509980e+00] [ 1.88386892e-03 9.99998113e-01 4.74684948e-04 2.50408531e-01] [ 3.28320540e-02 -5.36281267e-04 9.99460739e-01 -2.56392566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.313133365 meters Centerline goodness : 0.133224 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.25, Z:-0.26 [[ 9.99460130e-01 -1.75986190e-03 -3.28078002e-02 -1.82519111e+00] [ 1.78532993e-03 9.99998127e-01 7.47001399e-04 2.48997147e-01] [ 3.28064241e-02 -8.05170863e-04 9.99461400e-01 -2.56334580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34313336499997 meters Centerline goodness : 0.185211 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99457435e-01 -1.65113207e-03 -3.28954396e-02 -1.82472831e+00] [ 1.68486322e-03 9.99998083e-01 9.97711678e-04 2.47627367e-01] [ 3.28937291e-02 -1.05259467e-03 9.99458301e-01 -2.56706696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.373133365 meters Centerline goodness : 0.201680 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.25, Z:-0.26 [[ 9.99452522e-01 -1.58332681e-03 -3.30476745e-02 -1.82425695e+00] [ 1.62410671e-03 9.99997953e-01 1.20716426e-03 2.46111270e-01] [ 3.30456955e-02 -1.26017631e-03 9.99453047e-01 -2.56868281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.403133365 meters Centerline goodness : 0.144628 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.24, Z:-0.26 [[ 9.99455882e-01 -1.37712946e-03 -3.29551589e-02 -1.82424150e+00] [ 1.43429361e-03 9.99997508e-01 1.71102683e-03 2.43365271e-01] [ 3.29527205e-02 -1.75736320e-03 9.99455367e-01 -2.57266400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.433133365 meters Centerline goodness : 0.118789 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.24, Z:-0.26 [[ 9.99459613e-01 -1.18195474e-03 -3.28494386e-02 -1.82456011e+00] [ 1.24990738e-03 9.99997121e-01 2.04815102e-03 2.42034580e-01] [ 3.28469232e-02 -2.08810298e-03 9.99458213e-01 -2.57164206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.463133365 meters Centerline goodness : 0.118789 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.24, Z:-0.26 [[ 9.99459613e-01 -1.18195474e-03 -3.28494386e-02 -1.82456011e+00] [ 1.24990738e-03 9.99997121e-01 2.04815102e-03 2.42034580e-01] [ 3.28469232e-02 -2.08810298e-03 9.99458213e-01 -2.57164206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.493133365 meters Centerline goodness : 0.150533 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.24, Z:-0.26 [[ 9.99448071e-01 7.50080242e-03 -3.23618782e-02 -1.84374194e+00] [-7.46513887e-03 9.99971388e-01 1.22270913e-03 2.35425172e-01] [ 3.23701236e-02 -9.80448361e-04 9.99475469e-01 -2.59017077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.523133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 275.553133365 meters Centerline goodness : 0.126124 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.23, Z:-0.26 [[ 9.99454833e-01 4.35748159e-03 -3.27268888e-02 -1.84255387e+00] [-4.40858238e-03 9.99989173e-01 -1.48943437e-03 2.30803256e-01] [ 3.27200443e-02 1.63290156e-03 9.99463222e-01 -2.59689915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.583133365 meters Centerline goodness : 0.133120 Centerline is valid? [False, False] Translation: X:-1.84, Y:0.23, Z:-0.26 [[ 9.99450842e-01 4.50988819e-03 -3.28279769e-02 -1.84220296e+00] [-4.54873001e-03 9.99989040e-01 -1.10860549e-03 2.28641916e-01] [ 3.28226174e-02 1.25732229e-03 9.99460402e-01 -2.59861913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.613133365 meters Centerline goodness : 0.053831 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.22, Z:-0.26 [[ 9.99378550e-01 5.25033137e-03 -3.48561130e-02 -1.88706032e+00] [-5.29841648e-03 9.99985135e-01 -1.28730535e-03 2.24761555e-01] [ 3.48488361e-02 1.47118756e-03 9.99391512e-01 -2.60432840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 275.673133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 275.703133365 meters Centerline goodness : 0.128019 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.22, Z:-0.26 [[ 9.99409769e-01 -3.07838829e-03 -3.42145615e-02 -1.86529016e+00] [ 3.10003945e-03 9.99995027e-01 5.79774571e-04 2.18157430e-01] [ 3.42126065e-02 -6.85498861e-04 9.99414342e-01 -2.60186950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.733133365 meters Centerline goodness : 0.125279 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.21, Z:-0.26 [[ 9.99405032e-01 -2.83517550e-03 -3.43735998e-02 -1.86477422e+00] [ 2.88384670e-03 9.99994908e-01 1.36645104e-03 2.12550134e-01] [ 3.43695506e-02 -1.46476624e-03 9.99408119e-01 -2.60316564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.763133365 meters Centerline goodness : 0.197891 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.21, Z:-0.26 [[ 0.99940542 -0.00260498 -0.03438061 -1.86455155] [ 0.00267152 0.99999465 0.00188974 0.2100977 ] [ 0.03437551 -0.00198047 0.99940703 -0.26058529] [ 0. 0. 0. 1. ]] SLAMing on 275.79313336499996 meters Centerline goodness : 0.120601 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.21, Z:-0.26 [[ 0.99940809 -0.00238371 -0.03431885 -1.86459133] [ 0.0024668 0.99999413 0.00237888 0.20773954] [ 0.03431298 -0.00246213 0.9994081 -0.26070706] [ 0. 0. 0. 1. ]] SLAMing on 275.823133365 meters Centerline goodness : 0.125057 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.20, Z:-0.26 [[ 9.99397022e-01 5.77254199e-03 -3.42384439e-02 -1.88349164e+00] [-5.73144240e-03 9.99982732e-01 1.29841911e-03 1.99605497e-01] [ 3.42453478e-02 -1.10140052e-03 9.99412849e-01 -2.62720184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85313336499996 meters Centerline goodness : 0.134425 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.20, Z:-0.26 [[ 9.99398441e-01 5.90309460e-03 -3.41746891e-02 -1.88361662e+00] [-5.84909909e-03 9.99981483e-01 1.67974562e-03 1.97323879e-01] [ 3.41839719e-02 -1.47884401e-03 9.99414463e-01 -2.62764054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.883133365 meters Centerline goodness : 0.120247 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939816 0.00618091 -0.03413363 -1.88406143] [-0.00610745 0.9999788 0.0022558 0.19431449] [ 0.03414685 -0.00204597 0.99941473 -0.26230883] [ 0. 0. 0. 1. ]] SLAMing on 275.91313336499996 meters Centerline goodness : 0.131869 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939637 0.00635708 -0.03415387 -1.88401018] [-0.0062726 0.999977 0.00258004 0.19287959] [ 0.03416949 -0.00236424 0.99941326 -0.26233649] [ 0. 0. 0. 1. ]] SLAMing on 275.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 275.97313336499997 meters Centerline goodness : 0.127557 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939294 0.00656811 -0.03421411 -1.88355873] [-0.00646762 0.99997444 0.00304688 0.19016426] [ 0.03423325 -0.00282375 0.99940988 -0.2628227 ] [ 0. 0. 0. 1. ]] SLAMing on 276.003133365 meters Centerline goodness : 0.128107 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.19, Z:-0.26 [[ 0.99939586 0.00666453 -0.03411015 -1.88368269] [-0.00655493 0.99997299 0.0033239 0.188463 ] [ 0.03413138 -0.0030983 0.99941255 -0.26301864] [ 0. 0. 0. 1. ]] SLAMing on 276.03313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.063133365 meters Centerline goodness : 0.043842 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.18, Z:-0.26 [[ 9.99437489e-01 -1.45249871e-03 -3.35051544e-02 -1.86418096e+00] [ 1.62872750e-03 9.99984981e-01 5.23305836e-03 1.84860040e-01] [ 3.34970502e-02 -5.28468547e-03 9.99424844e-01 -2.61547269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09313336499997 meters Centerline goodness : 0.236405 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.18, Z:-0.26 [[ 0.99942854 0.00640796 -0.03318939 -1.88270603] [-0.00627427 0.99997179 0.00413052 0.1762715 ] [ 0.03321492 -0.00391992 0.99944055 -0.26360934] [ 0. 0. 0. 1. ]] SLAMing on 276.123133365 meters Centerline goodness : 0.200815 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.18, Z:-0.26 [[ 0.99947163 -0.00206325 -0.03243763 -1.86337229] [ 0.00223378 0.99998387 0.0052218 0.17727559] [ 0.03242633 -0.0052915 0.99946012 -0.26225061] [ 0. 0. 0. 1. ]] SLAMing on 276.153133365 meters Centerline goodness : 0.094783 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.26 [[ 0.99947667 -0.00191659 -0.03229117 -1.86380505] [ 0.00210056 0.99998175 0.0056641 0.17488132] [ 0.03227972 -0.00572896 0.99946245 -0.26207055] [ 0. 0. 0. 1. ]] SLAMing on 276.183133365 meters Centerline goodness : 0.147392 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.17, Z:-0.26 [[ 9.99478800e-01 -1.76838577e-03 -3.22335509e-02 -1.86399562e+00] [ 1.96473721e-03 9.99979703e-01 6.06086845e-03 1.72844702e-01] [ 3.22221787e-02 -6.12103998e-03 9.99461987e-01 -2.61947586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.213133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.243133365 meters Centerline goodness : 0.095284 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99941128 0.00529159 -0.03389814 -1.84500664] [-0.00510772 0.99997178 0.00550826 0.16424325] [ 0.03392633 -0.00533187 0.99941011 -0.25964643] [ 0. 0. 0. 1. ]] SLAMing on 276.273133365 meters Centerline goodness : 0.129951 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.17, Z:-0.26 [[ 0.99941569 -0.00302446 -0.03404603 -1.86613459] [ 0.00323371 0.99997621 0.00609274 0.16622841] [ 0.03402679 -0.00619927 0.99940169 -0.26107761] [ 0. 0. 0. 1. ]] SLAMing on 276.303133365 meters Centerline goodness : 0.252308 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99938217 0.00427677 -0.03488539 -1.84694463] [-0.00410183 0.99997866 0.00508469 0.16117283] [ 0.03490639 -0.00493846 0.99937838 -0.25862287] [ 0. 0. 0. 1. ]] SLAMing on 276.333133365 meters Centerline goodness : 0.333319 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99937968 0.00441507 -0.03493939 -1.84680572] [-0.00422603 0.99997604 0.00548256 0.15903638] [ 0.03496276 -0.00533151 0.99937439 -0.25858891] [ 0. 0. 0. 1. ]] SLAMing on 276.363133365 meters Centerline goodness : 0.266978 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.16, Z:-0.26 [[ 0.99937544 0.00449268 -0.03505074 -1.84659316] [-0.00428923 0.99997353 0.00587747 0.15652997] [ 0.03507622 -0.00572346 0.99936825 -0.25844357] [ 0. 0. 0. 1. ]] SLAMing on 276.393133365 meters Centerline goodness : 0.044139 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.15, Z:-0.26 [[ 0.99940215 0.0026863 -0.03446927 -1.84965038] [-0.00253315 0.99998673 0.00448597 0.15281434] [ 0.03448086 -0.00439597 0.99939569 -0.25672106] [ 0. 0. 0. 1. ]] SLAMing on 276.423133365 meters Centerline goodness : 0.092240 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.15, Z:-0.26 [[ 9.99435217e-01 8.26602502e-04 -3.35940892e-02 -1.85318645e+00] [-7.13123596e-04 9.99994000e-01 3.38978404e-03 1.46540632e-01] [ 3.35966897e-02 -3.36391281e-03 9.99429811e-01 -2.55054328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.453133365 meters Centerline goodness : 0.244903 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99431424e-01 1.00721464e-03 -3.37018321e-02 -1.85286809e+00] [-8.79038306e-04 9.99992326e-01 3.81784600e-03 1.44451616e-01] [ 3.37054189e-02 -3.78605006e-03 9.99424640e-01 -2.55117397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.483133365 meters Centerline goodness : 0.149154 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.14, Z:-0.26 [[ 0.99939286 0.009017 -0.03365408 -1.87109876] [-0.00892833 0.99995627 0.0027841 0.13708358] [ 0.03367771 -0.00248193 0.99942966 -0.25745324] [ 0. 0. 0. 1. ]] SLAMing on 276.513133365 meters Centerline goodness : 0.344015 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99429582e-01 1.01900498e-03 -3.37560627e-02 -1.85235241e+00] [-8.84102454e-04 9.99991565e-01 4.01107922e-03 1.39687213e-01] [ 3.37598653e-02 -3.97894741e-03 9.99422053e-01 -2.55577465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54313336499996 meters Centerline goodness : 0.270568 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99429017e-01 1.15638951e-03 -3.37683576e-02 -1.85242258e+00] [-1.01046830e-03 9.99990080e-01 4.33798702e-03 1.37996350e-01] [ 3.37730390e-02 -4.30138825e-03 9.99420272e-01 -2.55418799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.573133365 meters Centerline goodness : 0.448993 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.14, Z:-0.26 [[ 9.99434623e-01 1.25917040e-03 -3.35983536e-02 -1.85302867e+00] [-1.10358504e-03 9.99988585e-01 4.64888645e-03 1.36288236e-01] [ 3.36038238e-02 -4.60917943e-03 9.99424604e-01 -2.55100504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60313336499996 meters Centerline goodness : 0.312963 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.13, Z:-0.25 [[ 9.99479025e-01 -5.78480895e-04 -3.22698483e-02 -1.85848810e+00] [ 6.89104391e-04 9.99993924e-01 3.41705991e-03 1.31036693e-01] [ 3.22676756e-02 -3.43751700e-03 9.99473352e-01 -2.52443455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.633133365 meters Centerline goodness : 0.345459 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.13, Z:-0.25 [[ 9.99483954e-01 -4.16360529e-04 -3.21193427e-02 -1.85897871e+00] [ 5.42491210e-04 9.99992176e-01 3.91832391e-03 1.28329219e-01] [ 3.21174600e-02 -3.93372634e-03 9.99476360e-01 -2.52216002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66313336499996 meters Centerline goodness : 0.450296 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.12, Z:-0.25 [[ 0.9994633 0.00728369 -0.03193834 -1.87726745] [-0.0071964 0.99997005 0.00284723 0.11953014] [ 0.03195812 -0.00261586 0.99948579 -0.25453958] [ 0. 0. 0. 1. ]] SLAMing on 276.693133365 meters Centerline goodness : 0.458219 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.12, Z:-0.25 [[ 0.99945737 0.00747178 -0.03208012 -1.87664526] [-0.00736829 0.99996727 0.00334291 0.11699237] [ 0.03210405 -0.00310472 0.99947971 -0.25494695] [ 0. 0. 0. 1. ]] SLAMing on 276.72313336499997 meters Centerline goodness : 0.091280 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 0.99945191 0.00763421 -0.03221171 -1.87597703] [-0.0075164 0.99996462 0.00377674 0.11465656] [ 0.0322394 -0.00353255 0.99947393 -0.25542183] [ 0. 0. 0. 1. ]] SLAMing on 276.753133365 meters Centerline goodness : 0.101826 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.11, Z:-0.26 [[ 9.99466245e-01 -4.05441243e-04 -3.26659041e-02 -1.89508744e+00] [ 5.72331008e-04 9.99986832e-01 5.09980125e-03 1.14716092e-01] [ 3.26634063e-02 -5.11577492e-03 9.99453316e-01 -2.57753725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78313336499997 meters Centerline goodness : 0.457265 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 9.99462752e-01 -9.81389442e-05 -3.27749665e-02 -1.89460804e+00] [ 2.90957126e-04 9.99982680e-01 5.87837567e-03 1.10113410e-01] [ 3.27738219e-02 -5.88475363e-03 9.99445469e-01 -2.57988508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.813133365 meters Centerline goodness : 0.450369 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 9.99460092e-01 7.84212773e-05 -3.28560172e-02 -1.89417267e+00] [ 1.28647526e-04 9.99980146e-01 6.30014852e-03 1.07872412e-01] [ 3.28558590e-02 -6.30097387e-03 9.99440238e-01 -2.58349112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84313336499997 meters Centerline goodness : 0.195922 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 9.99450872e-01 2.27608940e-04 -3.31346045e-02 -1.89310537e+00] [-7.13910898e-06 9.99977864e-01 6.65373001e-03 1.05873842e-01] [ 3.31353855e-02 -6.64983972e-03 9.99428750e-01 -2.58957081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.903133365 meters Centerline goodness : 0.100514 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99443616e-01 5.71300622e-04 -3.33486586e-02 -1.89197244e+00] [-3.24398673e-04 9.99972503e-01 7.40859575e-03 1.01841054e-01] [ 3.33519741e-02 -7.39365547e-03 9.99416319e-01 -2.59824540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.933133365 meters Centerline goodness : 0.096539 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99446345e-01 7.45368032e-04 -3.32633218e-02 -1.89210242e+00] [-4.85553382e-04 9.99969319e-01 7.81823933e-03 9.97291999e-02] [ 3.32681287e-02 -7.79775961e-03 9.99416043e-01 -2.59902290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.963133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 276.993133365 meters Centerline goodness : 0.177338 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.09, Z:-0.26 [[ 9.99487332e-01 -1.88871831e-03 -3.19609937e-02 -1.89545001e+00] [ 2.07626861e-03 9.99980815e-01 5.83592925e-03 9.38179173e-02] [ 3.19493582e-02 -5.89929697e-03 9.99472079e-01 -2.59501497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.023133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.083133365 meters Centerline goodness : 0.118124 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.26 [[ 9.99482847e-01 -1.54333464e-03 -3.21194120e-02 -1.89483175e+00] [ 1.75040488e-03 9.99977861e-01 6.41976807e-03 9.16468353e-02] [ 3.21087931e-02 -6.47267004e-03 9.99463421e-01 -2.59858299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.113133365 meters Centerline goodness : 0.093502 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.26 [[ 9.99478901e-01 -1.61043079e-03 -3.22386915e-02 -1.89439729e+00] [ 1.81089087e-03 9.99979204e-01 6.18976489e-03 9.27515608e-02] [ 3.22280528e-02 -6.24492016e-03 9.99461032e-01 -2.60183132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.143133365 meters Centerline goodness : 0.148966 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 0.99944783 0.00633049 -0.03261852 -1.87398169] [-0.00617883 0.99996964 0.00474816 0.09171414] [ 0.03264758 -0.00454399 0.9994566 -0.25838503] [ 0. 0. 0. 1. ]] SLAMing on 277.173133365 meters Centerline goodness : 0.124881 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 0.99944736 0.00620153 -0.03265765 -1.87380651] [-0.00606263 0.99997216 0.00435077 0.09369333] [ 0.03268372 -0.00415037 0.99945713 -0.25862208] [ 0. 0. 0. 1. ]] SLAMing on 277.203133365 meters Centerline goodness : 0.111872 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99487762e-01 -1.76411951e-03 -3.19546716e-02 -1.89405128e+00] [ 1.92853203e-03 9.99985058e-01 5.11508954e-03 9.94349763e-02] [ 3.19451705e-02 -5.17409500e-03 9.99476230e-01 -2.60666842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23313336499996 meters Centerline goodness : 0.117639 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.26 [[ 9.99491449e-01 -1.84571883e-03 -3.18345163e-02 -1.89452166e+00] [ 1.99760560e-03 9.99986771e-01 4.73999038e-03 1.01660032e-01] [ 3.18253465e-02 -4.80117266e-03 9.99481914e-01 -2.60479602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.263133365 meters Centerline goodness : 0.448174 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99949412 -0.00191576 -0.03174653 -1.8947797 ] [ 0.00204417 0.99998986 0.00401295 0.10636 ] [ 0.03173852 -0.00407582 0.9994879 -0.26065748] [ 0. 0. 0. 1. ]] SLAMing on 277.29313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.323133365 meters Centerline goodness : 0.122985 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99947725 -0.00193017 -0.03227231 -1.8932126 ] [ 0.00204049 0.99999219 0.00338575 0.11083604] [ 0.03226552 -0.00344983 0.99947338 -0.26139538] [ 0. 0. 0. 1. ]] SLAMing on 277.35313336499996 meters Centerline goodness : 0.122985 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99947725 -0.00193017 -0.03227231 -1.8932126 ] [ 0.00204049 0.99999219 0.00338575 0.11083604] [ 0.03226552 -0.00344983 0.99947338 -0.26139538] [ 0. 0. 0. 1. ]] SLAMing on 277.383133365 meters Centerline goodness : 0.096624 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99948116 -0.00203262 -0.03214463 -1.89349848] [ 0.00213178 0.99999307 0.00305096 0.11281788] [ 0.03213821 -0.0031179 0.99947857 -0.26151149] [ 0. 0. 0. 1. ]] SLAMing on 277.41313336499996 meters Centerline goodness : 0.102794 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.26 [[ 0.99948797 -0.00210968 -0.0319271 -1.89427263] [ 0.00219942 0.99999373 0.00277566 0.11445262] [ 0.03192105 -0.00284446 0.99948635 -0.26118485] [ 0. 0. 0. 1. ]] SLAMing on 277.443133365 meters Centerline goodness : 0.105205 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.12, Z:-0.26 [[ 0.99949171 -0.00225728 -0.03179994 -1.89513481] [ 0.00233851 0.9999941 0.00251729 0.11570912] [ 0.03179407 -0.00259038 0.99949108 -0.26033253] [ 0. 0. 0. 1. ]] SLAMing on 277.47313336499997 meters Centerline goodness : 0.093120 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99456569e-01 4.75886407e-03 -3.26177952e-02 -1.87623629e+00] [-4.72770057e-03 9.99988291e-01 1.03247179e-03 1.12582418e-01] [ 3.26223267e-02 -8.77703539e-04 9.99467365e-01 -2.57847772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.503133365 meters Centerline goodness : 0.101977 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99449762e-01 4.73889378e-03 -3.28285778e-02 -1.87568331e+00] [-4.70503565e-03 9.99988317e-01 1.10853562e-03 1.11977339e-01] [ 3.28334475e-02 -9.53466035e-04 9.99460382e-01 -2.57893558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53313336499997 meters Centerline goodness : 0.093553 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99449392e-01 4.74622479e-03 -3.28387953e-02 -1.87572416e+00] [-4.70814565e-03 9.99988152e-01 1.23680691e-03 1.11240134e-01] [ 3.28442764e-02 -1.08151609e-03 9.99459896e-01 -2.57750551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.563133365 meters Centerline goodness : 0.099191 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99453246e-01 4.74894534e-03 -3.27208993e-02 -1.87608484e+00] [-4.70551802e-03 9.99987943e-01 1.40408204e-03 1.10175319e-01] [ 3.27271727e-02 -1.24934557e-03 9.99463542e-01 -2.57566854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.623133365 meters Centerline goodness : 0.125273 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.11, Z:-0.26 [[ 9.99483819e-01 8.73921002e-04 -3.21143702e-02 -1.87813138e+00] [-9.32234192e-04 9.99997944e-01 -1.80086933e-03 1.06331428e-01] [ 3.21127304e-02 1.82987787e-03 9.99482578e-01 -2.56547735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.653133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.683133365 meters Centerline goodness : 0.135366 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.11, Z:-0.26 [[ 9.99444843e-01 -7.44744877e-03 -3.24737085e-02 -1.85635497e+00] [ 7.42811769e-03 9.99972155e-01 -7.15885867e-04 1.05973622e-01] [ 3.24781358e-02 4.74269909e-04 9.99472334e-01 -2.55505380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.713133365 meters Centerline goodness : 0.142292 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.10, Z:-0.26 [[ 9.99450440e-01 2.07766776e-04 -3.31477577e-02 -1.87388780e+00] [-2.72065287e-04 9.99998090e-01 -1.93525584e-03 9.75852624e-02] [ 3.31472923e-02 1.94321066e-03 9.99448588e-01 -2.57898915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.743133365 meters Centerline goodness : 0.174129 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.10, Z:-0.26 [[ 9.99439999e-01 3.20314434e-04 -3.34602165e-02 -1.87293203e+00] [-3.72787199e-04 9.99998711e-01 -1.56198680e-03 9.54154427e-02] [ 3.34596730e-02 1.57358563e-03 9.99438830e-01 -2.58215301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.773133365 meters Centerline goodness : 0.128031 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99434820e-01 4.71471908e-04 -3.36127765e-02 -1.87254659e+00] [-5.09718285e-04 9.99999232e-01 -1.12929249e-03 9.30779763e-02] [ 3.36122183e-02 1.14578728e-03 9.99434293e-01 -2.58232590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.803133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.833133365 meters Centerline goodness : 0.127587 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99441387e-01 6.84992494e-04 -3.34132565e-02 -1.87378919e+00] [-6.96019462e-04 9.99999707e-01 -3.18387476e-04 8.60172548e-02] [ 3.34130286e-02 3.41465897e-04 9.99441571e-01 -2.57122655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 277.893133365 meters Centerline goodness : 0.197742 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99425166e-01 8.46553822e-04 -3.38913197e-02 -1.87207225e+00] [-8.39129865e-04 9.99999621e-01 2.33274970e-04 8.23982465e-02] [ 3.38915044e-02 -2.04701657e-04 9.99425497e-01 -2.57927666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.923133365 meters Centerline goodness : 0.108762 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99418967e-01 9.56516659e-04 -3.40707128e-02 -1.87135834e+00] [-9.38732186e-04 9.99999415e-01 5.37979571e-04 8.07334298e-02] [ 3.40712075e-02 -5.05683712e-04 9.99419280e-01 -2.58342507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.953133365 meters Centerline goodness : 0.110462 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99418654e-01 1.24742257e-03 -3.40704711e-02 -1.87165922e+00] [-1.20639592e-03 9.99998522e-01 1.22470086e-03 7.74873361e-02] [ 3.40719485e-02 -1.18288640e-03 9.99418683e-01 -2.57835212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98313336499996 meters Centerline goodness : 0.108227 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99418625e-01 1.33194142e-03 -3.40681276e-02 -1.87185925e+00] [-1.28554792e-03 9.99998216e-01 1.38365434e-03 7.68132830e-02] [ 3.40699098e-02 -1.33905371e-03 9.99418555e-01 -2.57532217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.013133365 meters Centerline goodness : 0.113713 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99420094e-01 1.37848660e-03 -3.40231656e-02 -1.87203245e+00] [-1.32981443e-03 9.99998060e-01 1.45314725e-03 7.64653506e-02] [ 3.40251027e-02 -1.40706006e-03 9.99419988e-01 -2.57430129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04313336499996 meters Centerline goodness : 0.109475 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99421595e-01 1.38528056e-03 -3.39787607e-02 -1.87217288e+00] [-1.34027399e-03 9.99998194e-01 1.34729147e-03 7.70727375e-02] [ 3.39805657e-02 -1.30097134e-03 9.99421647e-01 -2.57442955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.073133365 meters Centerline goodness : 0.115750 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99422797e-01 1.35609093e-03 -3.39445714e-02 -1.87231217e+00] [-1.31682717e-03 9.99998438e-01 1.17903157e-03 7.79945502e-02] [ 3.39461172e-02 -1.13365189e-03 9.99423022e-01 -2.57424773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10313336499996 meters Centerline goodness : 0.117855 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99421952e-01 1.36534881e-03 -3.39690614e-02 -1.87221562e+00] [-1.33273577e-03 9.99998629e-01 9.82704353e-04 7.93504286e-02] [ 3.39703566e-02 -9.36864519e-04 9.99422402e-01 -2.57565597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.133133365 meters Centerline goodness : 0.114410 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99405280e-01 1.63685149e-03 -3.44442736e-02 -1.87118153e+00] [-1.61139158e-03 9.99998408e-01 7.66909317e-04 8.18536743e-02] [ 3.44454741e-02 -7.10950007e-04 9.99406326e-01 -2.57651275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16313336499996 meters Centerline goodness : 0.149692 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99406458e-01 1.59812549e-03 -3.44118948e-02 -1.87136179e+00] [-1.57949581e-03 9.99998591e-01 5.68551089e-04 8.30405995e-02] [ 3.44127549e-02 -5.13860185e-04 9.99407574e-01 -2.57560914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.193133365 meters Centerline goodness : 0.125119 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99411007e-01 1.55263124e-03 -3.42815936e-02 -1.87177424e+00] [-1.54031262e-03 9.99998739e-01 3.85743201e-04 8.41188539e-02] [ 3.42821493e-02 -3.32711630e-04 9.99412139e-01 -2.57476891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22313336499997 meters Centerline goodness : 0.151511 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99412694e-01 1.49737972e-03 -3.42348578e-02 -1.87214555e+00] [-1.48998583e-03 9.99998861e-01 2.41486868e-04 8.48841508e-02] [ 3.42351804e-02 -1.90335588e-04 9.99413786e-01 -2.57110929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.253133365 meters Centerline goodness : 0.128642 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99414772e-01 1.38608156e-03 -3.41788135e-02 -1.87263757e+00] [-1.38530513e-03 9.99999039e-01 4.63977784e-05 8.57622589e-02] [ 3.41788450e-02 9.77460353e-07 9.99415733e-01 -2.56575356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28313336499997 meters Centerline goodness : 0.114620 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99418364e-01 1.36953126e-03 -3.40742980e-02 -1.87291658e+00] [-1.36922877e-03 9.99999062e-01 3.22120569e-05 8.57828789e-02] [ 3.40743102e-02 1.44621879e-05 9.99419302e-01 -2.56533031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.313133365 meters Centerline goodness : 0.113823 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99421326e-01 1.36797508e-03 -3.39873678e-02 -1.87327721e+00] [-1.36715334e-03 9.99999064e-01 4.74175939e-05 8.57329686e-02] [ 3.39874008e-02 -9.24211296e-07 9.99422261e-01 -2.56309470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34313336499997 meters Centerline goodness : 0.129276 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.09, Z:-0.26 [[ 9.99420354e-01 1.41751161e-03 -3.40139126e-02 -1.87336001e+00] [-1.41165543e-03 9.99998984e-01 1.96184432e-04 8.51219653e-02] [ 3.40141561e-02 -1.48054791e-04 9.99421340e-01 -2.56066834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.373133365 meters Centerline goodness : 0.128607 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99417363e-01 1.43136873e-03 -3.41011033e-02 -1.87312837e+00] [-1.42144930e-03 9.99998940e-01 3.15124790e-04 8.43729182e-02] [ 3.41015182e-02 -2.66468197e-04 9.99418339e-01 -2.56053746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.403133365 meters Centerline goodness : 0.123629 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99406512e-01 1.44161074e-03 -3.44172228e-02 -1.87234632e+00] [-1.42707728e-03 9.99998882e-01 4.46834454e-04 8.34291859e-02] [ 3.44178285e-02 -3.97453227e-04 9.99407452e-01 -2.56068237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.433133365 meters Centerline goodness : 0.125277 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99377157e-01 1.28468270e-03 -3.52653981e-02 -1.86972905e+00] [-1.26826364e-03 9.99999077e-01 4.87951607e-04 8.20300473e-02] [ 3.52659924e-02 -4.42921867e-04 9.99377863e-01 -2.56991211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.463133365 meters Centerline goodness : 0.124713 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99373159e-01 1.30531069e-03 -3.53777486e-02 -1.86942442e+00] [-1.28588172e-03 9.99999010e-01 5.71933451e-04 8.14514110e-02] [ 3.53784601e-02 -5.26083339e-04 9.99373848e-01 -2.57010874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.493133365 meters Centerline goodness : 0.129311 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99375800e-01 1.32799320e-03 -3.53022219e-02 -1.86971797e+00] [-1.30615306e-03 9.99998941e-01 6.41717023e-04 8.09728485e-02] [ 3.53030367e-02 -5.95206358e-04 9.99376476e-01 -2.56824687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.523133365 meters Centerline goodness : 0.128465 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99380953e-01 1.32383070e-03 -3.51562116e-02 -1.87035210e+00] [-1.30387525e-03 9.99998976e-01 5.90542978e-04 8.12817759e-02] [ 3.51569574e-02 -5.44338089e-04 9.99381655e-01 -2.56418656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.553133365 meters Centerline goodness : 0.128087 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99387966e-01 1.33081423e-03 -3.49560065e-02 -1.87111130e+00] [-1.31374228e-03 9.99999006e-01 5.11347944e-04 8.18414835e-02] [ 3.49566522e-02 -4.65111798e-04 9.99388721e-01 -2.56030195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.583133365 meters Centerline goodness : 0.129803 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99400518e-01 1.53258376e-03 -3.45869239e-02 -1.87209507e+00] [-1.51838078e-03 9.99998752e-01 4.36908179e-04 8.32956685e-02] [ 3.45875503e-02 -3.84130140e-04 9.99401598e-01 -2.55938011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.613133365 meters Centerline goodness : 0.131759 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99402800e-01 1.54090324e-03 -3.45205521e-02 -1.87215807e+00] [-1.52925961e-03 9.99998765e-01 3.63696517e-04 8.38365442e-02] [ 3.45210699e-02 -3.10688431e-04 9.99403922e-01 -2.56138732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.643133365 meters Centerline goodness : 0.134298 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99402683e-01 1.49147608e-03 -3.45261087e-02 -1.87205562e+00] [-1.48310576e-03 9.99998864e-01 2.68043764e-04 8.41942135e-02] [ 3.45264693e-02 -2.16677786e-04 9.99403760e-01 -2.56313525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.673133365 meters Centerline goodness : 0.135269 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99402627e-01 1.42116702e-03 -3.45306934e-02 -1.87210239e+00] [-1.41579723e-03 9.99998982e-01 1.79958910e-04 8.42842815e-02] [ 3.45309139e-02 -1.30962947e-04 9.99403622e-01 -2.56265112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.703133365 meters Centerline goodness : 0.132767 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99399463e-01 1.33434802e-03 -3.46256045e-02 -1.87203833e+00] [-1.33294820e-03 9.99999110e-01 6.35113837e-05 8.44890859e-02] [ 3.46256585e-02 -1.73191056e-05 9.99400352e-01 -2.56061752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73313336499996 meters Centerline goodness : 0.132950 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99399938e-01 1.33172681e-03 -3.46119852e-02 -1.87217054e+00] [-1.33033718e-03 9.99999113e-01 6.31785977e-05 8.45047701e-02] [ 3.46120386e-02 -1.70950760e-05 9.99400824e-01 -2.55924607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.763133365 meters Centerline goodness : 0.159834 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.26 [[ 9.99415272e-01 1.42939166e-03 -3.41624111e-02 -1.87383364e+00] [-1.42490923e-03 9.99998973e-01 1.55555212e-04 8.48927533e-02] [ 3.41625984e-02 -1.06785920e-04 9.99416282e-01 -2.55003771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79313336499996 meters Centerline goodness : 0.128497 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.25 [[ 9.99422317e-01 1.46378412e-03 -3.39542167e-02 -1.87461933e+00] [-1.45643324e-03 9.99998910e-01 2.41226131e-04 8.46350545e-02] [ 3.39545328e-02 -1.91634729e-04 9.99423360e-01 -2.54558253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.823133365 meters Centerline goodness : 0.102941 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.25 [[ 9.99421267e-01 1.43085880e-03 -3.39865287e-02 -1.87459744e+00] [-1.42498693e-03 9.99998965e-01 1.96992117e-04 8.47660983e-02] [ 3.39867754e-02 -1.48447752e-04 9.99422272e-01 -2.54482811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85313336499996 meters Centerline goodness : 0.130187 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.08, Z:-0.25 [[ 9.99410181e-01 1.40449995e-03 -3.43120502e-02 -1.87361164e+00] [-1.39851131e-03 9.99999002e-01 1.98534129e-04 8.45577261e-02] [ 3.43122948e-02 -1.50431240e-04 9.99411149e-01 -2.54804950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.883133365 meters Centerline goodness : 0.131376 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.08, Z:-0.26 [[ 9.99304268e-01 7.60851276e-04 -3.72880705e-02 -1.91625221e+00] [-7.67982186e-04 9.99999689e-01 -1.76915481e-04 8.09337620e-02] [ 3.72879243e-02 2.05428969e-04 9.99304542e-01 -2.56306960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91313336499996 meters Centerline goodness : 0.137105 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.08, Z:-0.26 [[ 9.99295712e-01 7.79983889e-04 -3.75162784e-02 -1.91555973e+00] [-7.83647493e-04 9.99999690e-01 -8.29488714e-05 8.02856099e-02] [ 3.75162021e-02 1.12289989e-04 9.99296013e-01 -2.56542587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.943133365 meters Centerline goodness : 0.132595 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.08, Z:-0.26 [[ 9.99304256e-01 7.62268887e-04 -3.72883781e-02 -1.91611953e+00] [-7.58839898e-04 9.99999706e-01 1.06111444e-04 7.87909088e-02] [ 3.72884480e-02 -7.77417082e-05 9.99304541e-01 -2.56437140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97313336499997 meters Centerline goodness : 0.127353 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.08, Z:-0.25 [[ 9.99305351e-01 -7.23967885e-03 -3.65568482e-02 -1.89679761e+00] [ 7.28660497e-03 9.99972790e-01 1.15057708e-03 8.24655728e-02] [ 3.65475237e-02 -1.41615314e-03 9.99330913e-01 -2.54804720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.003133365 meters Centerline goodness : 0.186409 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.07, Z:-0.26 [[ 9.99370557e-01 -1.25580310e-04 -3.54749914e-02 -1.91532304e+00] [ 1.28063616e-04 9.99999990e-01 6.77293528e-05 7.42049665e-02] [ 3.54749825e-02 -7.22297766e-05 9.99370562e-01 -2.56949820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03313336499997 meters Centerline goodness : 0.128424 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.07, Z:-0.26 [[ 9.99364412e-01 -1.14443864e-04 -3.56476922e-02 -1.91501035e+00] [ 1.27672146e-04 9.99999924e-01 3.68807707e-04 7.22604241e-02] [ 3.56476472e-02 -3.73124515e-04 9.99364351e-01 -2.56720941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.063133365 meters Centerline goodness : 0.130159 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.07, Z:-0.26 [[ 9.99360769e-01 -8.49260378e-05 -3.57497774e-02 -1.91472327e+00] [ 1.10327793e-04 9.99999743e-01 7.08570895e-04 7.00910253e-02] [ 3.57497080e-02 -7.12062148e-04 9.99360521e-01 -2.56695770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09313336499997 meters Centerline goodness : 0.132954 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.07, Z:-0.26 [[ 9.99359076e-01 -5.62164055e-05 -3.57971319e-02 -1.91450609e+00] [ 9.38235590e-05 9.99999446e-01 1.04888433e-03 6.78728106e-02] [ 3.57970531e-02 -1.05157069e-03 9.99358527e-01 -2.56753424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.123133365 meters Centerline goodness : 0.135705 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.26 [[ 9.99364788e-01 -3.76237878e-03 -3.54381736e-02 -1.91519014e+00] [ 3.69222367e-03 9.99991093e-01 -2.04488373e-03 6.44260590e-02] [ 3.54455516e-02 1.91273913e-03 9.99369779e-01 -2.56835596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.153133365 meters Centerline goodness : 0.126637 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99361046e-01 -3.63272319e-03 -3.55570429e-02 -1.91491570e+00] [ 3.57653509e-03 9.99992253e-01 -1.64370246e-03 6.23789361e-02] [ 3.55627386e-02 1.51548120e-03 9.99366297e-01 -2.56792133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.183133365 meters Centerline goodness : 0.130298 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99352792e-01 -3.51269688e-03 -3.58002420e-02 -1.91423340e+00] [ 3.46918819e-03 9.99993167e-01 -1.27736498e-03 6.06276853e-02] [ 3.58044844e-02 1.15234048e-03 9.99358150e-01 -2.56905135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.213133365 meters Centerline goodness : 0.128225 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99343292e-01 -3.40759916e-03 -3.60745359e-02 -1.91351074e+00] [ 3.37445826e-03 9.99993827e-01 -9.79524558e-04 5.91920992e-02] [ 3.60776510e-02 8.57149281e-04 9.99348622e-01 -2.56986057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.243133365 meters Centerline goodness : 0.133358 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99337397e-01 -3.35692753e-03 -3.62422100e-02 -1.91317603e+00] [ 3.33089981e-03 9.99994149e-01 -7.78515968e-04 5.81308895e-02] [ 3.62446114e-02 6.57280951e-04 9.99342732e-01 -2.56859629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.273133365 meters Centerline goodness : 0.133358 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99337397e-01 -3.35692753e-03 -3.62422100e-02 -1.91317603e+00] [ 3.33089981e-03 9.99994149e-01 -7.78515968e-04 5.81308895e-02] [ 3.62446114e-02 6.57280951e-04 9.99342732e-01 -2.56859629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.303133365 meters Centerline goodness : 0.124828 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99337236e-01 -3.35500673e-03 -3.62468197e-02 -1.91317665e+00] [ 3.33226838e-03 9.99994212e-01 -6.87713711e-04 5.74778307e-02] [ 3.62489172e-02 5.66473788e-04 9.99342631e-01 -2.56847105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.333133365 meters Centerline goodness : 0.121053 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99343202e-01 -3.34332363e-03 -3.60830633e-02 -1.91362374e+00] [ 3.32427533e-03 9.99994302e-01 -5.87883123e-04 5.69035214e-02] [ 3.60848232e-02 4.67546965e-04 9.99348621e-01 -2.56713558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.363133365 meters Centerline goodness : 0.124719 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99342920e-01 -3.30492742e-03 -3.60943906e-02 -1.91364519e+00] [ 3.28862382e-03 9.99994462e-01 -5.11054165e-04 5.66953517e-02] [ 3.60958797e-02 3.92017489e-04 9.99348255e-01 -2.56665590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.393133365 meters Centerline goodness : 0.129790 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99343179e-01 -3.31612557e-03 -3.60862098e-02 -1.91364562e+00] [ 3.30000797e-03 9.99994427e-01 -5.06194497e-04 5.67043701e-02] [ 3.60876873e-02 3.86777237e-04 9.99348552e-01 -2.56697507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.423133365 meters Centerline goodness : 0.128022 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.06, Z:-0.26 [[ 9.99350336e-01 -3.42043734e-03 -3.58776613e-02 -1.91473326e+00] [ 3.40510546e-03 9.99994083e-01 -4.88432446e-04 5.64888845e-02] [ 3.58791196e-02 3.65947908e-04 9.99356070e-01 -2.55788451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.453133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.48313336499996 meters Centerline goodness : 0.162277 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.25 [[ 9.99412579e-01 -4.39426689e-03 -3.39880362e-02 -1.92006799e+00] [ 4.35625842e-03 9.99989801e-01 -1.19226092e-03 5.68256019e-02] [ 3.39929287e-02 1.04349989e-03 9.99421529e-01 -2.54276072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.513133365 meters Centerline goodness : 0.128452 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.25 [[ 9.99423193e-01 -4.46066820e-03 -3.36657619e-02 -1.92106291e+00] [ 4.42533433e-03 9.99989576e-01 -1.12398872e-03 5.62437239e-02] [ 3.36704248e-02 9.74358147e-04 9.99432516e-01 -2.53860444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54313336499996 meters Centerline goodness : 0.130875 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.06, Z:-0.25 [[ 9.99430560e-01 -4.46281857e-03 -3.34460520e-02 -1.92155249e+00] [ 4.43144808e-03 9.99989669e-01 -1.01201249e-03 5.56589974e-02] [ 3.34502229e-02 8.63221765e-04 9.99440012e-01 -2.53867072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.60313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 279.633133365 meters Centerline goodness : 0.330771 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.05, Z:-0.26 [[ 0.99939103 -0.00714497 -0.03415443 -1.91791685] [ 0.00705484 0.99997131 -0.00275868 0.05013002] [ 0.03417316 0.00251605 0.99941276 -0.2559032 ] [ 0. 0. 0. 1. ]] SLAMing on 279.66313336499996 meters Centerline goodness : 0.103424 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.05, Z:-0.26 [[ 0.99939253 -0.00707478 -0.03412517 -1.9179766 ] [ 0.00699475 0.9999725 -0.00246401 0.0484107 ] [ 0.03414167 0.00222382 0.99941453 -0.25589008] [ 0. 0. 0. 1. ]] SLAMing on 279.693133365 meters Centerline goodness : 0.126135 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.04, Z:-0.26 [[ 9.99433179e-01 5.03322270e-04 -3.36610575e-02 -1.93770639e+00] [-6.25001184e-04 9.99993309e-01 -3.60440305e-03 4.18694560e-02] [ 3.36590181e-02 3.62339820e-03 9.99426806e-01 -2.57956395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72313336499997 meters Centerline goodness : 0.431145 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.04, Z:-0.26 [[ 0.99942106 -0.00753747 -0.0331774 -1.91781363] [ 0.00745323 0.99996868 -0.0026621 0.04462451] [ 0.03319643 0.00241328 0.99944593 -0.25646685] [ 0. 0. 0. 1. ]] SLAMing on 279.753133365 meters Centerline goodness : 0.043345 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.04, Z:-0.26 [[ 0.99940906 -0.00740861 -0.03356562 -1.91647948] [ 0.00733672 0.99997052 -0.00226443 0.04256635] [ 0.0335814 0.00201683 0.99943395 -0.25706538] [ 0. 0. 0. 1. ]] SLAMing on 279.78313336499997 meters Centerline goodness : 0.099831 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.04, Z:-0.26 [[ 9.99416561e-01 3.36809597e-04 -3.41529561e-02 -1.93416355e+00] [-4.55636274e-04 9.99993870e-01 -3.47152687e-03 3.63559318e-02] [ 3.41515775e-02 3.48506277e-03 9.99410588e-01 -2.59726885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.813133365 meters Centerline goodness : 0.043267 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99409374e-01 3.72283259e-04 -3.43622558e-02 -1.93348786e+00] [-4.83365625e-04 9.99994685e-01 -3.22443488e-03 3.47066735e-02] [ 3.43608727e-02 3.23913998e-03 9.99404242e-01 -2.60019590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84313336499997 meters Centerline goodness : 0.046098 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99408682e-01 4.03556060e-04 -3.43820088e-02 -1.93344743e+00] [-5.04976786e-04 9.99995547e-01 -2.94118712e-03 3.27630391e-02] [ 3.43806688e-02 2.95681006e-03 9.99404436e-01 -2.60023124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.873133365 meters Centerline goodness : 0.110180 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99415606e-01 4.41500199e-04 -3.41796926e-02 -1.93420330e+00] [-5.32359030e-04 9.99996349e-01 -2.64921447e-03 3.08320167e-02] [ 3.41783981e-02 2.66586215e-03 9.99412192e-01 -2.59575594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.903133365 meters Centerline goodness : 0.096572 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99429174e-01 5.08862428e-04 -3.37796975e-02 -1.93551351e+00] [-5.88109101e-04 9.99997098e-01 -2.33609082e-03 2.90859916e-02] [ 3.37784108e-02 2.35462346e-03 9.99426573e-01 -2.58983806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.933133365 meters Centerline goodness : 0.093592 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99442565e-01 5.73232155e-04 -3.33800887e-02 -1.93705124e+00] [-6.38188223e-04 9.99997924e-01 -1.93533070e-03 2.69233589e-02] [ 3.33789100e-02 1.95555466e-03 9.99440856e-01 -2.58021945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.963133365 meters Centerline goodness : 0.120065 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99441972e-01 5.83974513e-04 -3.33976678e-02 -1.93697084e+00] [-6.47119503e-04 9.99998024e-01 -1.87992268e-03 2.66129916e-02] [ 3.33965039e-02 1.90048591e-03 9.99440374e-01 -2.58096253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.993133365 meters Centerline goodness : 0.155878 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99441887e-01 5.89055168e-04 -3.34001048e-02 -1.93681402e+00] [-6.51874386e-04 9.99998039e-01 -1.86995080e-03 2.65481953e-02] [ 3.33989378e-02 1.89067983e-03 9.99440312e-01 -2.58328835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.023133365 meters Centerline goodness : 0.328476 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99445981e-01 6.18871175e-04 -3.32768507e-02 -1.93707849e+00] [-6.81771985e-04 9.99998002e-01 -1.87891371e-03 2.68496007e-02] [ 3.32756214e-02 1.90055998e-03 9.99444406e-01 -2.58364166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.053133365 meters Centerline goodness : 0.449273 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99451334e-01 6.65436056e-04 -3.31147618e-02 -1.93759112e+00] [-7.28226054e-04 9.99997960e-01 -1.88410845e-03 2.72811684e-02] [ 3.31134404e-02 1.90718973e-03 9.99449780e-01 -2.58200052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.083133365 meters Centerline goodness : 0.358784 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99455037e-01 6.53270451e-04 -3.30030569e-02 -1.93792610e+00] [-7.18735791e-04 9.99997798e-01 -1.97178991e-03 2.78940840e-02] [ 3.30016961e-02 1.99443584e-03 9.99453306e-01 -2.58081738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.113133365 meters Centerline goodness : 0.312819 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99454046e-01 5.42876352e-04 -3.30350543e-02 -1.93774801e+00] [-6.16751795e-04 9.99997332e-01 -2.22612538e-03 2.89690894e-02] [ 3.30337576e-02 2.24528444e-03 9.99451714e-01 -2.58277935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.143133365 meters Centerline goodness : 0.452684 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99451354e-01 5.02757095e-04 -3.31170330e-02 -1.93738500e+00] [-5.80522753e-04 9.99997097e-01 -2.33863390e-03 2.96278234e-02] [ 3.31157611e-02 2.35657601e-03 9.99448745e-01 -2.58512101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.173133365 meters Centerline goodness : 0.095350 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99447882e-01 4.67571554e-04 -3.32221630e-02 -1.93705963e+00] [-5.50362138e-04 9.99996766e-01 -2.48292778e-03 3.05207059e-02] [ 3.32208946e-02 2.49984113e-03 9.99444907e-01 -2.58667300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.203133365 meters Centerline goodness : 0.302761 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99448383e-01 4.29688810e-04 -3.32076122e-02 -1.93702880e+00] [-5.17969030e-04 9.99996355e-01 -2.64987633e-03 3.16035304e-02] [ 3.32063526e-02 2.66561513e-03 9.99444962e-01 -2.58782100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23313336499996 meters Centerline goodness : 0.181127 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99445702e-01 3.69628004e-04 -3.32889316e-02 -1.93687069e+00] [-4.65715569e-04 9.99995748e-01 -2.87876439e-03 3.28937812e-02] [ 3.32877260e-02 2.89267187e-03 9.99441624e-01 -2.58764722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.263133365 meters Centerline goodness : 0.099798 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.03, Z:-0.26 [[ 0.99940991 0.00831304 -0.03332739 -1.95676581] [-0.00845575 0.99995566 -0.00414355 0.02961931] [ 0.03329147 0.00442291 0.9994359 -0.26064007] [ 0. 0. 0. 1. ]] SLAMing on 280.29313336499996 meters Centerline goodness : 0.091567 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.04, Z:-0.26 [[ 9.99450463e-01 3.55046351e-04 -3.31458178e-02 -1.93742631e+00] [-4.72167905e-04 9.99993673e-01 -3.52576389e-03 3.50155918e-02] [ 3.31443563e-02 3.53947675e-03 9.99444307e-01 -2.59079779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.323133365 meters Centerline goodness : 0.094977 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99447858e-01 3.62389387e-04 -3.32241925e-02 -1.93701264e+00] [-4.78567798e-04 9.99993799e-01 -3.48891611e-03 3.48239730e-02] [ 3.32227222e-02 3.50288977e-03 9.99441834e-01 -2.59446897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35313336499996 meters Centerline goodness : 0.324379 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99441606e-01 3.79080815e-04 -3.34115478e-02 -1.93638915e+00] [-4.93621596e-04 9.99994030e-01 -3.41999746e-03 3.43890177e-02] [ 3.34100519e-02 3.43458042e-03 9.99435827e-01 -2.59740824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.383133365 meters Centerline goodness : 0.268512 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99431958e-01 3.77406922e-04 -3.36989524e-02 -1.93548567e+00] [-4.89444523e-04 9.99994381e-01 -3.31647392e-03 3.35256437e-02] [ 3.36975113e-02 3.33108379e-03 9.99426526e-01 -2.60099978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41313336499996 meters Centerline goodness : 0.091772 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99424740e-01 3.76944086e-04 -3.39123559e-02 -1.93483376e+00] [-4.85339430e-04 9.99994800e-01 -3.18816268e-03 3.24781399e-02] [ 3.39109778e-02 3.20278766e-03 9.99419726e-01 -2.60338772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.443133365 meters Centerline goodness : 0.221452 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.03, Z:-0.26 [[ 9.99420894e-01 4.37427324e-04 -3.40247654e-02 -1.93459387e+00] [-5.38808892e-04 9.99995443e-01 -2.97052846e-03 3.11459563e-02] [ 3.40233109e-02 2.98714106e-03 9.99416575e-01 -2.60315875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47313336499997 meters Centerline goodness : 0.137516 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99427272e-01 5.96413470e-04 -3.38344845e-02 -1.93535940e+00] [-6.85932469e-04 9.99996295e-01 -2.63424601e-03 2.94493724e-02] [ 3.38327880e-02 2.65594548e-03 9.99423978e-01 -2.59820999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.503133365 meters Centerline goodness : 0.050443 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99432363e-01 6.76488608e-04 -3.36822492e-02 -1.93594862e+00] [-7.63391857e-04 9.99996413e-01 -2.56729724e-03 2.91923310e-02] [ 3.36803916e-02 2.59155271e-03 9.99429295e-01 -2.59466941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53313336499997 meters Centerline goodness : 0.096872 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99435261e-01 7.49601973e-04 -3.35946045e-02 -1.93627496e+00] [-8.35202109e-04 9.99996440e-01 -2.53407159e-03 2.91625626e-02] [ 3.35925854e-02 2.56069879e-03 9.99432329e-01 -2.59317064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.563133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 280.59313336499997 meters Centerline goodness : 0.171784 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99457409e-01 1.90165003e-03 -3.28826898e-02 -1.93811997e+00] [-1.95099520e-03 9.99997018e-01 -1.46862198e-03 2.71976034e-02] [ 3.28797990e-02 1.53197909e-03 9.99458139e-01 -2.59046438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.623133365 meters Centerline goodness : 0.121992 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99459830e-01 1.95951727e-03 -3.28056024e-02 -1.93834577e+00] [-2.00651969e-03 9.99997007e-01 -1.39989569e-03 2.68578147e-02] [ 3.28027611e-02 1.46496460e-03 9.99460771e-01 -2.58990586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.653133365 meters Centerline goodness : 0.121819 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99459053e-01 1.97701415e-03 -3.28282459e-02 -1.93831826e+00] [-2.02401652e-03 9.99996974e-01 -1.39859643e-03 2.67303867e-02] [ 3.28253815e-02 1.46428477e-03 9.99460029e-01 -2.58973300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.683133365 meters Centerline goodness : 0.124050 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99458555e-01 2.00178962e-03 -3.28419002e-02 -1.93829281e+00] [-2.04850632e-03 9.99996937e-01 -1.38888666e-03 2.65623492e-02] [ 3.28390194e-02 1.45541149e-03 9.99459594e-01 -2.58980788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.713133365 meters Centerline goodness : 0.123627 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99459686e-01 2.03652059e-03 -3.28053245e-02 -1.93828480e+00] [-2.08448553e-03 9.99996808e-01 -1.42797455e-03 2.69043355e-02] [ 3.28023117e-02 1.49558522e-03 9.99460740e-01 -2.59167382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.743133365 meters Centerline goodness : 0.129804 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99470948e-01 2.27486074e-03 -3.24445683e-02 -1.93906551e+00] [-2.32028711e-03 9.99996380e-01 -1.36254075e-03 2.75572770e-02] [ 3.24413513e-02 1.43710061e-03 9.99472608e-01 -2.59321795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.773133365 meters Centerline goodness : 0.129096 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99475969e-01 2.32736919e-03 -3.22857558e-02 -1.93957930e+00] [-2.37195397e-03 9.99996285e-01 -1.34271153e-03 2.77467112e-02] [ 3.22825109e-02 1.41858823e-03 9.99477777e-01 -2.59143407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.803133365 meters Centerline goodness : 0.130023 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99478018e-01 2.38525371e-03 -3.22180330e-02 -1.93982943e+00] [-2.42815130e-03 9.99996217e-01 -1.29241782e-03 2.77556567e-02] [ 3.22148284e-02 1.36997346e-03 9.99480029e-01 -2.59030586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.833133365 meters Centerline goodness : 0.129140 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99475020e-01 2.38245336e-03 -3.23111268e-02 -1.93965280e+00] [-2.42587760e-03 9.99996206e-01 -1.30480571e-03 2.77902175e-02] [ 3.23078956e-02 1.38250356e-03 9.99477008e-01 -2.58972382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.863133365 meters Centerline goodness : 0.126595 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.03, Z:-0.26 [[ 9.99451592e-01 -5.84223890e-03 -3.25942336e-02 -1.95878747e+00] [ 5.84036192e-03 9.99982933e-01 -1.52793218e-04 3.10012930e-02] [ 3.25945700e-02 -3.76526961e-05 9.99468655e-01 -2.60987775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.893133365 meters Centerline goodness : 0.120758 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.03, Z:-0.26 [[ 9.99449914e-01 -5.87684776e-03 -3.26394149e-02 -1.95852568e+00] [ 5.87132323e-03 9.99982728e-01 -2.65101506e-04 3.13035669e-02] [ 3.26404091e-02 7.33191227e-05 9.99467157e-01 -2.61264334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.923133365 meters Centerline goodness : 0.127586 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99479722e-01 2.04040866e-03 -3.21888490e-02 -1.93933683e+00] [-2.09351658e-03 9.99996502e-01 -1.61626908e-03 2.86797932e-02] [ 3.21854386e-02 1.68281606e-03 9.99480498e-01 -2.59420722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.953133365 meters Centerline goodness : 0.121215 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99486175e-01 2.05531914e-03 -3.19868932e-02 -1.93983382e+00] [-2.10771508e-03 9.99996492e-01 -1.60441215e-03 2.87215133e-02] [ 3.19834834e-02 1.67100702e-03 9.99487001e-01 -2.59449755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98313336499996 meters Centerline goodness : 0.124916 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99488005e-01 2.10079315e-03 -3.19267021e-02 -1.94008819e+00] [-2.15126052e-03 9.99996490e-01 -1.54645818e-03 2.86542140e-02] [ 3.19233413e-02 1.61434905e-03 9.99489017e-01 -2.59277811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.013133365 meters Centerline goodness : 0.127516 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99487332e-01 2.13063793e-03 -3.19457975e-02 -1.94000134e+00] [-2.18032549e-03 9.99996467e-01 -1.52061635e-03 2.87494926e-02] [ 3.19424448e-02 1.58948901e-03 9.99488446e-01 -2.59328735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04313336499996 meters Centerline goodness : 0.131916 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99480912e-01 2.14131996e-03 -3.21453228e-02 -1.93945800e+00] [-2.19033880e-03 9.99996491e-01 -1.48977754e-03 2.86092684e-02] [ 3.21420200e-02 1.55941337e-03 9.99482095e-01 -2.59457358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.073133365 meters Centerline goodness : 0.129362 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99464177e-01 2.06327887e-03 -3.26665158e-02 -1.93777518e+00] [-2.11380021e-03 9.99996623e-01 -1.51211978e-03 2.80944399e-02] [ 3.26632856e-02 1.58036004e-03 9.99465163e-01 -2.60179032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10313336499996 meters Centerline goodness : 0.100089 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460508e-01 2.08058408e-03 -3.27775032e-02 -1.93733851e+00] [-2.12827670e-03 9.99996727e-01 -1.42021904e-03 2.74381065e-02] [ 3.27744411e-02 1.48921244e-03 9.99461664e-01 -2.60458710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.133133365 meters Centerline goodness : 0.133410 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460715e-01 2.16026970e-03 -3.27660325e-02 -1.93732282e+00] [-2.20156646e-03 9.99996827e-01 -1.22432710e-03 2.65162130e-02] [ 3.27632836e-02 1.29580343e-03 9.99462300e-01 -2.60542864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16313336499996 meters Centerline goodness : 0.133410 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460715e-01 2.16026970e-03 -3.27660325e-02 -1.93732282e+00] [-2.20156646e-03 9.99996827e-01 -1.22432710e-03 2.65162130e-02] [ 3.27632836e-02 1.29580343e-03 9.99462300e-01 -2.60542864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.193133365 meters Centerline goodness : 0.131570 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.03, Z:-0.26 [[ 9.99460784e-01 2.28276753e-03 -3.27556159e-02 -1.93738008e+00] [-2.31454598e-03 9.99996887e-01 -9.32283512e-04 2.51445841e-02] [ 3.27533857e-02 1.00759519e-03 9.99462956e-01 -2.60464285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22313336499997 meters Centerline goodness : 0.130330 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.03, Z:-0.26 [[ 9.99460050e-01 -5.43573566e-03 -3.24046628e-02 -1.91785238e+00] [ 5.44516531e-03 9.99985154e-01 2.02755675e-04 2.78230461e-02] [ 3.24030796e-02 -3.79094942e-04 9.99474810e-01 -2.59133149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.253133365 meters Centerline goodness : 0.159330 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99499195e-01 2.05605075e-03 -3.15773892e-02 -1.93735025e+00] [-2.07189493e-03 9.99997744e-01 -4.69044517e-04 1.84472687e-02] [ 3.15763536e-02 5.34234650e-04 9.99501200e-01 -2.60981802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28313336499997 meters Centerline goodness : 0.134553 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99501831e-01 2.15877115e-03 -3.14869607e-02 -1.93766837e+00] [-2.16717357e-03 9.99997625e-01 -2.32729061e-04 1.72564610e-02] [ 3.14863835e-02 3.00850832e-04 9.99504136e-01 -2.60822140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.313133365 meters Centerline goodness : 0.133511 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99501681e-01 2.23724811e-03 -3.14862467e-02 -1.93757245e+00] [-2.24156244e-03 9.99997483e-01 -1.01725522e-04 1.65952199e-02] [ 3.14859399e-02 1.72253218e-04 9.99504180e-01 -2.60974477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34313336499997 meters Centerline goodness : 0.134702 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99501990e-01 2.30038696e-03 -3.14718882e-02 -1.93745128e+00] [-2.30142557e-03 9.99997352e-01 3.22274402e-06 1.60447943e-02] [ 3.14718123e-02 6.92090693e-05 9.99504637e-01 -2.61243703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.373133365 meters Centerline goodness : 0.127163 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.02, Z:-0.26 [[ 9.99499963e-01 2.40915907e-03 -3.15280895e-02 -1.93728798e+00] [-2.40587142e-03 9.99997096e-01 1.42212354e-04 1.55821801e-02] [ 3.15283406e-02 -6.62887128e-05 9.99502856e-01 -2.61339695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.403133365 meters Centerline goodness : 0.121004 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99500442e-01 2.53131206e-03 -3.15033257e-02 -1.93728884e+00] [-2.52243994e-03 9.99996767e-01 3.21364404e-04 1.48652914e-02] [ 3.15040373e-02 -2.41738617e-04 9.99503595e-01 -2.61430403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.433133365 meters Centerline goodness : 0.124084 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99501511e-01 2.82872460e-03 -3.14440576e-02 -1.93734357e+00] [-2.80429439e-03 9.99995731e-01 8.21014968e-04 1.28246062e-02] [ 3.14462458e-02 -7.32427306e-04 9.99505176e-01 -2.61592549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.463133365 meters Centerline goodness : 0.126652 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99497873e-01 2.93870535e-03 -3.15494171e-02 -1.93710402e+00] [-2.90535130e-03 9.99995171e-01 1.10299084e-03 1.13251488e-02] [ 3.15525061e-02 -1.01077486e-03 9.99501585e-01 -2.61581894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.493133365 meters Centerline goodness : 0.123783 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99496375e-01 3.05533560e-03 -3.15857624e-02 -1.93709184e+00] [-3.01085659e-03 9.99994408e-01 1.45566432e-03 9.33712868e-03] [ 3.15900333e-02 -1.35983101e-03 9.99499985e-01 -2.61465298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.523133365 meters Centerline goodness : 0.126117 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.01, Z:-0.26 [[ 9.99495302e-01 3.15880042e-03 -3.16095325e-02 -1.93714942e+00] [-3.10171415e-03 9.99993469e-01 1.85485385e-03 6.95693186e-03] [ 3.16151851e-02 -1.75587397e-03 9.99498573e-01 -2.61272220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.553133365 meters Centerline goodness : 0.128140 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.00, Z:-0.26 [[ 0.99949596 0.00323642 -0.03158082 -1.93743974] [-0.00316661 0.99999243 0.00226028 0.00445205] [ 0.0315879 -0.00215913 0.99949865 -0.26090505] [ 0. 0. 0. 1. ]] SLAMing on 281.583133365 meters Centerline goodness : 0.129065 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.00, Z:-0.26 [[ 9.99499180e-01 3.35392759e-03 -3.14664986e-02 -1.93784588e+00] [-3.26931588e-03 9.99990902e-01 2.74001060e-03 1.69679295e-03] [ 3.14754021e-02 -2.63576443e-03 9.99501051e-01 -2.60672701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.613133365 meters Centerline goodness : 0.110529 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.00, Z:-0.26 [[ 0.99951816 0.00349927 -0.0308416 -1.93956022] [-0.00339068 0.99998787 0.00357238 -0.00323255] [ 0.03085372 -0.00346609 0.9995179 -0.26012086] [ 0. 0. 0. 1. ]] SLAMing on 281.643133365 meters Centerline goodness : 0.127810 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.00, Z:-0.26 [[ 9.99544598e-01 -4.25139590e-03 -2.98751237e-02 -1.91999010e+00] [ 4.39524018e-03 9.99979056e-01 4.75083298e-03 -1.43818052e-03] [ 2.98543003e-02 -4.87997778e-03 9.99542349e-01 -2.58681171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.673133365 meters Centerline goodness : 0.143046 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.00, Z:-0.26 [[ 0.99954611 -0.00415181 -0.02983842 -1.92027981] [ 0.0043055 0.99997779 0.00508843 -0.00339626] [ 0.02981663 -0.00521459 0.99954178 -0.25834679] [ 0. 0. 0. 1. ]] SLAMing on 281.703133365 meters Centerline goodness : 0.195634 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.01, Z:-0.26 [[ 0.99954736 -0.00403764 -0.02981241 -1.92063315] [ 0.00420238 0.99997623 0.00546559 -0.0056571 ] [ 0.02978963 -0.0055884 0.99954057 -0.2578508 ] [ 0. 0. 0. 1. ]] SLAMing on 281.73313336499996 meters Centerline goodness : 0.136695 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.01, Z:-0.26 [[ 9.99573807e-01 1.80367394e-03 -2.91367819e-02 -1.89963152e+00] [-1.73506342e-03 9.99995663e-01 2.37988435e-03 -9.71044717e-03] [ 2.91409481e-02 -2.32831590e-03 9.99572601e-01 -2.56689857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.763133365 meters Centerline goodness : 0.124770 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.26 [[ 9.99577748e-01 8.57183370e-04 -2.90446250e-02 -1.89968544e+00] [-7.84721251e-04 9.99996552e-01 2.50616124e-03 -1.96164666e-02] [ 2.90466731e-02 -2.48231108e-03 9.99574974e-01 -2.56750505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79313336499996 meters Centerline goodness : 0.124851 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.02, Z:-0.26 [[ 9.99574376e-01 1.12483460e-03 -2.91513508e-02 -1.89920838e+00] [-1.02991413e-03 9.99994120e-01 3.27093644e-03 -2.37359963e-02] [ 2.91548586e-02 -3.23952087e-03 9.99569657e-01 -2.57035191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.823133365 meters Centerline goodness : 0.174967 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.03, Z:-0.26 [[ 9.99570655e-01 1.36920722e-03 -2.92682739e-02 -1.89872472e+00] [-1.25136631e-03 9.99991039e-01 4.04417099e-03 -2.82448428e-02] [ 2.92735489e-02 -4.00580931e-03 9.99563411e-01 -2.57270363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85313336499996 meters Centerline goodness : 0.125351 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.04, Z:-0.26 [[ 9.99541894e-01 -5.91100860e-04 -3.02597569e-02 -1.89509549e+00] [ 6.83601101e-04 9.99995125e-01 3.04661934e-03 -3.75371580e-02] [ 3.02578085e-02 -3.06590926e-03 9.99537426e-01 -2.58630945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.883133365 meters Centerline goodness : 0.133723 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.04, Z:-0.26 [[ 9.99534102e-01 -2.63316065e-04 -3.05206471e-02 -1.89426762e+00] [ 3.81210941e-04 9.99992489e-01 3.85703645e-03 -4.17026716e-02] [ 3.05194022e-02 -3.86687426e-03 9.99526695e-01 -2.58901853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 281.943133365 meters Centerline goodness : 0.149029 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.05, Z:-0.26 [[ 9.99526170e-01 2.11791887e-04 -3.07797108e-02 -1.89291340e+00] [-5.36436666e-05 9.99986795e-01 5.13880206e-03 -5.11851716e-02] [ 3.07803927e-02 -5.13471601e-03 9.99512982e-01 -2.59771781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.003133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.03313336499997 meters Centerline goodness : 0.144445 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99512198e-01 4.37082166e-04 -3.12278009e-02 -1.89130570e+00] [-2.32286842e-04 9.99978447e-01 6.56143587e-03 -6.69049659e-02] [ 3.12299958e-02 -6.55098138e-03 9.99490756e-01 -2.60248104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.063133365 meters Centerline goodness : 0.155614 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99513420e-01 6.42862810e-04 -3.11850889e-02 -1.89138806e+00] [-4.25861959e-04 9.99975656e-01 6.96462392e-03 -6.87980486e-02] [ 3.11888071e-02 -6.94795454e-03 9.99489362e-01 -2.60236836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09313336499997 meters Centerline goodness : 0.138280 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99518347e-01 8.77271719e-04 -3.10210185e-02 -1.89176553e+00] [-6.50003851e-04 9.99972883e-01 7.33557973e-03 -7.04453260e-02] [ 3.10266126e-02 -7.31188275e-03 9.99491814e-01 -2.60218002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.123133365 meters Centerline goodness : 0.120126 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99528542e-01 1.06199014e-03 -3.06849528e-02 -1.89255176e+00] [-8.28780617e-04 9.99970686e-01 7.61184574e-03 -7.15708315e-02] [ 3.06921370e-02 -7.58282598e-03 9.99500122e-01 -2.60194798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.153133365 meters Centerline goodness : 0.112087 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99534521e-01 1.20183952e-03 -3.04843757e-02 -1.89292665e+00] [-9.65539653e-04 9.99969385e-01 7.76504384e-03 -7.22187010e-02] [ 3.04927747e-02 -7.73199550e-03 9.99505081e-01 -2.60356717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.183133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.213133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.243133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.273133365 meters Centerline goodness : 0.139308 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99953289 0.00243644 -0.03046427 -1.89315544] [-0.00217197 0.99995969 0.00871157 -0.07384663] [ 0.03048426 -0.00864133 0.99949789 -0.26026014] [ 0. 0. 0. 1. ]] SLAMing on 282.303133365 meters Centerline goodness : 0.139697 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99954285 0.00244995 -0.03013454 -1.8940911 ] [-0.00218879 0.99995979 0.00869636 -0.07370792] [ 0.03015463 -0.00862643 0.99950802 -0.26003415] [ 0. 0. 0. 1. ]] SLAMing on 282.333133365 meters Centerline goodness : 0.138547 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99954975 0.00244795 -0.02990494 -1.89466304] [-0.00218905 0.99995987 0.0086869 -0.07367686] [ 0.02992501 -0.00861752 0.999515 -0.2600306 ] [ 0. 0. 0. 1. ]] SLAMing on 282.363133365 meters Centerline goodness : 0.131581 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.9995491 0.00241881 -0.02992893 -1.89434868] [-0.0021608 0.99996025 0.00864982 -0.07364248] [ 0.02994866 -0.00858125 0.9995146 -0.26045199] [ 0. 0. 0. 1. ]] SLAMing on 282.393133365 meters Centerline goodness : 0.176343 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.9995412 0.00235757 -0.03019655 -1.89326404] [-0.00209785 0.99996056 0.00862977 -0.07381636] [ 0.0302157 -0.00856246 0.99950673 -0.26112911] [ 0. 0. 0. 1. ]] SLAMing on 282.423133365 meters Centerline goodness : 0.139314 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99953786 0.00235693 -0.03030689 -1.89289983] [-0.00209539 0.99996032 0.00865851 -0.07402771] [ 0.03032609 -0.00859101 0.99950314 -0.26128238] [ 0. 0. 0. 1. ]] SLAMing on 282.453133365 meters Centerline goodness : 0.143231 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99953857 0.00236343 -0.03028316 -1.89296322] [-0.00210071 0.99995991 0.00870421 -0.07423554] [ 0.03030251 -0.00863658 0.99950346 -0.26127773] [ 0. 0. 0. 1. ]] SLAMing on 282.48313336499996 meters Centerline goodness : 0.130376 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99952982 0.00231665 -0.03057388 -1.89233832] [-0.00205087 0.99995986 0.00872141 -0.07459996] [ 0.03059286 -0.00865461 0.99949446 -0.26119082] [ 0. 0. 0. 1. ]] SLAMing on 282.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.54313336499996 meters Centerline goodness : 0.133435 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99502150e-01 2.09941989e-03 -3.14808449e-02 -1.88944714e+00] [-1.83502942e-03 9.99962825e-01 8.42499619e-03 -7.38897823e-02] [ 3.14973622e-02 -8.36303353e-03 9.99468847e-01 -2.62483747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.60313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.633133365 meters Centerline goodness : 0.120967 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 0.99951918 0.00218936 -0.03092931 -1.89105573] [-0.00193551 0.99996422 0.00823475 -0.07179451] [ 0.03094623 -0.00817093 0.99948765 -0.26203183] [ 0. 0. 0. 1. ]] SLAMing on 282.66313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.693133365 meters Centerline goodness : 0.125793 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99539727e-01 2.11221565e-03 -3.02633782e-02 -1.89300704e+00] [-1.87766511e-03 9.99967999e-01 7.77663306e-03 -6.88236790e-02] [ 3.02788356e-02 -7.71622919e-03 9.99511707e-01 -2.61550540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.753133365 meters Centerline goodness : 0.137061 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99542209e-01 1.93514991e-03 -3.01931736e-02 -1.89303517e+00] [-1.71370475e-03 9.99971458e-01 7.35843303e-03 -6.68138231e-02] [ 3.02065515e-02 -7.30332222e-03 9.99516996e-01 -2.61833368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78313336499997 meters Centerline goodness : 0.143188 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.07, Z:-0.26 [[ 9.99545868e-01 1.86261061e-03 -3.00763779e-02 -1.89335113e+00] [-1.64625338e-03 9.99972604e-01 7.21675392e-03 -6.61573200e-02] [ 3.00889959e-02 -7.16396322e-03 9.99521551e-01 -2.61816020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.84313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.873133365 meters Centerline goodness : 0.110876 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 9.99573605e-01 -6.81466059e-04 -2.91915009e-02 -1.89644825e+00] [ 8.24596930e-04 9.99987697e-01 4.89141176e-03 -6.65475782e-02] [ 2.91878084e-02 -4.91339731e-03 9.99561869e-01 -2.60745067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.903133365 meters Centerline goodness : 0.144737 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 9.99567210e-01 -8.08676759e-04 -2.94064553e-02 -1.89595940e+00] [ 9.46970941e-04 9.99988557e-01 4.68922874e-03 -6.59025246e-02] [ 2.94023268e-02 -4.71504634e-03 9.99556537e-01 -2.60731723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.933133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 282.963133365 meters Centerline goodness : 0.140044 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99574659e-01 -8.21030986e-04 -2.91517760e-02 -1.89664554e+00] [ 9.42899927e-04 9.99990873e-01 4.16699757e-03 -6.19483290e-02] [ 2.91480887e-02 -4.19271238e-03 9.99566311e-01 -2.60793296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.993133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 283.023133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 283.053133365 meters Centerline goodness : 0.138615 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99582545e-01 -1.10685755e-03 -2.88706000e-02 -1.89746094e+00] [ 1.20491072e-03 9.99993565e-01 3.37912234e-03 -5.78757496e-02] [ 2.88666740e-02 -3.41249820e-03 9.99577446e-01 -2.60692559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.083133365 meters Centerline goodness : 0.138615 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99582545e-01 -1.10685755e-03 -2.88706000e-02 -1.89746094e+00] [ 1.20491072e-03 9.99993565e-01 3.37912234e-03 -5.78757496e-02] [ 2.88666740e-02 -3.41249820e-03 9.99577446e-01 -2.60692559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.113133365 meters Centerline goodness : 0.150181 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99576916e-01 -1.23277212e-03 -2.90597672e-02 -1.89707247e+00] [ 1.32323855e-03 9.99994338e-01 3.09409111e-03 -5.66021669e-02] [ 2.90557883e-02 -3.13123505e-03 9.99572887e-01 -2.60662688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.143133365 meters Centerline goodness : 0.212273 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.06, Z:-0.26 [[ 9.99573898e-01 -1.33583670e-03 -2.91588283e-02 -1.89684302e+00] [ 1.41949134e-03 9.99994936e-01 2.84841915e-03 -5.53298245e-02] [ 2.91548756e-02 -2.88859614e-03 9.99570732e-01 -2.60724093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.173133365 meters Centerline goodness : 0.131281 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.05, Z:-0.26 [[ 9.99578770e-01 -1.42752382e-03 -2.89869625e-02 -1.89724184e+00] [ 1.50509966e-03 9.99995344e-01 2.65458961e-03 -5.41737223e-02] [ 2.89830381e-02 -2.69709969e-03 9.99576265e-01 -2.60782629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.203133365 meters Centerline goodness : 0.148871 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.06, Z:-0.26 [[ 9.99582837e-01 5.79838433e-03 -2.82936564e-02 -1.91578103e+00] [-5.75661553e-03 9.99982218e-01 1.55749197e-03 -5.90829928e-02] [ 2.83021842e-02 -1.39396654e-03 9.99598441e-01 -2.63042433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23313336499996 meters Centerline goodness : 0.105447 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.06, Z:-0.26 [[ 9.99581134e-01 5.71753913e-03 -2.83701672e-02 -1.91551632e+00] [-5.67964353e-03 9.99982868e-01 1.41615866e-03 -5.84576000e-02] [ 2.83777781e-02 -1.25443304e-03 9.99596483e-01 -2.63148702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.263133365 meters Centerline goodness : 0.131750 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.06, Z:-0.26 [[ 9.99575717e-01 5.62620596e-03 -2.85785037e-02 -1.91492388e+00] [-5.59379626e-03 9.99983618e-01 1.21388012e-03 -5.76033207e-02] [ 2.85848651e-02 -1.05350277e-03 9.99590814e-01 -2.63319519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29313336499996 meters Centerline goodness : 0.095708 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.06, Z:-0.26 [[ 9.99569726e-01 5.53408632e-03 -2.88051428e-02 -1.91435279e+00] [-5.50936963e-03 9.99984384e-01 9.37360838e-04 -5.62680465e-02] [ 2.88098804e-02 -7.78259338e-04 9.99584606e-01 -2.63439009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.323133365 meters Centerline goodness : 0.140692 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.05, Z:-0.27 [[ 9.99565648e-01 -3.05006754e-03 -2.93123249e-02 -1.93422908e+00] [ 3.10373982e-03 9.99993589e-01 1.78572363e-03 -5.11456646e-02] [ 2.93066904e-02 -1.87592583e-03 9.99568706e-01 -2.65064221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35313336499996 meters Centerline goodness : 0.154914 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.05, Z:-0.26 [[ 9.99576234e-01 -2.46587411e-03 -2.90046825e-02 -1.93536659e+00] [ 2.52042831e-03 9.99995123e-01 1.84446606e-03 -4.64377451e-02] [ 2.89999928e-02 -1.91678866e-03 9.99577574e-01 -2.64742100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.383133365 meters Centerline goodness : 0.152156 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.05, Z:-0.26 [[ 9.99593968e-01 6.13052001e-03 -2.78265309e-02 -1.91618087e+00] [-6.12088635e-03 9.99981174e-01 4.31369428e-04 -4.54217647e-02] [ 2.78286515e-02 -2.60871245e-04 9.99612674e-01 -2.63359598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41313336499996 meters Centerline goodness : 0.160104 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.26 [[ 9.99547044e-01 5.46788591e-03 -2.95940824e-02 -1.96244057e+00] [-5.45735637e-03 9.99985013e-01 4.36558343e-04 -4.59110576e-02] [ 2.95960259e-02 -2.74855147e-04 9.99561904e-01 -2.63482748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.443133365 meters Centerline goodness : 0.098885 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.26 [[ 9.99551516e-01 5.25843818e-03 -2.94807729e-02 -1.96272588e+00] [-5.26364640e-03 9.99986142e-01 -9.90621209e-05 -4.34791356e-02] [ 2.94798434e-02 2.54194057e-04 9.99565343e-01 -2.63575823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47313336499997 meters Centerline goodness : 0.158401 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.26 [[ 9.99556041e-01 5.00479061e-03 -2.93712826e-02 -1.96318322e+00] [-5.03135618e-03 9.99986998e-01 -8.30638944e-04 -3.95913273e-02] [ 2.93667435e-02 9.78047559e-04 9.99568226e-01 -2.63426897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.503133365 meters Centerline goodness : 0.147034 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.03, Z:-0.26 [[ 9.99608258e-01 5.89940020e-03 -2.73592499e-02 -1.91980842e+00] [-5.93355946e-03 9.99981715e-01 -1.16752847e-03 -3.32208783e-02] [ 2.73518619e-02 1.32940884e-03 9.99624984e-01 -2.62532609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53313336499997 meters Centerline goodness : 0.157881 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.03, Z:-0.26 [[ 9.99643668e-01 -2.55529869e-03 -2.65707934e-02 -1.94009257e+00] [ 2.55091453e-03 9.99996727e-01 -1.98893858e-04 -2.81542424e-02] [ 2.65712147e-02 1.31043162e-04 9.99646914e-01 -2.64479617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.563133365 meters Centerline goodness : 0.129737 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 9.99647736e-01 4.66196152e-03 -2.61279486e-02 -1.95886758e+00] [-4.70512510e-03 9.99987666e-01 -1.59077306e-03 -3.18637920e-02] [ 2.61202102e-02 1.71314795e-03 9.99657341e-01 -2.66427509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59313336499997 meters Centerline goodness : 0.132112 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 0.99964561 0.0044285 -0.02624965 -1.95857946] [-0.00448244 0.99998796 -0.00199648 -0.03020192] [ 0.02624049 0.00211343 0.99965342 -0.26646747] [ 0. 0. 0. 1. ]] SLAMing on 283.623133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 283.653133365 meters Centerline goodness : 0.076730 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 0.99964092 0.00394556 -0.02650412 -1.95805537] [-0.00402171 0.99998793 -0.0028206 -0.02624762] [ 0.02649267 0.00292618 0.99964472 -0.26645773] [ 0. 0. 0. 1. ]] SLAMing on 283.683133365 meters Centerline goodness : 0.134305 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 0.99963844 0.0038072 -0.02661738 -1.95788549] [-0.00389021 0.99998773 -0.00306731 -0.02508954] [ 0.02660537 0.00316975 0.99964099 -0.26632795] [ 0. 0. 0. 1. ]] SLAMing on 283.713133365 meters Centerline goodness : 0.121837 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.02, Z:-0.27 [[ 0.99963492 0.00361867 -0.02677569 -1.95754065] [-0.00370965 0.99998751 -0.00334873 -0.02410732] [ 0.02676324 0.00344684 0.99963586 -0.26628245] [ 0. 0. 0. 1. ]] SLAMing on 283.743133365 meters Centerline goodness : 0.248403 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.02, Z:-0.27 [[ 0.99962975 0.00341355 -0.02699463 -1.95690119] [-0.00351153 0.99998742 -0.00358302 -0.02357688] [ 0.02698206 0.00367649 0.99962916 -0.26646743] [ 0. 0. 0. 1. ]] SLAMing on 283.773133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 283.803133365 meters Centerline goodness : 0.103976 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.02, Z:-0.26 [[ 0.99963506 -0.00539291 -0.02646989 -1.9377077 ] [ 0.00531192 0.999981 -0.0031289 -0.01820191] [ 0.02648626 0.00298715 0.99964471 -0.26437326] [ 0. 0. 0. 1. ]] SLAMing on 283.833133365 meters Centerline goodness : 0.103042 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.02, Z:-0.26 [[ 0.99963906 -0.00538973 -0.02631932 -1.93834778] [ 0.00531366 0.9999815 -0.00295962 -0.01916053] [ 0.02633478 0.0028187 0.99964921 -0.2639199 ] [ 0. 0. 0. 1. ]] SLAMing on 283.863133365 meters Centerline goodness : 0.101623 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.02, Z:-0.26 [[ 0.99963693 -0.00545089 -0.02638755 -1.93820914] [ 0.00537756 0.99998148 -0.00284923 -0.0203051 ] [ 0.0264026 0.0027063 0.99964773 -0.26382408] [ 0. 0. 0. 1. ]] SLAMing on 283.893133365 meters Centerline goodness : 0.096925 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.03, Z:-0.27 [[ 9.99643722e-01 1.55061466e-03 -2.66462854e-02 -1.95569436e+00] [-1.66828080e-03 9.99988954e-01 -4.39419221e-03 -2.72693077e-02] [ 2.66391774e-02 4.43708014e-03 9.99635267e-01 -2.66437674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.923133365 meters Centerline goodness : 0.107684 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99634555e-01 1.52955460e-03 -2.69891818e-02 -1.95463296e+00] [-1.64529227e-03 9.99989544e-01 -4.26661309e-03 -2.83797288e-02] [ 2.69823736e-02 4.30945897e-03 9.99626620e-01 -2.66843844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.953133365 meters Centerline goodness : 0.099083 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99619044e-01 1.67528193e-03 -2.75492187e-02 -1.95292187e+00] [-1.78297542e-03 9.99990864e-01 -3.88503046e-03 -3.00952452e-02] [ 2.75424584e-02 3.93267002e-03 9.99612899e-01 -2.67464660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98313336499996 meters Centerline goodness : 0.104544 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99615415e-01 1.76674023e-03 -2.76749080e-02 -1.95249714e+00] [-1.86966757e-03 9.99991430e-01 -3.69372246e-03 -3.09307560e-02] [ 2.76681450e-02 3.74404478e-03 9.99610152e-01 -2.67669219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.013133365 meters Centerline goodness : 0.089809 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99616057e-01 1.82249659e-03 -2.76480897e-02 -1.95255574e+00] [-1.92076194e-03 9.99991932e-01 -3.52800480e-03 -3.19294689e-02] [ 2.76414369e-02 3.57975564e-03 9.99611493e-01 -2.67667859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04313336499996 meters Centerline goodness : 0.099599 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 9.99616950e-01 1.87545257e-03 -2.76122563e-02 -1.95281669e+00] [-1.96910304e-03 9.99992400e-01 -3.36482675e-03 -3.29029337e-02] [ 2.76057359e-02 3.41790923e-03 9.99613046e-01 -2.67377793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.073133365 meters Centerline goodness : 0.126911 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.03, Z:-0.27 [[ 0.99962052 0.00206496 -0.02746928 -1.95321435] [-0.00214941 0.99999305 -0.00304513 -0.03426878] [ 0.0274628 0.00310302 0.99961801 -0.26728493] [ 0. 0. 0. 1. ]] SLAMing on 284.10313336499996 meters Centerline goodness : 0.155709 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.04, Z:-0.27 [[ 0.99962149 0.00214262 -0.02742778 -1.95340709] [-0.00222205 0.99999342 -0.00286595 -0.03518787] [ 0.02742146 0.00292581 0.99961968 -0.26714631] [ 0. 0. 0. 1. ]] SLAMing on 284.133133365 meters Centerline goodness : 0.093764 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.03, Z:-0.27 [[ 9.99627086e-01 -5.34399994e-03 -2.67792941e-02 -1.93484184e+00] [ 5.29813880e-03 9.99984375e-01 -1.78322059e-03 -3.19365020e-02] [ 2.67884051e-02 1.64067518e-03 9.99639780e-01 -2.65414392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16313336499996 meters Centerline goodness : 0.130456 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.27 [[ 0.99965605 0.00217215 -0.02613548 -1.95508559] [-0.00223868 0.99999433 -0.0025168 -0.03943222] [ 0.02612986 0.00257445 0.99965524 -0.26685866] [ 0. 0. 0. 1. ]] SLAMing on 284.193133365 meters Centerline goodness : 0.132560 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.27 [[ 0.99965786 0.00229633 -0.02605548 -1.95546921] [-0.00235505 0.99999476 -0.00222299 -0.04083905] [ 0.02605024 0.00228359 0.99965803 -0.26655461] [ 0. 0. 0. 1. ]] SLAMing on 284.22313336499997 meters Centerline goodness : 0.123782 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.04, Z:-0.27 [[ 9.99653150e-01 2.61755264e-03 -2.62054947e-02 -1.95502680e+00] [-2.65956979e-03 9.99995233e-01 -1.56864668e-03 -4.35825402e-02] [ 2.62012637e-02 1.63779794e-03 9.99655346e-01 -2.66672216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.253133365 meters Centerline goodness : 0.229305 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.04, Z:-0.27 [[ 9.99650186e-01 2.68136646e-03 -2.63118993e-02 -1.95463886e+00] [-2.71771614e-03 9.99995401e-01 -1.34582904e-03 -4.49463755e-02] [ 2.63081696e-02 1.41686652e-03 9.99652876e-01 -2.66885054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28313336499997 meters Centerline goodness : 0.142012 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99645790e-01 2.70703130e-03 -2.64757747e-02 -1.95413966e+00] [-2.73918038e-03 9.99995554e-01 -1.17809081e-03 -4.62107107e-02] [ 2.64724678e-02 1.25019544e-03 9.99648761e-01 -2.67044244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.313133365 meters Centerline goodness : 0.120554 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99647108e-01 2.73071751e-03 -2.64235152e-02 -1.95434700e+00] [-2.75962655e-03 9.99995633e-01 -1.05766076e-03 -4.71465905e-02] [ 2.64205116e-02 1.13020655e-03 9.99650278e-01 -2.66916929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34313336499997 meters Centerline goodness : 0.118889 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99651408e-01 2.82311410e-03 -2.62505636e-02 -1.95485325e+00] [-2.84675017e-03 9.99995576e-01 -8.63074981e-04 -4.80960450e-02] [ 2.62480109e-02 9.37502916e-04 9.99655022e-01 -2.66749612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.373133365 meters Centerline goodness : 0.102270 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99650513e-01 3.00600641e-03 -2.62643392e-02 -1.95458897e+00] [-3.02101416e-03 9.99995295e-01 -5.31750769e-04 -4.94421194e-02] [ 2.62626172e-02 6.10909870e-04 9.99654891e-01 -2.67131289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.403133365 meters Centerline goodness : 0.181663 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99641748e-01 3.02202131e-03 -2.65940285e-02 -1.95338187e+00] [-3.03560463e-03 9.99995282e-01 -4.70408857e-04 -4.98983295e-02] [ 2.65924815e-02 5.50969289e-04 9.99646206e-01 -2.67818296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.433133365 meters Centerline goodness : 0.096587 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99636146e-01 3.03322249e-03 -2.68025094e-02 -1.95260887e+00] [-3.04571140e-03 9.99995271e-01 -4.25148963e-04 -5.03232139e-02] [ 2.68010931e-02 5.06626980e-04 9.99640658e-01 -2.68288026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.463133365 meters Centerline goodness : 0.132640 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99631087e-01 3.02220558e-03 -2.69917763e-02 -1.95213494e+00] [-3.03457336e-03 9.99995309e-01 -4.17255541e-04 -5.05355476e-02] [ 2.69903887e-02 4.99010135e-04 9.99635569e-01 -2.68348023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.493133365 meters Centerline goodness : 0.132452 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.05, Z:-0.27 [[ 9.99627768e-01 -4.16887566e-03 -2.69619181e-02 -1.93450795e+00] [ 4.19400581e-03 9.99990822e-01 8.75578312e-04 -4.60310646e-02] [ 2.69580205e-02 -9.88330836e-04 9.99636078e-01 -2.65774925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.523133365 meters Centerline goodness : 0.150390 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.05, Z:-0.26 [[ 9.99635059e-01 -4.00896038e-03 -2.67147297e-02 -1.93581433e+00] [ 4.04393823e-03 9.99991035e-01 1.25541212e-03 -4.74980584e-02] [ 2.67094573e-02 -1.36298669e-03 9.99642310e-01 -2.64652140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.553133365 meters Centerline goodness : 0.103585 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.05, Z:-0.26 [[ 9.99630754e-01 -3.94574517e-03 -2.68847011e-02 -1.93532020e+00] [ 3.98570647e-03 9.99991030e-01 1.43297038e-03 -4.83477203e-02] [ 2.68788058e-02 -1.53959579e-03 9.99637514e-01 -2.64768470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.583133365 meters Centerline goodness : 0.113952 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99600666e-01 3.43834269e-03 -2.80479171e-02 -1.95337416e+00] [-3.43437088e-03 9.99994085e-01 1.89780075e-04 -5.44931645e-02] [ 2.80484037e-02 -9.33773395e-05 9.99606562e-01 -2.66710388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.613133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 284.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 284.673133365 meters Centerline goodness : 0.122776 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99613346e-01 -3.38845385e-04 -2.78036752e-02 -1.95414418e+00] [ 2.47672556e-04 9.99994582e-01 -3.28254291e-03 -5.62367607e-02] [ 2.78046368e-02 3.27438750e-03 9.99608013e-01 -2.66420585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.703133365 meters Centerline goodness : 0.137024 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99618639e-01 -1.75453923e-04 -2.76142237e-02 -1.95511614e+00] [ 9.89636354e-05 9.99996155e-01 -2.77130200e-03 -5.89170705e-02] [ 2.76146038e-02 2.76751233e-03 9.99614813e-01 -2.65538195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73313336499996 meters Centerline goodness : 0.132313 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99614599e-01 -7.72076911e-05 -2.77605382e-02 -1.95462958e+00] [ 6.70556209e-06 9.99996775e-01 -2.53973694e-03 -6.00340106e-02] [ 2.77606448e-02 2.53857197e-03 9.99611376e-01 -2.65753949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.763133365 meters Centerline goodness : 0.141733 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99611775e-01 2.18391149e-05 -2.78621298e-02 -1.95421679e+00] [-8.74974125e-05 9.99997222e-01 -2.35532567e-03 -6.08682981e-02] [ 2.78620010e-02 2.35684914e-03 9.99609001e-01 -2.66034188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79313336499996 meters Centerline goodness : 0.134567 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99611227e-01 1.31269203e-04 -2.78815064e-02 -1.95422785e+00] [-1.93732506e-04 9.99997478e-01 -2.23762356e-03 -6.12249201e-02] [ 2.78811423e-02 2.24215518e-03 9.99608731e-01 -2.65954989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.823133365 meters Centerline goodness : 0.145244 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99629048e-01 5.15814411e-04 -2.72305111e-02 -1.95602769e+00] [-5.73958063e-04 9.99997572e-01 -2.12746622e-03 -6.05000583e-02] [ 2.72293476e-02 2.14230621e-03 9.99626917e-01 -2.65605083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85313336499996 meters Centerline goodness : 0.155530 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99633153e-01 5.66984140e-04 -2.70783491e-02 -1.95627787e+00] [-6.28439033e-04 9.99997246e-01 -2.26106524e-03 -5.94639461e-02] [ 2.70769925e-02 2.27725286e-03 9.99630757e-01 -2.65804621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.883133365 meters Centerline goodness : 0.155444 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99635653e-01 6.13969733e-04 -2.69848915e-02 -1.95626230e+00] [-6.81449845e-04 9.99996664e-01 -2.49153775e-03 -5.78535548e-02] [ 2.69832717e-02 2.50901881e-03 9.99632736e-01 -2.66225324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91313336499996 meters Centerline goodness : 0.140711 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99634331e-01 5.68712453e-04 -2.70347906e-02 -1.95571984e+00] [-6.44686016e-04 9.99995868e-01 -2.80158160e-03 -5.60481758e-02] [ 2.70330855e-02 2.81798611e-03 9.99630567e-01 -2.66965319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.943133365 meters Centerline goodness : 0.158616 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99630393e-01 5.03252000e-04 -2.71813371e-02 -1.95501996e+00] [-5.90586958e-04 9.99994689e-01 -3.20511625e-03 -5.37911150e-02] [ 2.71795798e-02 3.21998456e-03 9.99625381e-01 -2.67630800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97313336499997 meters Centerline goodness : 0.158616 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99630393e-01 5.03252000e-04 -2.71813371e-02 -1.95501996e+00] [-5.90586958e-04 9.99994689e-01 -3.20511625e-03 -5.37911150e-02] [ 2.71795798e-02 3.21998456e-03 9.99625381e-01 -2.67630800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.003133365 meters Centerline goodness : 0.138502 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99621671e-01 4.53889843e-04 -2.75010549e-02 -1.95418940e+00] [-5.58001835e-04 9.99992707e-01 -3.77818938e-03 -5.01728968e-02] [ 2.74991394e-02 3.79210562e-03 9.99614634e-01 -2.67949520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03313336499997 meters Centerline goodness : 0.110021 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.05, Z:-0.27 [[ 9.99622698e-01 3.86134693e-04 -2.74647560e-02 -1.95461139e+00] [-4.94834505e-04 9.99992072e-01 -3.95110633e-03 -4.92203489e-02] [ 2.74630126e-02 3.96320608e-03 9.99614964e-01 -2.67530242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.063133365 meters Centerline goodness : 0.144740 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99627629e-01 3.58294097e-04 -2.72850514e-02 -1.95535613e+00] [-4.66070564e-04 9.99992115e-01 -3.94376176e-03 -4.92562283e-02] [ 2.72834232e-02 3.95500998e-03 9.99619914e-01 -2.66998999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09313336499997 meters Centerline goodness : 0.131885 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99634944e-01 2.79567036e-04 -2.70166724e-02 -1.95627226e+00] [-3.83502752e-04 9.99992546e-01 -3.84199057e-03 -5.01207335e-02] [ 2.70153969e-02 3.85094899e-03 9.99627600e-01 -2.66490118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.123133365 meters Centerline goodness : 0.142848 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99636321e-01 1.43961826e-04 -2.69667239e-02 -1.95648881e+00] [-2.44705270e-04 9.99993004e-01 -3.73258011e-03 -5.13955319e-02] [ 2.69659979e-02 3.73782155e-03 9.99629363e-01 -2.66264845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.153133365 meters Centerline goodness : 0.139339 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.05, Z:-0.27 [[ 9.99635320e-01 -5.16432533e-05 -2.70041708e-02 -1.95630412e+00] [-4.68345789e-05 9.99993352e-01 -3.64611859e-03 -5.28204162e-02] [ 2.70041796e-02 3.64605366e-03 9.99628671e-01 -2.66314475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.183133365 meters Centerline goodness : 0.069934 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99628821e-01 -4.46666029e-04 -2.72400510e-02 -1.95568786e+00] [ 3.53539829e-04 9.99994078e-01 -3.42344371e-03 -5.57330451e-02] [ 2.72414188e-02 3.41254256e-03 9.99623059e-01 -2.66238929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.213133365 meters Centerline goodness : 0.134394 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.06, Z:-0.27 [[ 9.99622389e-01 -3.39721946e-04 -2.74766134e-02 -1.95523664e+00] [ 2.56781382e-04 9.99995401e-01 -3.02205968e-03 -5.77658436e-02] [ 2.74775137e-02 3.01386303e-03 9.99617878e-01 -2.66027624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.243133365 meters Centerline goodness : 0.130721 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99618166e-01 -2.36041773e-04 -2.76308984e-02 -1.95491583e+00] [ 1.64006772e-04 9.99996582e-01 -2.60928242e-03 -6.00263764e-02] [ 2.76314199e-02 2.60375445e-03 9.99614788e-01 -2.65914033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.273133365 meters Centerline goodness : 0.153273 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.06, Z:-0.27 [[ 9.99612459e-01 -2.03029393e-04 -2.78368613e-02 -1.95453152e+00] [ 1.39463975e-04 9.99997379e-01 -2.28542051e-03 -6.21494944e-02] [ 2.78372523e-02 2.28065258e-03 9.99609867e-01 -2.65705545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.303133365 meters Centerline goodness : 0.138786 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.07, Z:-0.27 [[ 9.99551045e-01 -1.70560458e-03 -2.99131953e-02 -1.99961489e+00] [ 1.63809070e-03 9.99996056e-01 -2.28135372e-03 -6.78001081e-02] [ 2.99169684e-02 2.23132897e-03 9.99549897e-01 -2.65800541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.333133365 meters Centerline goodness : 0.118689 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.07, Z:-0.27 [[ 9.99546331e-01 -1.55053582e-03 -3.00787047e-02 -1.99942316e+00] [ 1.49494838e-03 9.99997133e-01 -1.87046640e-03 -6.98464104e-02] [ 3.00815187e-02 1.82465171e-03 9.99545783e-01 -2.65484499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.363133365 meters Centerline goodness : 0.140167 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.07, Z:-0.27 [[ 9.99546372e-01 -1.13584501e-03 -3.00958438e-02 -1.99951870e+00] [ 1.10766070e-03 9.99998932e-01 -9.53140502e-04 -7.37507223e-02] [ 3.00968943e-02 9.19372147e-04 9.99546563e-01 -2.65222489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.393133365 meters Centerline goodness : 0.137327 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.08, Z:-0.27 [[ 9.99547479e-01 -9.86127409e-04 -3.00643421e-02 -1.99960674e+00] [ 9.70703520e-04 9.99999390e-01 -5.27620088e-04 -7.59360227e-02] [ 3.00648441e-02 4.98197766e-04 9.99547826e-01 -2.65122925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.423133365 meters Centerline goodness : 0.137896 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.08, Z:-0.26 [[ 9.99551921e-01 -9.25204050e-04 -2.99182422e-02 -2.00008255e+00] [ 9.20389824e-04 9.99999561e-01 -1.74683656e-04 -7.82455395e-02] [ 2.99183906e-02 1.47068939e-04 9.99552334e-01 -2.64872136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.453133365 meters Centerline goodness : 0.144803 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.08, Z:-0.26 [[ 9.99550958e-01 -8.48136437e-04 -2.99526747e-02 -2.00018955e+00] [ 8.54440945e-04 9.99999615e-01 1.97683665e-04 -8.05896948e-02] [ 2.99524955e-02 -2.23187688e-04 9.99551298e-01 -2.64559684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48313336499996 meters Centerline goodness : 0.153154 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99547460e-01 -5.49108212e-04 -3.00761294e-02 -2.00005529e+00] [ 5.82037186e-04 9.99999241e-01 1.08611037e-03 -8.50064878e-02] [ 3.00755102e-02 -1.10312429e-03 9.99547021e-01 -2.64281147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.513133365 meters Centerline goodness : 0.137139 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99546707e-01 -4.10110753e-04 -3.01033482e-02 -2.00010792e+00] [ 4.56615479e-04 9.99998713e-01 1.53797753e-03 -8.73640574e-02] [ 3.01026787e-02 -1.55102603e-03 9.99545608e-01 -2.64070479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54313336499996 meters Centerline goodness : 0.153124 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99551998e-01 -3.26409469e-04 -2.99281788e-02 -2.00070720e+00] [ 3.86571530e-04 9.99997916e-01 2.00445063e-03 -9.01616412e-02] [ 2.99274621e-02 -2.01512202e-03 9.99550042e-01 -2.63702942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.573133365 meters Centerline goodness : 0.143377 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.09, Z:-0.26 [[ 9.99558644e-01 -3.43956279e-04 -2.97051943e-02 -2.00147447e+00] [ 4.16410718e-04 9.99996954e-01 2.43296512e-03 -9.32943828e-02] [ 2.97042669e-02 -2.44426088e-03 9.99555742e-01 -2.63209795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60313336499996 meters Centerline goodness : 0.156983 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.10, Z:-0.26 [[ 9.99554553e-01 -3.27356865e-04 -2.98427205e-02 -2.00123867e+00] [ 4.14957149e-04 9.99995624e-01 2.92925287e-03 -9.65773682e-02] [ 2.98416310e-02 -2.94033149e-03 9.99550315e-01 -2.63041568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 285.66313336499996 meters Centerline goodness : 0.120853 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.11, Z:-0.27 [[ 0.9995274 -0.00253037 -0.03063609 -1.99830594] [ 0.00262693 0.99999171 0.00311198 -0.11190895] [ 0.03062796 -0.00319099 0.99952576 -0.26550759] [ 0. 0. 0. 1. ]] SLAMing on 285.693133365 meters Centerline goodness : 0.174699 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.12, Z:-0.27 [[ 0.99951627 -0.00264078 -0.0309878 -1.99757298] [ 0.00275773 0.99998923 0.00373203 -0.115514 ] [ 0.03097761 -0.00381568 0.9995128 -0.26577766] [ 0. 0. 0. 1. ]] SLAMing on 285.72313336499997 meters Centerline goodness : 0.144392 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.13, Z:-0.27 [[ 0.99950279 -0.00574138 -0.0310033 -1.99803635] [ 0.00582011 0.99998006 0.00244974 -0.12566775] [ 0.03098862 -0.00262897 0.99951628 -0.26597594] [ 0. 0. 0. 1. ]] SLAMing on 285.753133365 meters Centerline goodness : 0.110089 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.13, Z:-0.27 [[ 0.99951154 -0.00574424 -0.03071955 -1.99907369] [ 0.00584771 0.99997752 0.00327962 -0.12944943] [ 0.03070002 -0.00345766 0.99952266 -0.26586846] [ 0. 0. 0. 1. ]] SLAMing on 285.78313336499997 meters Centerline goodness : 0.096269 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.13, Z:-0.27 [[ 0.999521 -0.00573128 -0.03041243 -2.00010393] [ 0.00585763 0.99997457 0.00406709 -0.1330172 ] [ 0.03038834 -0.00424329 0.99952916 -0.26585166] [ 0. 0. 0. 1. ]] SLAMing on 285.813133365 meters Centerline goodness : 0.115773 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99952359 -0.00561293 -0.03034933 -2.00032957] [ 0.00576194 0.99997176 0.00482467 -0.13614925] [ 0.03032139 -0.00499724 0.99952771 -0.26607762] [ 0. 0. 0. 1. ]] SLAMing on 285.84313336499997 meters Centerline goodness : 0.110310 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99951808 -0.00541178 -0.03056675 -1.99976273] [ 0.00558538 0.99996874 0.00559659 -0.13922391] [ 0.0305355 -0.00576462 0.99951706 -0.26645751] [ 0. 0. 0. 1. ]] SLAMing on 285.873133365 meters Centerline goodness : 0.112640 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99951219 -0.00519048 -0.03079693 -1.99900892] [ 0.00538327 0.99996641 0.00618034 -0.14210977] [ 0.03076382 -0.00634311 0.99950655 -0.26673132] [ 0. 0. 0. 1. ]] SLAMing on 285.903133365 meters Centerline goodness : 0.094552 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.14, Z:-0.27 [[ 0.99950505 -0.00487301 -0.0310791 -1.998266 ] [ 0.00509009 0.99996317 0.00690968 -0.14465048] [ 0.03104428 -0.00706446 0.99949304 -0.26703774] [ 0. 0. 0. 1. ]] SLAMing on 285.933133365 meters Centerline goodness : 0.144145 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.15, Z:-0.27 [[ 9.99497847e-01 1.95276561e-03 -3.16265646e-02 -1.97550157e+00] [-1.80675846e-03 9.99987582e-01 4.64451879e-03 -1.51192704e-01] [ 3.16352416e-02 -4.58504497e-03 9.99488964e-01 -2.66965759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.963133365 meters Centerline goodness : 0.093391 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.15, Z:-0.27 [[ 9.99492204e-01 1.95552410e-03 -3.18042414e-02 -1.97494831e+00] [-1.80262040e-03 9.99986684e-01 4.83561354e-03 -1.52733661e-01] [ 3.18132740e-02 -4.77582706e-03 9.99482420e-01 -2.67155932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.993133365 meters Centerline goodness : 0.040647 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.15, Z:-0.27 [[ 9.99491699e-01 2.03494433e-03 -3.18151238e-02 -1.97493440e+00] [-1.87223573e-03 9.99985021e-01 5.14314441e-03 -1.54558372e-01] [ 3.18251133e-02 -5.08096473e-03 9.99480538e-01 -2.67138064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.023133365 meters Centerline goodness : 0.094379 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 9.99493322e-01 2.12840726e-03 -3.17579782e-02 -1.97516202e+00] [-1.95517955e-03 9.99983048e-01 5.48467764e-03 -1.56358993e-01] [ 3.17691135e-02 -5.41980613e-03 9.99480540e-01 -2.67005645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.053133365 meters Centerline goodness : 0.041099 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 0.99949761 0.00222973 -0.03161589 -1.97567467] [-0.0020464 0.99998091 0.00582987 -0.15804729] [ 0.03162829 -0.00576225 0.99948309 -0.26674475] [ 0. 0. 0. 1. ]] SLAMing on 286.083133365 meters Centerline goodness : 0.113839 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 0.99949491 0.00222625 -0.0317014 -1.97567717] [-0.002026 0.9999778 0.0063474 -0.16139258] [ 0.03171482 -0.00627996 0.99947723 -0.26637258] [ 0. 0. 0. 1. ]] SLAMing on 286.113133365 meters Centerline goodness : 0.094838 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.16, Z:-0.27 [[ 0.99948732 0.00225377 -0.03193778 -1.97506327] [-0.0020448 0.9999763 0.0065742 -0.1628706 ] [ 0.03195184 -0.00650552 0.99946824 -0.26647754] [ 0. 0. 0. 1. ]] SLAMing on 286.143133365 meters Centerline goodness : 0.111037 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.16, Z:-0.27 [[ 0.99948291 0.00224816 -0.03207577 -1.97454295] [-0.00203396 0.99997542 0.00670916 -0.16387467] [ 0.03209007 -0.00664045 0.99946292 -0.26677745] [ 0. 0. 0. 1. ]] SLAMing on 286.173133365 meters Centerline goodness : 0.144455 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.16, Z:-0.27 [[ 0.9994807 0.00228836 -0.03214177 -1.9742971 ] [-0.00206883 0.99997432 0.00686178 -0.16478264] [ 0.03215665 -0.00679172 0.99945977 -0.26691541] [ 0. 0. 0. 1. ]] SLAMing on 286.203133365 meters Centerline goodness : 0.092948 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.16, Z:-0.27 [[ 0.99953742 0.00338193 -0.0302244 -1.93152404] [-0.00319319 0.99997511 0.00629092 -0.16454202] [ 0.03024492 -0.00619149 0.99952334 -0.26576785] [ 0. 0. 0. 1. ]] SLAMing on 286.23313336499996 meters Centerline goodness : 0.122244 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.17, Z:-0.26 [[ 0.99954864 0.00350518 -0.02983662 -1.93295602] [-0.00330912 0.99997263 0.00661799 -0.16600796] [ 0.029859 -0.00651627 0.99953288 -0.26491915] [ 0. 0. 0. 1. ]] SLAMing on 286.263133365 meters Centerline goodness : 0.155044 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99956624 -0.00376801 -0.02920842 -1.9137638 ] [ 0.00399119 0.99996326 0.00758628 -0.16261561] [ 0.02917876 -0.00769957 0.99954455 -0.26314924] [ 0. 0. 0. 1. ]] SLAMing on 286.29313336499996 meters Centerline goodness : 0.111735 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99956789 -0.0037185 -0.02915833 -1.91399237] [ 0.00394433 0.99996264 0.00769125 -0.16303935] [ 0.02912865 -0.00780293 0.99954521 -0.26296544] [ 0. 0. 0. 1. ]] SLAMing on 286.323133365 meters Centerline goodness : 0.161103 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99956413 -0.00371067 -0.02928786 -1.91357911] [ 0.00393779 0.9999626 0.00770074 -0.16300821] [ 0.02925819 -0.00781271 0.99954135 -0.26315999] [ 0. 0. 0. 1. ]] SLAMing on 286.35313336499996 meters Centerline goodness : 0.168337 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.9995583 -0.00376646 -0.02947918 -1.91303293] [ 0.00399325 0.99996286 0.00763795 -0.16285579] [ 0.02944932 -0.0077523 0.99953621 -0.26334866] [ 0. 0. 0. 1. ]] SLAMing on 286.383133365 meters Centerline goodness : 0.157816 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.16, Z:-0.26 [[ 0.99955452 -0.00384107 -0.02959733 -1.91279051] [ 0.00406592 0.9999633 0.00754056 -0.1625662 ] [ 0.02956728 -0.00765754 0.99953346 -0.2633197 ] [ 0. 0. 0. 1. ]] SLAMing on 286.41313336499996 meters Centerline goodness : 0.094446 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.17, Z:-0.26 [[ 0.99958805 0.00475853 -0.02830354 -1.89436913] [-0.00458048 0.99996933 0.00635203 -0.16535722] [ 0.0283329 -0.00621977 0.99957919 -0.26180447] [ 0. 0. 0. 1. ]] SLAMing on 286.443133365 meters Centerline goodness : 0.150598 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.16, Z:-0.26 [[ 0.99959764 0.00476574 -0.02796143 -1.895466 ] [-0.00459151 0.99996966 0.00629209 -0.16478154] [ 0.02799056 -0.00616118 0.9995892 -0.26135834] [ 0. 0. 0. 1. ]] SLAMing on 286.47313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 286.503133365 meters Centerline goodness : 0.110720 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.16, Z:-0.26 [[ 0.99966117 -0.00236584 -0.02592213 -1.87764342] [ 0.00255565 0.99997015 0.00729176 -0.158717 ] [ 0.02590411 -0.00735554 0.99963737 -0.25911723] [ 0. 0. 0. 1. ]] SLAMing on 286.53313336499997 meters Centerline goodness : 0.095967 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.16, Z:-0.26 [[ 0.99966002 -0.00246242 -0.02595719 -1.87746956] [ 0.00264645 0.99997159 0.00705761 -0.15758063] [ 0.02593907 -0.00712391 0.99963814 -0.25927498] [ 0. 0. 0. 1. ]] SLAMing on 286.563133365 meters Centerline goodness : 0.095498 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.15, Z:-0.26 [[ 0.99964788 -0.00269294 -0.02639801 -1.87581167] [ 0.00286334 0.9999753 0.00641947 -0.15421805] [ 0.02638007 -0.0064928 0.9996309 -0.26036179] [ 0. 0. 0. 1. ]] SLAMing on 286.59313336499997 meters Centerline goodness : 0.094647 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.15, Z:-0.26 [[ 0.99964367 -0.00280393 -0.0265455 -1.87537628] [ 0.00296809 0.9999767 0.00614695 -0.1528271 ] [ 0.02652764 -0.00622355 0.99962871 -0.26056797] [ 0. 0. 0. 1. ]] SLAMing on 286.623133365 meters Centerline goodness : 0.227441 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.15, Z:-0.26 [[ 0.99964279 -0.00292127 -0.0265662 -1.87552238] [ 0.00307958 0.99997773 0.00592019 -0.15176666] [ 0.02654831 -0.00599988 0.99962953 -0.26031182] [ 0. 0. 0. 1. ]] SLAMing on 286.653133365 meters Centerline goodness : 0.112605 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.15, Z:-0.26 [[ 0.99968534 0.00220709 -0.02498686 -1.85474502] [-0.00215306 0.99999529 0.00218891 -0.15222504] [ 0.02499158 -0.00213443 0.99968538 -0.26030808] [ 0. 0. 0. 1. ]] SLAMing on 286.683133365 meters Centerline goodness : 0.111031 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.15, Z:-0.26 [[ 0.99967879 0.00192117 -0.02527121 -1.85400053] [-0.00186863 0.99999604 0.00210255 -0.15268934] [ 0.02527515 -0.00205466 0.99967842 -0.26055618] [ 0. 0. 0. 1. ]] SLAMing on 286.713133365 meters Centerline goodness : 0.115792 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.15, Z:-0.26 [[ 9.99663971e-01 1.63977895e-03 -2.58699774e-02 -1.85242367e+00] [-1.58482158e-03 9.99996444e-01 2.14472883e-03 -1.53853973e-01] [ 2.58734023e-02 -2.10300884e-03 9.99663015e-01 -2.60988839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.743133365 meters Centerline goodness : 0.117608 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.16, Z:-0.26 [[ 9.99656623e-01 1.45220171e-03 -2.61634632e-02 -1.85149856e+00] [-1.39314911e-03 9.99996441e-01 2.27515001e-03 -1.55180283e-01] [ 2.61666741e-02 -2.23791918e-03 9.99655089e-01 -2.61491624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.773133365 meters Centerline goodness : 0.118572 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.15, Z:-0.26 [[ 0.99961669 -0.00626411 -0.02696731 -1.83092242] [ 0.00635108 0.9999749 0.0031405 -0.15351346] [ 0.02694696 -0.00331057 0.99963138 -0.2599254 ] [ 0. 0. 0. 1. ]] SLAMing on 286.803133365 meters Centerline goodness : 0.121356 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.16, Z:-0.26 [[ 9.99642459e-01 6.90987928e-04 -2.67297094e-02 -1.81060387e+00] [-6.63555032e-04 9.99999244e-01 1.03516361e-03 -1.57630008e-01] [ 2.67304045e-02 -1.01705687e-03 9.99642162e-01 -2.59117762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.833133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 286.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 286.893133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 286.923133365 meters Centerline goodness : 0.211789 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.15, Z:-0.26 [[ 9.99687128e-01 2.28364700e-03 -2.49084423e-02 -1.81753264e+00] [-2.23867720e-03 9.99995814e-01 1.83313968e-03 -1.51232765e-01] [ 2.49125243e-02 -1.77680418e-03 9.99688056e-01 -2.55793800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.953133365 meters Centerline goodness : 0.172568 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.15, Z:-0.26 [[ 9.99685576e-01 2.69893264e-03 -2.49291884e-02 -1.81670347e+00] [-2.65869749e-03 9.99995109e-01 1.64698134e-03 -1.45361668e-01] [ 2.49335116e-02 -1.58018432e-03 9.99687863e-01 -2.56693515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98313336499996 meters Centerline goodness : 0.126673 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.14, Z:-0.26 [[ 9.99677937e-01 2.55263119e-03 -2.52488809e-02 -1.81547640e+00] [-2.52314647e-03 9.99996097e-01 1.19955269e-03 -1.43079276e-01] [ 2.52518444e-02 -1.13545973e-03 9.99680476e-01 -2.57410025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 287.04313336499996 meters Centerline goodness : 0.225924 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.14, Z:-0.26 [[ 9.99667296e-01 2.33987050e-03 -2.56870028e-02 -1.81406099e+00] [-2.32657773e-03 9.99997144e-01 5.47363989e-04 -1.39682724e-01] [ 2.56882102e-02 -4.87419070e-04 9.99669885e-01 -2.58084833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.073133365 meters Centerline goodness : 0.117181 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.14, Z:-0.26 [[ 9.99703689e-01 3.31687040e-03 -2.41149878e-02 -1.77043881e+00] [-3.31900961e-03 9.99994491e-01 -4.86845249e-05 -1.38023177e-01] [ 2.41146935e-02 1.28707975e-04 9.99709190e-01 -2.57463413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10313336499996 meters Centerline goodness : 0.127460 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.14, Z:-0.26 [[ 9.99701541e-01 3.21409841e-03 -2.42177218e-02 -1.77007505e+00] [-3.22176001e-03 9.99994772e-01 -2.77352346e-04 -1.36908093e-01] [ 2.42167037e-02 3.55293256e-04 9.99706669e-01 -2.57664575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.133133365 meters Centerline goodness : 0.128750 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.14, Z:-0.26 [[ 9.99690004e-01 3.02102434e-03 -2.47137398e-02 -1.76838538e+00] [-3.03674107e-03 9.99995210e-01 -5.98445273e-04 -1.35418759e-01] [ 2.47118135e-02 6.73308986e-04 9.99694390e-01 -2.58639755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16313336499996 meters Centerline goodness : 0.136125 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99687103e-01 2.96473161e-03 -2.48376218e-02 -1.76790809e+00] [-2.98253572e-03 9.99995321e-01 -6.79805524e-04 -1.34737439e-01] [ 2.48354902e-02 7.53671909e-04 9.99691268e-01 -2.58921521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.193133365 meters Centerline goodness : 0.120162 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99692385e-01 2.97191145e-03 -2.46232219e-02 -1.76856861e+00] [-2.98921288e-03 9.99995311e-01 -6.65868780e-04 -1.34411118e-01] [ 2.46211276e-02 7.39268000e-04 9.99696581e-01 -2.58757397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22313336499997 meters Centerline goodness : 0.092036 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99700598e-01 2.92072439e-03 -2.42936928e-02 -1.76973802e+00] [-2.93882867e-03 9.99995430e-01 -7.09556076e-04 -1.34108639e-01] [ 2.42915093e-02 7.80738634e-04 9.99704613e-01 -2.58168271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.253133365 meters Centerline goodness : 0.148584 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.13, Z:-0.26 [[ 9.99710879e-01 2.74610015e-03 -2.38875810e-02 -1.77112613e+00] [-2.76547746e-03 9.99995873e-01 -7.78190366e-04 -1.33968902e-01] [ 2.38853454e-02 8.44025942e-04 9.99714348e-01 -2.57520439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28313336499997 meters Centerline goodness : 0.123846 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99690511e-01 -5.75400675e-03 -2.42027642e-02 -1.78954685e+00] [ 5.76805208e-03 9.99983234e-01 5.10547260e-04 -1.28515805e-01] [ 2.41994208e-02 -6.49992056e-04 9.99706940e-01 -2.59030651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.313133365 meters Centerline goodness : 0.118541 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99687066e-01 -5.77835993e-03 -2.43388818e-02 -1.78922137e+00] [ 5.79203066e-03 9.99983105e-01 4.91223124e-04 -1.28048532e-01] [ 2.43356322e-02 -6.32040953e-04 9.99703645e-01 -2.59101420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34313336499997 meters Centerline goodness : 0.107042 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99685990e-01 -5.79941284e-03 -2.43780258e-02 -1.78918712e+00] [ 5.81134095e-03 9.99983026e-01 4.18480363e-04 -1.27526803e-01] [ 2.43751851e-02 -5.60017976e-04 9.99702724e-01 -2.59033281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.373133365 meters Centerline goodness : 0.107745 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99684002e-01 -5.89191738e-03 -2.44373135e-02 -1.78907596e+00] [ 5.89873235e-03 9.99982581e-01 2.06799034e-04 -1.26469360e-01] [ 2.44356694e-02 -3.50882857e-04 9.99701343e-01 -2.59014447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.403133365 meters Centerline goodness : 0.135725 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.13, Z:-0.26 [[ 9.99681790e-01 -6.01543140e-03 -2.44976034e-02 -1.78888643e+00] [ 6.01544606e-03 9.99981904e-01 -7.30950112e-05 -1.25074441e-01] [ 2.44975998e-02 -7.42922600e-05 9.99699886e-01 -2.59059532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.433133365 meters Centerline goodness : 0.146881 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.12, Z:-0.26 [[ 9.99682959e-01 -6.19274432e-03 -2.44055468e-02 -1.78884980e+00] [ 6.17799882e-03 9.99980685e-01 -6.79540818e-04 -1.21856235e-01] [ 2.44092836e-02 5.28547936e-04 9.99701909e-01 -2.59478390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.463133365 meters Centerline goodness : 0.122096 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.12, Z:-0.26 [[ 9.99713450e-01 2.44079508e-03 -2.38130108e-02 -1.76958628e+00] [-2.48208225e-03 9.99995467e-01 -1.70440410e-03 -1.23373919e-01] [ 2.38087428e-02 1.76302155e-03 9.99714977e-01 -2.58372716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.493133365 meters Centerline goodness : 0.105750 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.12, Z:-0.26 [[ 9.99671014e-01 1.77683322e-03 -2.55872288e-02 -1.81521824e+00] [-1.81268171e-03 9.99997408e-01 -1.37790420e-03 -1.19908133e-01] [ 2.55847142e-02 1.42383239e-03 9.99671644e-01 -2.58332423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.523133365 meters Centerline goodness : 0.104518 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.12, Z:-0.26 [[ 9.99667889e-01 1.40932771e-03 -2.57317851e-02 -1.81462045e+00] [-1.46168962e-03 9.99996899e-01 -2.01621615e-03 -1.17306015e-01] [ 2.57288638e-02 2.05315843e-03 9.99666850e-01 -2.58745412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.553133365 meters Centerline goodness : 0.114012 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.12, Z:-0.26 [[ 9.99661499e-01 1.22311273e-03 -2.59882749e-02 -1.81352136e+00] [-1.28091856e-03 9.99996742e-01 -2.20777361e-03 -1.16521394e-01] [ 2.59854899e-02 2.24031514e-03 9.99659810e-01 -2.59613192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.583133365 meters Centerline goodness : 0.115428 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:-0.26 [[ 9.99620295e-01 -7.29432711e-03 -2.65717794e-02 -1.83153938e+00] [ 7.27275513e-03 9.99973141e-01 -9.08390887e-04 -1.10515267e-01] [ 2.65776918e-02 7.14795921e-04 9.99646495e-01 -2.61881471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.613133365 meters Centerline goodness : 0.139340 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.11, Z:-0.26 [[ 9.99621120e-01 -7.34706342e-03 -2.65261528e-02 -1.83153194e+00] [ 7.32315010e-03 9.99972687e-01 -9.98533146e-04 -1.09855835e-01] [ 2.65327646e-02 8.03899824e-04 9.99647621e-01 -2.62150007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.643133365 meters Centerline goodness : 0.114591 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99644683e-01 5.80824994e-04 -2.66490150e-02 -1.85200442e+00] [-6.22130727e-04 9.99998618e-01 -1.54172610e-03 -1.12084421e-01] [ 2.66480827e-02 1.55775747e-03 9.99643663e-01 -2.63438500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.673133365 meters Centerline goodness : 0.126853 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99641209e-01 5.17662728e-04 -2.67803251e-02 -1.85169382e+00] [-5.59842044e-04 9.99998615e-01 -1.56753762e-03 -1.11840893e-01] [ 2.67794765e-02 1.58196795e-03 9.99640114e-01 -2.63555405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.703133365 meters Centerline goodness : 0.139555 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99632856e-01 3.98330819e-04 -2.70923516e-02 -1.85072959e+00] [-4.39382602e-04 9.99998764e-01 -1.50931745e-03 -1.12176340e-01] [ 2.70917170e-02 1.52066722e-03 9.99631795e-01 -2.64081639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73313336499996 meters Centerline goodness : 0.108241 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99630556e-01 3.48052681e-04 -2.71777400e-02 -1.85051768e+00] [-3.87352039e-04 9.99998887e-01 -1.44076146e-03 -1.12786643e-01] [ 2.71772082e-02 1.45075653e-03 9.99629579e-01 -2.64200809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.763133365 meters Centerline goodness : 0.108712 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.11, Z:-0.26 [[ 9.99623716e-01 2.53002477e-04 -2.74292190e-02 -1.84978858e+00] [-2.91303366e-04 9.99998988e-01 -1.39236676e-03 -1.13414715e-01] [ 2.74288390e-02 1.39983305e-03 9.99622778e-01 -2.64498013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79313336499996 meters Centerline goodness : 0.105889 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.11, Z:-0.27 [[ 9.99557416e-01 -6.95291214e-04 -2.97403403e-02 -1.89415899e+00] [ 6.59675891e-04 9.99999054e-01 -1.20733745e-03 -1.12156762e-01] [ 2.97411516e-02 1.18718411e-03 9.99556929e-01 -2.65135796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.823133365 meters Centerline goodness : 0.115197 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.11, Z:-0.27 [[ 9.99558430e-01 -6.38435878e-04 -2.97075149e-02 -1.89419879e+00] [ 6.06650059e-04 9.99999234e-01 -1.07895958e-03 -1.12491284e-01] [ 2.97081809e-02 1.06046108e-03 9.99558052e-01 -2.65291250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85313336499996 meters Centerline goodness : 0.107743 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.11, Z:-0.27 [[ 0.99952773 -0.00728976 -0.02985274 -1.91576478] [ 0.00735137 0.99997107 0.00195471 -0.10996858] [ 0.02983763 -0.00217325 0.9995524 -0.26575724] [ 0. 0. 0. 1. ]] SLAMing on 287.883133365 meters Centerline goodness : 0.123939 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.11, Z:-0.27 [[ 0.99953351 -0.00729475 -0.02965708 -1.91634266] [ 0.00735667 0.99997098 0.00197909 -0.11025229] [ 0.02964178 -0.00219634 0.99955817 -0.26556239] [ 0. 0. 0. 1. ]] SLAMing on 287.91313336499996 meters Centerline goodness : 0.106199 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 9.99582417e-01 6.40478228e-04 -2.88891261e-02 -1.89905378e+00] [-6.32654114e-04 9.99999761e-01 2.79972006e-04 -1.14986266e-01] [ 2.88892985e-02 -2.61578270e-04 9.99582583e-01 -2.63292624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.943133365 meters Centerline goodness : 0.110506 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 9.99589339e-01 6.22113242e-04 -2.86490035e-02 -1.89989484e+00] [-6.17273377e-04 9.99999794e-01 1.77780253e-04 -1.14524898e-01] [ 2.86491082e-02 -1.60022979e-04 9.99589517e-01 -2.62829582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97313336499997 meters Centerline goodness : 0.105643 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 9.99595545e-01 6.46488653e-04 -2.84311029e-02 -1.90058885e+00] [-6.46472687e-04 9.99999791e-01 9.75336137e-06 -1.13313169e-01] [ 2.84311032e-02 8.63051490e-06 9.99595754e-01 -2.62520107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.003133365 meters Centerline goodness : 0.117130 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.11, Z:-0.26 [[ 0.99959538 0.00453434 -0.02808061 -1.90153948] [-0.00443802 0.99998406 0.00349152 -0.1112356 ] [ 0.02809599 -0.00336548 0.99959956 -0.26227704] [ 0. 0. 0. 1. ]] SLAMing on 288.03313336499997 meters Centerline goodness : 0.128834 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.10, Z:-0.26 [[ 9.99616834e-01 -1.91067365e-03 -2.76140317e-02 -1.92317329e+00] [ 2.07430255e-03 9.99980454e-01 5.89814093e-03 -1.04140098e-01] [ 2.76022226e-02 -5.95316082e-03 9.99601259e-01 -2.63160890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.063133365 meters Centerline goodness : 0.108506 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.10, Z:-0.26 [[ 0.99961554 -0.00207679 -0.02764881 -1.9229991 ] [ 0.00222489 0.99998334 0.00532673 -0.10127989] [ 0.02763728 -0.0053862 0.99960351 -0.26324853] [ 0. 0. 0. 1. ]] SLAMing on 288.09313336499997 meters Centerline goodness : 0.111609 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.10, Z:-0.26 [[ 0.99961245 -0.00227121 -0.027745 -1.92281013] [ 0.00240354 0.99998589 0.00473705 -0.09836346] [ 0.02773385 -0.0048019 0.99960381 -0.26319419] [ 0. 0. 0. 1. ]] SLAMing on 288.123133365 meters Centerline goodness : 0.105180 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99611917e-01 1.29306515e-03 -2.78270250e-02 -1.92285511e+00] [-1.08176264e-03 9.99970480e-01 7.60714302e-03 -9.37469698e-02] [ 2.78360401e-02 -7.57408858e-03 9.99583807e-01 -2.62984108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.153133365 meters Centerline goodness : 0.114145 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99611340e-01 1.13991164e-03 -2.78544515e-02 -1.92256312e+00] [-9.42582181e-04 9.99974376e-01 7.09640960e-03 -9.09150421e-02] [ 2.78618270e-02 -7.06739640e-03 9.99586800e-01 -2.63349707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.183133365 meters Centerline goodness : 0.138753 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99610021e-01 8.80666722e-04 -2.79111247e-02 -1.92219629e+00] [-6.99727359e-04 9.99978683e-01 6.49180109e-03 -8.80319602e-02] [ 2.79162469e-02 -6.46973924e-03 9.99589328e-01 -2.63734984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.213133365 meters Centerline goodness : 0.107622 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.09, Z:-0.26 [[ 9.99611030e-01 6.26695504e-04 -2.78818180e-02 -1.92202508e+00] [-4.61273443e-04 9.99982258e-01 5.93900884e-03 -8.55496444e-02] [ 2.78850453e-02 -5.92383761e-03 9.99593584e-01 -2.64149766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.243133365 meters Centerline goodness : 0.116663 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.08, Z:-0.26 [[ 9.99612851e-01 4.40165426e-04 -2.78200521e-02 -1.92207473e+00] [-2.86053814e-04 9.99984595e-01 5.54332453e-03 -8.35702813e-02] [ 2.78220635e-02 -5.53322040e-03 9.99597577e-01 -2.64310678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.273133365 meters Centerline goodness : 0.116057 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.08, Z:-0.26 [[ 0.99956997 -0.00703898 -0.02846625 -1.90331127] [ 0.00721951 0.99995444 0.00624404 -0.07515649] [ 0.028421 -0.00644687 0.99957525 -0.26179612] [ 0. 0. 0. 1. ]] SLAMing on 288.303133365 meters Centerline goodness : 0.119561 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 0.99957186 -0.00726579 -0.02834263 -1.90352895] [ 0.00743446 0.99995525 0.0058501 -0.07350543] [ 0.02829886 -0.00605831 0.99958115 -0.26196999] [ 0. 0. 0. 1. ]] SLAMing on 288.333133365 meters Centerline goodness : 0.125613 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 0.99957347 -0.00750374 -0.02822365 -1.90376938] [ 0.00765971 0.99995596 0.00542202 -0.07170696] [ 0.02818172 -0.0056359 0.99958693 -0.2621083 ] [ 0. 0. 0. 1. ]] SLAMing on 288.363133365 meters Centerline goodness : 0.445689 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.07, Z:-0.26 [[ 0.99957548 -0.00772947 -0.02809108 -1.90401593] [ 0.00787125 0.99995682 0.0049402 -0.06947997] [ 0.02805169 -0.00515921 0.99959316 -0.26220969] [ 0. 0. 0. 1. ]] SLAMing on 288.393133365 meters Centerline goodness : 0.097609 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.26 [[ 9.99651975e-01 2.92533291e-04 -2.63788440e-02 -1.88442830e+00] [-1.99050692e-04 9.99993692e-01 3.54640363e-03 -6.63242286e-02] [ 2.63797150e-02 -3.53991866e-03 9.99645727e-01 -2.62068906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.423133365 meters Centerline goodness : 0.120003 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.06, Z:-0.26 [[ 9.99649239e-01 2.74321097e-05 -2.64839213e-02 -1.88398322e+00] [ 4.90449464e-05 9.99995831e-01 2.88702484e-03 -6.30040537e-02] [ 2.64838901e-02 -2.88731109e-03 9.99645071e-01 -2.62329989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.453133365 meters Centerline goodness : 0.105256 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.06, Z:-0.26 [[ 9.99643281e-01 -2.35482454e-04 -2.67068281e-02 -1.88303002e+00] [ 2.93747947e-04 9.99997586e-01 2.17776800e-03 -5.93739532e-02] [ 2.67062508e-02 -2.18483623e-03 9.99640937e-01 -2.62919081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48313336499996 meters Centerline goodness : 0.099900 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.26 [[ 9.99631823e-01 1.10797099e-03 -2.71107201e-02 -1.88126849e+00] [-1.04222715e-03 9.99996482e-01 2.43902286e-03 -4.94687604e-02] [ 2.71133271e-02 -2.40986934e-03 9.99629461e-01 -2.63951596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.513133365 meters Centerline goodness : 0.245851 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.05, Z:-0.26 [[ 9.99639526e-01 9.52666647e-04 -2.68311299e-02 -1.88190459e+00] [-9.04501599e-04 9.99997958e-01 1.80719751e-03 -4.58107730e-02] [ 2.68327967e-02 -1.78227727e-03 9.99638347e-01 -2.63904630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54313336499996 meters Centerline goodness : 0.448046 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.26 [[ 9.99643340e-01 7.46681594e-04 -2.66952329e-02 -1.88220734e+00] [-7.15520662e-04 9.99999052e-01 1.17681763e-03 -4.22812201e-02] [ 2.66960863e-02 -1.15729691e-03 9.99642926e-01 -2.63875284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.573133365 meters Centerline goodness : 0.091321 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.26 [[ 9.99640667e-01 5.07204008e-04 -2.68007330e-02 -1.88189380e+00] [-4.92857361e-04 9.99999732e-01 5.41910940e-04 -3.90473278e-02] [ 2.68010007e-02 -5.28507275e-04 9.99640649e-01 -2.63932029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60313336499996 meters Centerline goodness : 0.446482 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.04, Z:-0.26 [[ 9.99636067e-01 2.65769603e-04 -2.69752388e-02 -1.88121594e+00] [-2.67180861e-04 9.99999963e-01 -4.87125159e-05 -3.62148549e-02] [ 2.69752249e-02 5.59020553e-05 9.99636101e-01 -2.64321612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.633133365 meters Centerline goodness : 0.105316 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99621153e-01 -9.36115442e-05 -2.75234794e-02 -1.87928262e+00] [ 6.98290540e-05 9.99999623e-01 -8.65039961e-04 -3.22549026e-02] [ 2.75235500e-02 8.62790305e-04 9.99620783e-01 -2.65314114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66313336499996 meters Centerline goodness : 0.094196 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99616030e-01 -1.90732493e-04 -2.77084018e-02 -1.87863499e+00] [ 1.60055716e-04 9.99999372e-01 -1.10934273e-03 -3.09671191e-02] [ 2.77085960e-02 1.10448189e-03 9.99615433e-01 -2.65657773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.693133365 meters Centerline goodness : 0.105289 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99617207e-01 -2.34959225e-04 -2.76655633e-02 -1.87850959e+00] [ 2.00530616e-04 9.99999202e-01 -1.24722503e-03 -3.00990893e-02] [ 2.76658343e-02 1.24119981e-03 9.99616457e-01 -2.66017933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72313336499997 meters Centerline goodness : 0.105698 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99620165e-01 -2.95311301e-04 -2.75579145e-02 -1.87882490e+00] [ 2.57630875e-04 9.99999027e-01 -1.37085831e-03 -2.94675406e-02] [ 2.75582925e-02 1.36323784e-03 9.99619269e-01 -2.65947913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.753133365 meters Centerline goodness : 0.093726 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99626767e-01 -3.27882296e-04 -2.73170210e-02 -1.87957432e+00] [ 2.89487383e-04 9.99998965e-01 -1.40947358e-03 -2.93447843e-02] [ 2.73174548e-02 1.40103959e-03 9.99625827e-01 -2.65683226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78313336499997 meters Centerline goodness : 0.093726 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.27 [[ 9.99626767e-01 -3.27882296e-04 -2.73170210e-02 -1.87957432e+00] [ 2.89487383e-04 9.99998965e-01 -1.40947358e-03 -2.93447843e-02] [ 2.73174548e-02 1.40103959e-03 9.99625827e-01 -2.65683226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.813133365 meters Centerline goodness : 0.189409 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.03, Z:-0.26 [[ 9.99638519e-01 -4.26193616e-04 -2.68821592e-02 -1.88116859e+00] [ 3.84681113e-04 9.99998726e-01 -1.54939245e-03 -2.88408497e-02] [ 2.68827853e-02 1.53849132e-03 9.99637409e-01 -2.64830350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84313336499997 meters Centerline goodness : 0.097708 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.03, Z:-0.27 [[ 9.99589682e-01 -6.84472742e-04 -2.86356259e-02 -1.92690850e+00] [ 6.36175568e-04 9.99998360e-01 -1.69568795e-03 -2.50816743e-02] [ 2.86367396e-02 1.67677489e-03 9.99588478e-01 -2.65172451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.873133365 meters Centerline goodness : 0.294969 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99594554e-01 -7.64305021e-04 -2.84630037e-02 -1.92724747e+00] [ 7.10323974e-04 9.99997930e-01 -1.90659648e-03 -2.40799215e-02] [ 2.84644020e-02 1.88560551e-03 9.99593028e-01 -2.65275642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.903133365 meters Centerline goodness : 0.097922 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99597467e-01 -8.38107892e-04 -2.83584424e-02 -1.92740381e+00] [ 7.78981595e-04 9.99997500e-01 -2.09594612e-03 -2.30950073e-02] [ 2.83601282e-02 2.07301173e-03 9.99595621e-01 -2.65384134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.933133365 meters Centerline goodness : 0.282517 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99595706e-01 -9.34040712e-04 -2.84174597e-02 -1.92727547e+00] [ 8.66666342e-04 9.99996785e-01 -2.38310376e-03 -2.15041553e-02] [ 2.84195943e-02 2.35751183e-03 9.99593302e-01 -2.65344675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.963133365 meters Centerline goodness : 0.098573 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.02, Z:-0.27 [[ 9.99581172e-01 -1.11507745e-03 -2.89177633e-02 -1.92564872e+00] [ 1.02827925e-03 9.99994922e-01 -3.01625035e-03 -1.77501578e-02] [ 2.89209798e-02 2.98525153e-03 9.99577243e-01 -2.65939408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.993133365 meters Centerline goodness : 0.450720 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99499951e-01 -8.27245076e-04 -3.16095564e-02 -1.96834491e+00] [ 7.38759384e-04 9.99995777e-01 -2.81090988e-03 -1.28035671e-02] [ 3.16117482e-02 2.78615243e-03 9.99496341e-01 -2.67550475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.023133365 meters Centerline goodness : 0.450308 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99499380e-01 -9.22048999e-04 -3.16249733e-02 -1.96807824e+00] [ 8.24981889e-04 9.99994910e-01 -3.08222929e-03 -1.13362512e-02] [ 3.16276543e-02 3.05459623e-03 9.99495053e-01 -2.67872328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.053133365 meters Centerline goodness : 0.106158 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99508004e-01 -1.03937387e-03 -3.13475507e-02 -1.96870206e+00] [ 9.34831297e-04 9.99993954e-01 -3.34942330e-03 -1.01110074e-02] [ 3.13508425e-02 3.31847072e-03 9.99502933e-01 -2.67914435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.083133365 meters Centerline goodness : 0.099493 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99510266e-01 -1.40663018e-03 -3.12609992e-02 -1.96873994e+00] [ 1.28815558e-03 9.99991914e-01 -3.80966962e-03 -8.68052295e-03] [ 3.12661052e-02 3.76753486e-03 9.99503995e-01 -2.68191454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.113133365 meters Centerline goodness : 0.120621 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99499363e-01 -1.49693885e-03 -3.16035287e-02 -1.96764400e+00] [ 1.37375148e-03 9.99991376e-01 -3.91925243e-03 -8.18275818e-03] [ 3.16091230e-02 3.87387491e-03 9.99492800e-01 -2.68683333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.143133365 meters Centerline goodness : 0.446669 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99488987e-01 -1.53316607e-03 -3.19282599e-02 -1.96651815e+00] [ 1.40670127e-03 9.99991078e-01 -3.98299096e-03 -7.70656083e-03] [ 3.19340816e-02 3.93604208e-03 9.99482227e-01 -2.69292327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.173133365 meters Centerline goodness : 0.093077 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99481698e-01 -1.56593698e-03 -3.21540572e-02 -1.96568484e+00] [ 1.43520951e-03 9.99990613e-01 -4.08833754e-03 -6.92573548e-03] [ 3.21601575e-02 4.04007074e-03 9.99474563e-01 -2.69786955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.203133365 meters Centerline goodness : 0.226183 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.01, Z:-0.27 [[ 9.99483381e-01 -1.65761011e-03 -3.20970868e-02 -1.96567430e+00] [ 1.51842238e-03 9.99989341e-01 -4.36034927e-03 -5.44988086e-03] [ 3.21039725e-02 4.30935969e-03 9.99475245e-01 -2.69971416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23313336499996 meters Centerline goodness : 0.091502 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.00, Z:-0.27 [[ 9.99485692e-01 -1.78077333e-03 -3.20184244e-02 -1.96590853e+00] [ 1.63055245e-03 9.99987545e-01 -4.71719985e-03 -3.67900065e-03] [ 3.20264259e-02 4.66256603e-03 9.99476147e-01 -2.69817789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.263133365 meters Centerline goodness : 0.106748 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.00, Z:-0.27 [[ 9.99485507e-01 -1.91249378e-03 -3.20166127e-02 -1.96607868e+00] [ 1.73953531e-03 9.99983749e-01 -5.42913033e-03 5.08939378e-04] [ 3.20264756e-02 5.37064305e-03 9.99472591e-01 -2.69392086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 289.323133365 meters Centerline goodness : 0.112396 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.00, Z:-0.27 [[ 9.99483653e-01 1.94398835e-03 -3.20725342e-02 -1.96604531e+00] [-2.01069627e-03 9.99995882e-01 -2.04778689e-03 3.01681314e-03] [ 3.20684212e-02 2.11121765e-03 9.99483446e-01 -2.69268625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35313336499996 meters Centerline goodness : 0.100411 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99487038e-01 1.79993913e-03 -3.19753083e-02 -1.96632675e+00] [-1.88528748e-03 9.99994740e-01 -2.63924695e-03 6.15858444e-03] [ 3.19703896e-02 2.69817576e-03 9.99485174e-01 -2.69034560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.383133365 meters Centerline goodness : 0.105070 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99491829e-01 1.67007315e-03 -3.18322810e-02 -1.96677697e+00] [-1.76877347e-03 9.99993715e-01 -3.07272900e-03 8.26039608e-03] [ 3.18269492e-02 3.12747162e-03 9.99488501e-01 -2.68782891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41313336499996 meters Centerline goodness : 0.107388 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99497660e-01 1.53223647e-03 -3.16556525e-02 -1.96730646e+00] [-1.64677401e-03 9.99992191e-01 -3.59247920e-03 1.09221370e-02] [ 3.16499008e-02 3.64280426e-03 9.99492378e-01 -2.68484881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.443133365 meters Centerline goodness : 0.106485 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.01, Z:-0.27 [[ 9.99497763e-01 1.47475646e-03 -3.16551361e-02 -1.96751735e+00] [-1.60550904e-03 9.99990284e-01 -4.10551275e-03 1.39478219e-02] [ 3.16487739e-02 4.15427342e-03 9.99490419e-01 -2.68051470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47313336499997 meters Centerline goodness : 0.414970 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.02, Z:-0.27 [[ 9.99483064e-01 5.13546427e-03 -3.17369002e-02 -1.96738771e+00] [-5.17850122e-03 9.99985780e-01 -1.27400655e-03 1.93145499e-02] [ 3.17299063e-02 1.43769755e-03 9.99495446e-01 -2.67853761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.503133365 meters Centerline goodness : 0.107834 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.02, Z:-0.27 [[ 9.99480616e-01 5.02205579e-03 -3.18320263e-02 -1.96713252e+00] [-5.08163089e-03 9.99985485e-01 -1.79092202e-03 2.23110756e-02] [ 3.18225701e-02 1.95175045e-03 9.99491628e-01 -2.67807107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53313336499997 meters Centerline goodness : 0.106055 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.999483 0.0048671 -0.03178124 -1.96718949] [-0.00494303 0.99998511 -0.00231097 0.02513717] [ 0.03176952 0.00246688 0.99949218 -0.26787777] [ 0. 0. 0. 1. ]] SLAMing on 289.563133365 meters Centerline goodness : 0.100125 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 9.99478874e-01 -2.64797513e-03 -3.21709164e-02 -1.94900553e+00] [ 2.60616274e-03 9.99995704e-01 -1.34155803e-03 3.19100804e-02] [ 3.21743306e-02 1.25701626e-03 9.99481482e-01 -2.65302578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59313336499997 meters Centerline goodness : 0.103053 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.26 [[ 9.99486762e-01 -2.79652962e-03 -3.19122613e-02 -1.94985751e+00] [ 2.74348815e-03 9.99994782e-01 -1.70576879e-03 3.37066989e-02] [ 3.19168650e-02 1.61734241e-03 9.99489219e-01 -2.64957933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.623133365 meters Centerline goodness : 0.097346 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.04, Z:-0.27 [[ 0.99949915 -0.00316148 -0.03148738 -1.95084448] [ 0.00309396 0.99999281 -0.00219297 0.03545118] [ 0.03149409 0.00209445 0.99950174 -0.2650127 ] [ 0. 0. 0. 1. ]] SLAMing on 289.653133365 meters Centerline goodness : 0.145590 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.04, Z:-0.27 [[ 0.99949088 -0.00324871 -0.03173995 -1.94999878] [ 0.00317991 0.99999248 -0.00221777 0.03542272] [ 0.03174692 0.00211571 0.9994937 -0.26544676] [ 0. 0. 0. 1. ]] SLAMing on 289.683133365 meters Centerline goodness : 0.106417 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.04, Z:-0.27 [[ 0.99947764 -0.00326894 -0.03215202 -1.94878235] [ 0.00320179 0.99999259 -0.00213955 0.03515727] [ 0.03215878 0.00203549 0.9994807 -0.26591622] [ 0. 0. 0. 1. ]] SLAMing on 289.713133365 meters Centerline goodness : 0.102434 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 0.99947149 -0.00326723 -0.03234288 -1.94807228] [ 0.00320243 0.99999276 -0.00205505 0.0349041 ] [ 0.03234936 0.00195039 0.99947472 -0.26636782] [ 0. 0. 0. 1. ]] SLAMing on 289.743133365 meters Centerline goodness : 0.105763 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 0.99946754 -0.00349623 -0.03244085 -1.9477364 ] [ 0.00342888 0.99999185 -0.00213129 0.0345806 ] [ 0.03244804 0.00201892 0.99947138 -0.26659744] [ 0. 0. 0. 1. ]] SLAMing on 289.773133365 meters Centerline goodness : 0.104272 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.03, Z:-0.27 [[ 0.99946321 -0.00354258 -0.03256907 -1.94741512] [ 0.00347725 0.99999183 -0.00206224 0.03389549] [ 0.03257611 0.00194789 0.99946736 -0.26668379] [ 0. 0. 0. 1. ]] SLAMing on 289.803133365 meters Centerline goodness : 0.104430 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.99944147 0.00450683 -0.03311247 -1.96716146] [-0.00461658 0.9999841 -0.00323896 0.03010163] [ 0.03309735 0.00339001 0.99944638 -0.26860308] [ 0. 0. 0. 1. ]] SLAMing on 289.833133365 meters Centerline goodness : 0.103478 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.99943779 0.00446995 -0.03322821 -1.96709077] [-0.00457855 0.99998442 -0.00319268 0.02953865] [ 0.03321342 0.00334303 0.99944269 -0.26835148] [ 0. 0. 0. 1. ]] SLAMing on 289.863133365 meters Centerline goodness : 0.106390 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.03, Z:-0.27 [[ 0.99943994 0.00446421 -0.03316437 -1.96753602] [-0.00457133 0.99998457 -0.00315484 0.02919611] [ 0.03314977 0.00330468 0.99944493 -0.26798257] [ 0. 0. 0. 1. ]] SLAMing on 289.893133365 meters Centerline goodness : 0.105560 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.03, Z:-0.27 [[ 9.99518479e-01 -1.27872443e-03 -3.10028285e-02 -1.99133961e+00] [ 1.25754889e-03 9.99998963e-01 -7.02508577e-04 3.45820973e-02] [ 3.10036947e-02 6.63182732e-04 9.99519050e-01 -2.67827865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.923133365 meters Centerline goodness : 0.131663 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99522484e-01 -1.31235460e-03 -3.08720200e-02 -1.99183746e+00] [ 1.28543436e-03 9.99998776e-01 -8.91825606e-04 3.56654916e-02] [ 3.08731526e-02 8.51715790e-04 9.99522948e-01 -2.67471457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.953133365 meters Centerline goodness : 0.104321 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99520747e-01 -1.37791342e-03 -3.09253666e-02 -1.99171124e+00] [ 1.34328698e-03 9.99998448e-01 -1.14042556e-03 3.69228195e-02] [ 3.09268900e-02 1.09833736e-03 9.99521046e-01 -2.67470846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98313336499996 meters Centerline goodness : 0.104431 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99512919e-01 -1.46783471e-03 -3.11732444e-02 -1.99098337e+00] [ 1.42406698e-03 9.99997969e-01 -1.42617111e-03 3.83775302e-02] [ 3.11752745e-02 1.38108366e-03 9.99512979e-01 -2.67674200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.013133365 meters Centerline goodness : 0.101556 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99466767e-01 2.92946379e-04 -3.26511322e-02 -1.98545009e+00] [-2.95064981e-04 9.99999955e-01 -6.00676521e-05 4.17766011e-02] [ 3.26511131e-02 6.96698277e-05 9.99466808e-01 -2.69913728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04313336499996 meters Centerline goodness : 0.104479 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.04, Z:-0.27 [[ 9.99464378e-01 1.63454795e-04 -3.27250675e-02 -1.98519611e+00] [-1.78439447e-04 9.99999881e-01 -4.54975250e-04 4.38399104e-02] [ 3.27249893e-02 4.60570998e-04 9.99464288e-01 -2.70007362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.073133365 meters Centerline goodness : 0.106060 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99463656e-01 -2.13559911e-05 -3.27475195e-02 -1.98517067e+00] [-7.43880234e-06 9.99999613e-01 -8.79174847e-04 4.58094362e-02] [ 3.27475256e-02 8.78946909e-04 9.99463269e-01 -2.69939939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10313336499996 meters Centerline goodness : 0.104988 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99464998e-01 -1.52101263e-04 -3.27061756e-02 -1.98542233e+00] [ 1.12951102e-04 9.99999275e-01 -1.19887083e-03 4.73992457e-02] [ 3.27063342e-02 1.19453523e-03 9.99464291e-01 -2.69703067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.133133365 meters Centerline goodness : 0.109515 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99466838e-01 -2.68156456e-04 -3.26491581e-02 -1.98568491e+00] [ 2.18974446e-04 9.99998836e-01 -1.50994542e-03 4.90552465e-02] [ 3.26495250e-02 1.50199105e-03 9.99465734e-01 -2.69467020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16313336499996 meters Centerline goodness : 0.102683 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99469620e-01 -3.69302009e-04 -3.25628922e-02 -1.98584093e+00] [ 3.10635984e-04 9.99998320e-01 -1.80666261e-03 5.07322465e-02] [ 3.25635047e-02 1.79558919e-03 9.99468056e-01 -2.69523400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.193133365 meters Centerline goodness : 0.090293 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.05, Z:-0.27 [[ 9.99472699e-01 -6.32418485e-04 -3.24642080e-02 -1.98606973e+00] [ 5.50607643e-04 9.99996651e-01 -2.52890999e-03 5.47816016e-02] [ 3.24656986e-02 2.50970145e-03 9.99469699e-01 -2.69450945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22313336499997 meters Centerline goodness : 0.101936 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.06, Z:-0.27 [[ 9.99472320e-01 -7.84456527e-04 -3.24725300e-02 -1.98599125e+00] [ 6.88027094e-04 9.99995321e-01 -2.98063689e-03 5.71449286e-02] [ 3.24747162e-02 2.95672209e-03 9.99468184e-01 -2.69499514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.253133365 meters Centerline goodness : 0.112904 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.06, Z:-0.27 [[ 9.99465040e-01 -9.35040070e-04 -3.26918899e-02 -1.98535391e+00] [ 8.23990954e-04 9.99993846e-01 -3.41014743e-03 5.94031631e-02] [ 3.26948773e-02 3.38138531e-03 9.99459660e-01 -2.69643909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28313336499997 meters Centerline goodness : 0.073095 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.06, Z:-0.27 [[ 9.99457242e-01 -1.06549505e-03 -3.29254620e-02 -1.98461804e+00] [ 9.40091692e-04 9.99992247e-01 -3.82395047e-03 6.17372238e-02] [ 3.29292812e-02 3.79092204e-03 9.99450495e-01 -2.69880808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.313133365 meters Centerline goodness : 0.074564 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.07, Z:-0.27 [[ 9.99473982e-01 2.13339102e-04 -3.24301237e-02 -1.98594387e+00] [-3.20770509e-04 9.99994479e-01 -3.30753763e-03 6.92025453e-02] [ 3.24292390e-02 3.31620044e-03 9.99468532e-01 -2.69471714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34313336499997 meters Centerline goodness : 0.108076 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.07, Z:-0.27 [[ 9.99477932e-01 1.93162550e-05 -3.23088744e-02 -1.98643036e+00] [-1.46242498e-04 9.99992282e-01 -3.92616721e-03 7.23504203e-02] [ 3.23085492e-02 3.92884241e-03 9.99470221e-01 -2.69070180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.373133365 meters Centerline goodness : 0.157127 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.08, Z:-0.27 [[ 9.99478902e-01 -1.35979844e-04 -3.22785758e-02 -1.98668862e+00] [-1.20015551e-05 9.99989492e-01 -4.58427031e-03 7.59017411e-02] [ 3.22788600e-02 4.58226885e-03 9.99468398e-01 -2.68697400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.403133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 290.433133365 meters Centerline goodness : 0.307525 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.08, Z:-0.27 [[ 0.99946798 0.00337461 -0.03244026 -1.98628073] [-0.00344365 0.99999192 -0.00207283 0.08260224] [ 0.032433 0.00218344 0.99947153 -0.26867169] [ 0. 0. 0. 1. ]] SLAMing on 290.463133365 meters Centerline goodness : 0.105187 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99451823e-01 6.96995355e-03 -3.23647059e-02 -1.98633493e+00] [-6.95348314e-03 9.99975631e-01 6.21426940e-04 8.85201791e-02] [ 3.23682485e-02 -3.96038851e-04 9.99475932e-01 -2.68660419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.493133365 meters Centerline goodness : 0.260728 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99453381e-01 6.76671875e-03 -3.23596987e-02 -1.98658043e+00] [-6.76896607e-03 9.99977089e-01 4.01024439e-05 9.13956184e-02] [ 3.23592287e-02 1.78961179e-04 9.99476287e-01 -2.68290870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.523133365 meters Centerline goodness : 0.116416 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99456548e-01 6.58195469e-03 -3.22999588e-02 -1.98691266e+00] [-6.59821779e-03 9.99978153e-01 -3.96938165e-04 9.33094881e-02] [ 3.22966405e-02 6.09844611e-04 9.99478141e-01 -2.67993375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.553133365 meters Centerline goodness : 0.114290 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.09, Z:-0.27 [[ 9.99458331e-01 6.39497977e-03 -3.22823274e-02 -1.98712219e+00] [-6.42344416e-03 9.99979067e-01 -7.78100050e-04 9.48079210e-02] [ 3.22766757e-02 9.85042305e-04 9.99478487e-01 -2.67723197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.583133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 290.613133365 meters Centerline goodness : 0.089291 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.10, Z:-0.27 [[ 9.99459835e-01 6.23127425e-03 -3.22677806e-02 -1.98731696e+00] [-6.27355432e-03 9.99979590e-01 -1.20920905e-03 9.68965628e-02] [ 3.22595871e-02 1.41098955e-03 9.99478528e-01 -2.67482787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.643133365 meters Centerline goodness : 0.131668 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.10, Z:-0.27 [[ 9.99504844e-01 -9.74483516e-05 -3.14651608e-02 -2.00611233e+00] [ 1.14903547e-04 9.99999841e-01 5.52939044e-04 1.04602364e-01] [ 3.14651019e-02 -5.56280711e-04 9.99504696e-01 -2.70002431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.673133365 meters Centerline goodness : 0.105839 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.11, Z:-0.27 [[ 9.99502540e-01 -9.95471408e-05 -3.15382636e-02 -2.00601797e+00] [ 1.11119931e-04 9.99999927e-01 3.65191951e-04 1.05764219e-01] [ 3.15382249e-02 -3.68514813e-04 9.99502479e-01 -2.69886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.703133365 meters Centerline goodness : 0.105839 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.11, Z:-0.27 [[ 9.99502540e-01 -9.95471408e-05 -3.15382636e-02 -2.00601797e+00] [ 1.11119931e-04 9.99999927e-01 3.65191951e-04 1.05764219e-01] [ 3.15382249e-02 -3.68514813e-04 9.99502479e-01 -2.69886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73313336499996 meters Centerline goodness : 0.106220 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.11, Z:-0.27 [[ 9.99427340e-01 6.54365821e-04 -3.38313947e-02 -2.05064765e+00] [-6.59025418e-04 9.99999775e-01 -1.26579064e-04 1.10091181e-01] [ 3.38313042e-02 1.48802326e-04 9.99427547e-01 -2.70389692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.763133365 meters Centerline goodness : 0.155113 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.11, Z:-0.27 [[ 9.99413826e-01 6.25411791e-04 -3.42288443e-02 -2.04972177e+00] [-6.39844990e-04 9.99999711e-01 -4.10715568e-04 1.11678836e-01] [ 3.42285776e-02 4.32375972e-04 9.99413937e-01 -2.70407237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79313336499996 meters Centerline goodness : 0.110014 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.11, Z:-0.27 [[ 9.99393611e-01 7.78538832e-04 -3.48109746e-02 -2.04825039e+00] [-7.99136328e-04 9.99999514e-01 -5.77785820e-04 1.13442352e-01] [ 3.48105079e-02 6.05254172e-04 9.99393747e-01 -2.70601454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.823133365 meters Centerline goodness : 0.107527 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.12, Z:-0.27 [[ 9.99376292e-01 1.05129339e-03 -3.52976246e-02 -2.04698326e+00] [-1.07633478e-03 9.99999182e-01 -6.90440919e-04 1.15525762e-01] [ 3.52968699e-02 7.28002346e-04 9.99376606e-01 -2.70768824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85313336499996 meters Centerline goodness : 0.112565 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.12, Z:-0.27 [[ 9.99383579e-01 4.29093073e-03 -3.48432167e-02 -2.04857116e+00] [-4.24786990e-03 9.99990120e-01 1.30977894e-03 1.22851698e-01] [ 3.48484927e-02 -1.16096211e-03 9.99391932e-01 -2.70433776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.883133365 meters Centerline goodness : 0.112503 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.13, Z:-0.27 [[ 9.99398476e-01 4.46855442e-03 -3.43906792e-02 -2.04995013e+00] [-4.44276612e-03 9.99989790e-01 8.26244523e-04 1.26321805e-01] [ 3.43940202e-02 -6.72957772e-04 9.99408124e-01 -2.70134849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91313336499996 meters Centerline goodness : 0.126351 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.13, Z:-0.27 [[ 9.99410476e-01 4.72990316e-03 -3.40048220e-02 -2.05124422e+00] [-4.71742385e-03 9.99988773e-01 4.47208449e-04 1.29581120e-01] [ 3.40065555e-02 -2.86529651e-04 9.99421569e-01 -2.69789648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.943133365 meters Centerline goodness : 0.131228 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.13, Z:-0.27 [[ 9.99406593e-01 4.98691693e-03 -3.40821359e-02 -2.05131680e+00] [-4.98423379e-03 9.99987565e-01 1.63687233e-04 1.32353982e-01] [ 3.40825284e-02 6.28323333e-06 9.99419022e-01 -2.69657991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97313336499997 meters Centerline goodness : 0.128753 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 9.99368375e-01 7.98734902e-03 -3.46273499e-02 -2.04912615e+00] [-7.92188970e-03 9.99966567e-01 2.02718179e-03 1.39421866e-01] [ 3.46423840e-02 -1.75158733e-03 9.99398238e-01 -2.71158729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.003133365 meters Centerline goodness : 0.131796 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 9.99367619e-01 7.81436383e-03 -3.46885928e-02 -2.04892024e+00] [-7.76327827e-03 9.99968574e-01 1.60713750e-03 1.41040784e-01] [ 3.47000615e-02 -1.33682398e-03 9.99396877e-01 -2.71387605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03313336499997 meters Centerline goodness : 0.168367 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 9.99369338e-01 7.67563308e-03 -3.46700336e-02 -2.04903735e+00] [-7.63387807e-03 9.99969968e-01 1.33656925e-03 1.42156318e-01] [ 3.46792514e-02 -1.07105951e-03 9.99397920e-01 -2.71302271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.063133365 meters Centerline goodness : 0.129336 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99411024e-01 -8.48449679e-04 -3.43057586e-02 -2.02957846e+00] [ 9.18037604e-04 9.99997553e-01 2.01276118e-03 1.47040227e-01] [ 3.43039669e-02 -2.04306969e-03 9.99409357e-01 -2.69582394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09313336499997 meters Centerline goodness : 0.131410 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99405585e-01 -9.02862207e-04 -3.44624717e-02 -2.02936713e+00] [ 9.69251320e-04 9.99997707e-01 1.90975989e-03 1.47507474e-01] [ 3.44606684e-02 -1.94202750e-03 9.99404168e-01 -2.69335605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.123133365 meters Centerline goodness : 0.133916 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99401001e-01 -9.74730345e-04 -3.45931801e-02 -2.02905324e+00] [ 1.03674485e-03 9.99997888e-01 1.77478788e-03 1.48071748e-01] [ 3.45913771e-02 -1.80958908e-03 9.99399901e-01 -2.69322416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.153133365 meters Centerline goodness : 0.133841 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99406882e-01 -1.02293151e-03 -3.44214828e-02 -2.02972621e+00] [ 1.07572931e-03 9.99998273e-01 1.51537746e-03 1.49610570e-01] [ 3.44198732e-02 -1.55150686e-03 9.99406256e-01 -2.68909886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.183133365 meters Centerline goodness : 0.128462 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.15, Z:-0.27 [[ 9.99411806e-01 -1.04364812e-03 -3.42775781e-02 -2.03031555e+00] [ 1.08986726e-03 9.99998522e-01 1.32972152e-03 1.50675707e-01] [ 3.42761396e-02 -1.36629739e-03 9.99411467e-01 -2.68534228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.213133365 meters Centerline goodness : 0.112895 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99413895e-01 6.75340810e-03 -3.35597682e-02 -2.01105120e+00] [-6.75432750e-03 9.99977186e-01 8.59740928e-05 1.48417910e-01] [ 3.35595832e-02 1.40749962e-04 9.99436709e-01 -2.66662759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.243133365 meters Centerline goodness : 0.182447 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99409934e-01 6.65216662e-03 -3.36976587e-02 -2.01057480e+00] [-6.66496249e-03 9.99977753e-01 -2.67410133e-04 1.50013383e-01] [ 3.36951302e-02 4.91845974e-04 9.99432037e-01 -2.66902096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.273133365 meters Centerline goodness : 0.134498 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99403177e-01 6.52567883e-03 -3.39220546e-02 -2.00992238e+00] [-6.55081138e-03 9.99978345e-01 -6.29802088e-04 1.51526328e-01] [ 3.39172101e-02 8.51643189e-04 9.99424283e-01 -2.67179398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.303133365 meters Centerline goodness : 0.135781 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.15, Z:-0.27 [[ 9.99400779e-01 6.50275794e-03 -3.39970076e-02 -2.01001057e+00] [-6.53870967e-03 9.99978175e-01 -9.46422302e-04 1.53231876e-01] [ 3.39901112e-02 1.16815175e-03 9.99421487e-01 -2.66857637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.333133365 meters Centerline goodness : 0.117269 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.27 [[ 9.99453733e-01 -1.73547623e-03 -3.30033796e-02 -1.99159126e+00] [ 1.73614036e-03 9.99998493e-01 -8.53399018e-06 1.57472502e-01] [ 3.30033447e-02 -4.87691709e-05 9.99455240e-01 -2.65003750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.363133365 meters Centerline goodness : 0.136437 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99459018e-01 -1.81213755e-03 -3.28388190e-02 -1.99240507e+00] [ 1.80724853e-03 9.99998351e-01 -1.78560768e-04 1.58164911e-01] [ 3.28390884e-02 1.19116263e-04 9.99460645e-01 -2.64367647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.393133365 meters Centerline goodness : 0.126219 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99464178e-01 -1.85080900e-03 -3.26792332e-02 -1.99299814e+00] [ 1.84246261e-03 9.99998262e-01 -2.85514988e-04 1.58516386e-01] [ 3.26797048e-02 2.25151738e-04 9.99465850e-01 -2.64064094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.423133365 meters Centerline goodness : 0.103726 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99461224e-01 -1.83334031e-03 -3.27704264e-02 -1.99284152e+00] [ 1.81601787e-03 9.99998195e-01 -5.58355704e-04 1.59945988e-01] [ 3.27713909e-02 4.98543195e-04 9.99462749e-01 -2.64046298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.453133365 meters Centerline goodness : 0.121255 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99454783e-01 -1.84367288e-03 -3.29657018e-02 -1.99216676e+00] [ 1.81829426e-03 9.99998027e-01 -7.99811410e-04 1.61116001e-01] [ 3.29671113e-02 7.39433993e-04 9.99456164e-01 -2.64399270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48313336499996 meters Centerline goodness : 0.136251 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99448709e-01 -1.87409688e-03 -3.31476287e-02 -1.99152099e+00] [ 1.84191560e-03 9.99997802e-01 -1.00135640e-03 1.62172725e-01] [ 3.31494325e-02 9.39749223e-04 9.99449965e-01 -2.64772052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.513133365 meters Centerline goodness : 0.116727 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99442495e-01 -1.84188631e-03 -3.33362677e-02 -1.99113743e+00] [ 1.80422696e-03 9.99997700e-01 -1.15972730e-03 1.63030055e-01] [ 3.33383272e-02 1.09893455e-03 9.99443519e-01 -2.64729767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54313336499996 meters Centerline goodness : 0.125761 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.16, Z:-0.26 [[ 9.99443256e-01 -1.90454533e-03 -3.33099250e-02 -1.99137236e+00] [ 1.85936644e-03 9.99997309e-01 -1.38724272e-03 1.64251223e-01] [ 3.33124774e-02 1.32453503e-03 9.99444108e-01 -2.64519327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.573133365 meters Centerline goodness : 0.122965 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.17, Z:-0.26 [[ 9.99444990e-01 -1.92430775e-03 -3.32567238e-02 -1.99162991e+00] [ 1.87354967e-03 9.99997032e-01 -1.55734546e-03 1.65293497e-01] [ 3.32596220e-02 1.49417299e-03 9.99445629e-01 -2.64381827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60313336499996 meters Centerline goodness : 0.129753 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.17, Z:-0.26 [[ 9.99438779e-01 -1.84626725e-03 -3.34472372e-02 -1.99093582e+00] [ 1.78878852e-03 9.99996872e-01 -1.74833159e-03 1.66977896e-01] [ 3.34503604e-02 1.68752036e-03 9.99438955e-01 -2.64835154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.633133365 meters Centerline goodness : 0.149603 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99940333 0.0065791 -0.03390734 -2.01012859] [-0.00668329 0.99997328 -0.00296038 0.16299593] [ 0.03388696 0.00318523 0.9994206 -0.26687052] [ 0. 0. 0. 1. ]] SLAMing on 291.66313336499996 meters Centerline goodness : 0.141176 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99940105 0.00651061 -0.03398763 -2.00998124] [-0.00662012 0.99997325 -0.00311062 0.16356832] [ 0.03396647 0.00333376 0.99941741 -0.26683429] [ 0. 0. 0. 1. ]] SLAMing on 291.693133365 meters Centerline goodness : 0.129358 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.9994029 0.00646933 -0.03394097 -2.01022323] [-0.00658216 0.99997317 -0.0032138 0.16408783] [ 0.03391927 0.00343528 0.99941867 -0.26669093] [ 0. 0. 0. 1. ]] SLAMing on 291.72313336499997 meters Centerline goodness : 0.176255 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99940702 0.00646586 -0.03382022 -2.01072598] [-0.00657932 0.99997309 -0.00324472 0.16431386] [ 0.03379833 0.00346531 0.99942267 -0.26641089] [ 0. 0. 0. 1. ]] SLAMing on 291.753133365 meters Centerline goodness : 0.122975 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.9994078 0.00648096 -0.03379411 -2.01088698] [-0.00659516 0.99997291 -0.00326869 0.16453895] [ 0.03377201 0.00348963 0.99942347 -0.26628931] [ 0. 0. 0. 1. ]] SLAMing on 291.78313336499997 meters Centerline goodness : 0.143473 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99939948 0.00652511 -0.03403098 -2.01007458] [-0.00663783 0.99997285 -0.00320044 0.16419136] [ 0.03400918 0.00342441 0.99941565 -0.26670307] [ 0. 0. 0. 1. ]] SLAMing on 291.813133365 meters Centerline goodness : 0.125124 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.16, Z:-0.27 [[ 0.99939388 0.00654629 -0.034191 -2.0095491 ] [-0.00665535 0.99997312 -0.00307701 0.16325225] [ 0.03416993 0.0033027 0.99941058 -0.26694283] [ 0. 0. 0. 1. ]] SLAMing on 291.84313336499997 meters Centerline goodness : 0.123925 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.17, Z:-0.27 [[ 9.99401938e-01 -1.93809785e-03 -3.45254935e-02 -2.03028732e+00] [ 1.84734928e-03 9.99994755e-01 -2.66015728e-03 1.65301166e-01] [ 3.45304681e-02 2.59478570e-03 9.99400277e-01 -2.68028083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.873133365 meters Centerline goodness : 0.129512 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.16, Z:-0.27 [[ 9.99394579e-01 -1.80369753e-03 -3.47451088e-02 -2.02999912e+00] [ 1.72867431e-03 9.99996110e-01 -2.18916504e-03 1.62739248e-01] [ 3.47489222e-02 2.12777669e-03 9.99393809e-01 -2.67625156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.903133365 meters Centerline goodness : 0.129174 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.16, Z:-0.27 [[ 0.99935019 0.0064786 -0.03545735 -2.0486151 ] [-0.00659703 0.99997304 -0.00322414 0.15626755] [ 0.03543551 0.00345596 0.99936599 -0.26936033] [ 0. 0. 0. 1. ]] SLAMing on 291.933133365 meters Centerline goodness : 0.092374 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.16, Z:-0.27 [[ 9.99356734e-01 -1.88569432e-03 -3.58128695e-02 -2.02785929e+00] [ 1.80282678e-03 9.99995623e-01 -2.34605560e-03 1.58809393e-01] [ 3.58171366e-02 2.27998207e-03 9.99355760e-01 -2.68258341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.963133365 meters Centerline goodness : 0.123011 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.15, Z:-0.27 [[ 0.99931481 0.00588884 -0.0365408 -2.04568089] [-0.00603352 0.99997439 -0.00385031 0.15140005] [ 0.03651719 0.00406814 0.99932474 -0.27059971] [ 0. 0. 0. 1. ]] SLAMing on 291.993133365 meters Centerline goodness : 0.106619 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.15, Z:-0.27 [[ 0.99931483 0.00600919 -0.03652069 -2.0457699 ] [-0.0061398 0.99997515 -0.00346515 0.14914527] [ 0.03649896 0.00368701 0.99932689 -0.27053326] [ 0. 0. 0. 1. ]] SLAMing on 292.023133365 meters Centerline goodness : 0.110947 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 0.99936682 0.0044459 -0.03530139 -2.05088183] [-0.00460294 0.99997986 -0.00436856 0.14324767] [ 0.03528125 0.00452829 0.99936716 -0.26799063] [ 0. 0. 0. 1. ]] SLAMing on 292.053133365 meters Centerline goodness : 0.118091 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 0.99937042 0.00463285 -0.03517517 -2.05151364] [-0.00477237 0.99998107 -0.00388361 0.1406643 ] [ 0.03515651 0.00404903 0.99937362 -0.26751928] [ 0. 0. 0. 1. ]] SLAMing on 292.083133365 meters Centerline goodness : 0.123461 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.14, Z:-0.27 [[ 0.99936985 0.00480235 -0.0351687 -2.05149828] [-0.0049251 0.99998208 -0.00340457 0.13800256] [ 0.03515172 0.00357564 0.99937559 -0.26755076] [ 0. 0. 0. 1. ]] SLAMing on 292.113133365 meters Centerline goodness : 0.225452 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.14, Z:-0.27 [[ 0.99936192 -0.00330821 -0.03556416 -2.0321961 ] [ 0.00322643 0.99999202 -0.00235646 0.13924731] [ 0.03557168 0.00224022 0.99936462 -0.26622698] [ 0. 0. 0. 1. ]] SLAMing on 292.143133365 meters Centerline goodness : 0.245094 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.14, Z:-0.27 [[ 9.99360436e-01 -3.09342014e-03 -3.56251154e-02 -2.03189452e+00] [ 3.02842383e-03 9.99993650e-01 -1.87826868e-03 1.36854643e-01] [ 3.56306995e-02 1.76917946e-03 9.99363459e-01 -2.66481354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.173133365 meters Centerline goodness : 0.189888 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.13, Z:-0.27 [[ 9.99364561e-01 -2.83857742e-03 -3.55304920e-02 -2.03227532e+00] [ 2.79351475e-03 9.99995230e-01 -1.31786061e-03 1.34155152e-01] [ 3.55340634e-02 1.21776824e-03 9.99367724e-01 -2.66223365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.203133365 meters Centerline goodness : 0.227378 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.13, Z:-0.27 [[ 9.99372610e-01 -2.56979766e-03 -3.53239787e-02 -2.03298330e+00] [ 2.54646022e-03 9.99996509e-01 -7.05642196e-04 1.31215534e-01] [ 3.53256687e-02 6.15248376e-04 9.99375664e-01 -2.65871459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23313336499996 meters Centerline goodness : 0.342700 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.12, Z:-0.27 [[ 9.99378524e-01 -1.97295141e-03 -3.51947764e-02 -2.03362212e+00] [ 1.99389090e-03 9.99997855e-01 5.59871992e-04 1.24216300e-01] [ 3.51935963e-02 -6.29698590e-04 9.99380315e-01 -2.65332210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.263133365 meters Centerline goodness : 0.218721 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.12, Z:-0.27 [[ 9.99380414e-01 -1.72884742e-03 -3.51539307e-02 -2.03350654e+00] [ 1.77167010e-03 9.99997726e-01 1.18703383e-03 1.20847809e-01] [ 3.51517986e-02 -1.24857953e-03 9.99381205e-01 -2.65621758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29313336499996 meters Centerline goodness : 0.098755 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.12, Z:-0.27 [[ 9.99381596e-01 -1.50909019e-03 -3.51304468e-02 -2.03324572e+00] [ 1.57178168e-03 9.99997221e-01 1.75698567e-03 1.17684014e-01] [ 3.51276977e-02 -1.81111653e-03 9.99381191e-01 -2.66064987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.323133365 meters Centerline goodness : 0.090233 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.11, Z:-0.27 [[ 9.99377005e-01 -1.25093335e-03 -3.52709148e-02 -2.03268462e+00] [ 1.33514793e-03 9.99996314e-01 2.36419713e-03 1.14556656e-01] [ 3.52678273e-02 -2.40981613e-03 9.99374991e-01 -2.66372310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35313336499996 meters Centerline goodness : 0.451614 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.11, Z:-0.27 [[ 9.99383223e-01 -5.98822777e-04 -3.51114706e-02 -2.03303073e+00] [ 7.27751791e-04 9.99993040e-01 3.65932610e-03 1.08855017e-01] [ 3.51090350e-02 -3.68262155e-03 9.99376703e-01 -2.66335345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.383133365 meters Centerline goodness : 0.099761 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.11, Z:-0.27 [[ 9.99386388e-01 -3.25134567e-04 -3.50248692e-02 -2.03338305e+00] [ 4.71727942e-04 9.99991164e-01 4.17722585e-03 1.06544062e-01] [ 3.50232016e-02 -4.19118487e-03 9.99377711e-01 -2.66087766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41313336499996 meters Centerline goodness : 0.100535 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99388426e-01 -1.57492010e-04 -3.49678432e-02 -2.03367301e+00] [ 3.17233029e-04 9.99989540e-01 4.56272505e-03 1.04593804e-01] [ 3.49667589e-02 -4.57102756e-03 9.99378022e-01 -2.65833739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.443133365 meters Centerline goodness : 0.246471 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99388613e-01 -4.81707401e-05 -3.49628015e-02 -2.03370058e+00] [ 2.18191817e-04 9.99988171e-01 4.85911424e-03 1.02820447e-01] [ 3.49621539e-02 -4.86377204e-03 9.99376802e-01 -2.65829943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47313336499997 meters Centerline goodness : 0.095026 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99382661e-01 5.52608605e-05 -3.51325265e-02 -2.03315030e+00] [ 1.25342957e-04 9.99986790e-01 5.13842089e-03 1.01169601e-01] [ 3.51323463e-02 -5.13965235e-03 9.99369452e-01 -2.66066794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.503133365 meters Centerline goodness : 0.116286 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99372054e-01 1.61379180e-04 -3.54326322e-02 -2.03215603e+00] [ 2.90545979e-05 9.99985560e-01 5.37395025e-03 9.99704154e-02] [ 3.54329878e-02 -5.37160518e-03 9.99357618e-01 -2.66507502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53313336499997 meters Centerline goodness : 0.452813 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99358356e-01 3.06937591e-04 -3.58159375e-02 -2.03046309e+00] [-1.04172633e-04 9.99983959e-01 5.66303411e-03 9.85474142e-02] [ 3.58171012e-02 -5.65566942e-03 9.99342358e-01 -2.67670337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.563133365 meters Centerline goodness : 0.091429 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99356067e-01 2.68319347e-04 -3.58800597e-02 -2.03018030e+00] [-6.70436854e-05 9.99984257e-01 5.61076571e-03 9.85259427e-02] [ 3.58810003e-02 -5.60474722e-03 9.99340353e-01 -2.67922322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59313336499997 meters Centerline goodness : 0.091429 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99356067e-01 2.68319347e-04 -3.58800597e-02 -2.03018030e+00] [-6.70436854e-05 9.99984257e-01 5.61076571e-03 9.85259427e-02] [ 3.58810003e-02 -5.60474722e-03 9.99340353e-01 -2.67922322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.623133365 meters Centerline goodness : 0.120522 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99351668e-01 2.17910319e-04 -3.60027199e-02 -2.02994361e+00] [-1.96466505e-05 9.99984835e-01 5.50717008e-03 9.88317843e-02] [ 3.60033740e-02 -5.50289227e-03 9.99336518e-01 -2.67876865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.653133365 meters Centerline goodness : 0.094571 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99352850e-01 1.86619509e-04 -3.59700896e-02 -2.03002255e+00] [ 8.36519695e-06 9.99985309e-01 5.42051892e-03 9.92363804e-02] [ 3.59705727e-02 -5.41731192e-03 9.99338166e-01 -2.67933128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.683133365 meters Centerline goodness : 0.098382 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99348576e-01 1.55603275e-04 -3.60887732e-02 -2.02970906e+00] [ 3.70710462e-05 9.99985751e-01 5.33816858e-03 9.96655744e-02] [ 3.60890896e-02 -5.33602901e-03 9.99334331e-01 -2.68019065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.713133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 292.743133365 meters Centerline goodness : 0.095423 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99331872e-01 9.15152993e-05 -3.65486268e-02 -2.02852417e+00] [ 9.86216248e-05 9.99986473e-01 5.20046336e-03 1.00360768e-01] [ 3.65486083e-02 -5.20059327e-03 9.99318344e-01 -2.68240836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.773133365 meters Centerline goodness : 0.098615 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99336151e-01 1.04981260e-04 -3.64313806e-02 -2.02904125e+00] [ 8.64450258e-05 9.99986200e-01 5.25281905e-03 1.00061068e-01] [ 3.64314293e-02 -5.25248129e-03 9.99322352e-01 -2.67837592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.803133365 meters Centerline goodness : 0.091460 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.10, Z:-0.27 [[ 9.99343613e-01 9.56047064e-05 -3.62261643e-02 -2.02999937e+00] [ 9.71071591e-05 9.99985855e-01 5.31789046e-03 9.95945028e-02] [ 3.62261603e-02 -5.31791768e-03 9.99329468e-01 -2.67129219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.833133365 meters Centerline goodness : 0.105549 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.9993324 0.00786478 -0.0356777 -2.0497853 ] [-0.00771609 0.99996097 0.00430332 0.09293905] [ 0.03571015 -0.00402516 0.99935408 -0.26861256] [ 0. 0. 0. 1. ]] SLAMing on 292.863133365 meters Centerline goodness : 0.454421 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.99933709 0.00785819 -0.03554744 -2.0502296 ] [-0.00770624 0.99996058 0.00440965 0.09206475] [ 0.03558069 -0.00413279 0.99935826 -0.26838199] [ 0. 0. 0. 1. ]] SLAMing on 292.893133365 meters Centerline goodness : 0.093938 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 9.99368489e-01 4.74795229e-03 -3.52147690e-02 -2.05149086e+00] [-4.69554695e-03 9.99987742e-01 1.57071681e-03 9.05686445e-02] [ 3.52217950e-02 -1.40437228e-03 9.99378533e-01 -2.67869273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.923133365 meters Centerline goodness : 0.091813 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 9.99366634e-01 4.81308355e-03 -3.52585489e-02 -2.05145622e+00] [-4.75199449e-03 9.99987060e-01 1.81619870e-03 8.91766790e-02] [ 3.52668342e-02 -1.64749995e-03 9.99376574e-01 -2.67760458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.953133365 meters Centerline goodness : 0.452130 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 9.99363533e-01 4.88967769e-03 -3.53358133e-02 -2.05125821e+00] [-4.82012262e-03 9.99986275e-01 2.05332222e-03 8.78311338e-02] [ 3.53453684e-02 -1.88169240e-03 9.99373386e-01 -2.67782986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98313336499996 meters Centerline goodness : 0.096814 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.99936311 0.00496435 -0.03533724 -2.05107923] [-0.0048874 0.99998549 0.00226347 0.08672006] [ 0.03534797 -0.00208932 0.99937288 -0.26802438] [ 0. 0. 0. 1. ]] SLAMing on 293.013133365 meters Centerline goodness : 0.455251 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.09, Z:-0.27 [[ 0.99936204 0.00503954 -0.03535684 -2.05095182] [-0.00495414 0.9999846 0.00250244 0.0854054 ] [ 0.03536891 -0.00232568 0.99937162 -0.26812134] [ 0. 0. 0. 1. ]] SLAMing on 293.04313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 293.073133365 meters Centerline goodness : 0.218023 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.09, Z:-0.27 [[ 0.99934713 -0.00284985 -0.03601651 -2.03051471] [ 0.00299177 0.99998797 0.00388735 0.08571905] [ 0.03600499 -0.00399257 0.99934363 -0.26681162] [ 0. 0. 0. 1. ]] SLAMing on 293.10313336499996 meters Centerline goodness : 0.094516 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.08, Z:-0.27 [[ 0.99934185 -0.0027075 -0.0361736 -2.03002433] [ 0.0028626 0.99998693 0.00423664 0.08397562] [ 0.03616166 -0.0043374 0.99933654 -0.26696978] [ 0. 0. 0. 1. ]] SLAMing on 293.133133365 meters Centerline goodness : 0.098289 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.08, Z:-0.27 [[ 0.99935137 0.00471288 -0.0357019 -2.04829975] [-0.0046019 0.99998432 0.00319018 0.07545261] [ 0.03571637 -0.00302381 0.99935739 -0.2693181 ] [ 0. 0. 0. 1. ]] SLAMing on 293.16313336499996 meters Centerline goodness : 0.446576 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.07, Z:-0.27 [[ 9.99394351e-01 2.88073273e-03 -3.46789983e-02 -2.05200195e+00] [-2.82055757e-03 9.99994431e-01 1.78400159e-03 7.18029365e-02] [ 3.46839444e-02 -1.68510700e-03 9.99396910e-01 -2.67944979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.193133365 meters Centerline goodness : 0.095282 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.07, Z:-0.27 [[ 9.99410750e-01 -7.08261218e-04 -3.43169312e-02 -2.05305418e+00] [ 6.76290698e-04 9.99999326e-01 -9.43223849e-04 6.64316410e-02] [ 3.43175761e-02 9.19459833e-04 9.99410556e-01 -2.67547992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22313336499997 meters Centerline goodness : 0.090378 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.06, Z:-0.27 [[ 9.99401253e-01 -6.29284858e-04 -3.45939264e-02 -2.05216117e+00] [ 6.15522390e-04 9.99999727e-01 -4.08477451e-04 6.29965876e-02] [ 3.45941740e-02 3.86939540e-04 9.99401368e-01 -2.67827917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.253133365 meters Centerline goodness : 0.439730 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.06, Z:-0.27 [[ 9.99387837e-01 -5.09347275e-04 -3.49812958e-02 -2.05086416e+00] [ 5.15088860e-04 9.99999855e-01 1.55121199e-04 5.95194707e-02] [ 3.49812117e-02 -1.73044715e-04 9.99387955e-01 -2.68355196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28313336499997 meters Centerline goodness : 0.098897 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.06, Z:-0.27 [[ 9.99380170e-01 -3.56096419e-04 -3.52015555e-02 -2.05002339e+00] [ 3.82100149e-04 9.99999659e-01 7.31985094e-04 5.60129439e-02] [ 3.52012829e-02 -7.44981907e-04 9.99379965e-01 -2.68764546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.313133365 meters Centerline goodness : 0.094142 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.05, Z:-0.27 [[ 9.99374936e-01 -1.31943986e-04 -3.53513756e-02 -2.04965208e+00] [ 1.81322075e-04 9.99999013e-01 1.39357750e-03 5.23301565e-02] [ 3.53511568e-02 -1.39911641e-03 9.99373973e-01 -2.68746074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34313336499997 meters Centerline goodness : 0.475645 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.04, Z:-0.27 [[ 9.99414728e-01 -1.18671975e-03 -3.41876110e-02 -2.05371265e+00] [ 1.23084952e-03 9.99998436e-01 1.26979466e-03 4.39633938e-02] [ 3.41860506e-02 -1.31113129e-03 9.99414626e-01 -2.66933399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.373133365 meters Centerline goodness : 0.455884 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.04, Z:-0.27 [[ 9.99414337e-01 -9.70399146e-04 -3.42058612e-02 -2.05377581e+00] [ 1.03542767e-03 9.99997690e-01 1.88343012e-03 4.04739795e-02] [ 3.42039545e-02 -1.91774476e-03 9.99413034e-01 -2.66718264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.403133365 meters Centerline goodness : 0.098766 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.27 [[ 9.99399197e-01 5.02923982e-03 -3.42921395e-02 -2.07471373e+00] [-5.05216479e-03 9.99987068e-01 -5.81901668e-04 3.30039118e-02] [ 3.42887696e-02 7.54801600e-04 9.99411682e-01 -2.68055669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.433133365 meters Centerline goodness : 0.433903 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.27 [[ 9.99393949e-01 5.25052336e-03 -3.44117370e-02 -2.07420768e+00] [-5.25389922e-03 9.99986198e-01 -7.67733286e-06 2.99534690e-02] [ 3.44112217e-02 1.88468478e-04 9.99407741e-01 -2.68381100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.463133365 meters Centerline goodness : 0.103471 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.03, Z:-0.27 [[ 9.99426608e-01 -2.38140855e-03 -3.37755067e-02 -2.05472420e+00] [ 2.43010104e-03 9.99996066e-01 1.40067357e-03 3.09314208e-02] [ 3.37720382e-02 -1.48194833e-03 9.99428463e-01 -2.67107621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.493133365 meters Centerline goodness : 0.442253 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.03, Z:-0.27 [[ 9.99432772e-01 -2.12802601e-03 -3.36096016e-02 -2.05517969e+00] [ 2.19437046e-03 9.99995716e-01 1.93720994e-03 2.85177373e-02] [ 3.36053352e-02 -2.00986301e-03 9.99433160e-01 -2.66934624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.523133365 meters Centerline goodness : 0.102275 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99454474e-01 6.02161088e-03 -3.24729693e-02 -2.03703080e+00] [-5.99706144e-03 9.99981653e-01 8.53340951e-04 2.02159054e-02] [ 3.24775120e-02 -6.58133040e-04 9.99472250e-01 -2.64355349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.553133365 meters Centerline goodness : 0.102074 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99454354e-01 6.12074198e-03 -3.24581441e-02 -2.03728878e+00] [-6.08931311e-03 9.99980891e-01 1.06705173e-03 1.89697568e-02] [ 3.24640550e-02 -8.68821699e-04 9.99472526e-01 -2.64015704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.583133365 meters Centerline goodness : 0.103413 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99452533e-01 6.27945081e-03 -3.24838809e-02 -2.03729720e+00] [-6.24096478e-03 9.99979698e-01 1.28603090e-03 1.80786346e-02] [ 3.24912970e-02 -1.08259608e-03 9.99471432e-01 -2.63965224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.613133365 meters Centerline goodness : 0.101875 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99447033e-01 6.43288252e-03 -3.26227976e-02 -2.03685339e+00] [-6.38896269e-03 9.99978539e-01 1.45035576e-03 1.76176204e-02] [ 3.26314274e-02 -1.24112792e-03 9.99466683e-01 -2.64175371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.643133365 meters Centerline goodness : 0.106011 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99445095e-01 6.58661397e-03 -3.26514627e-02 -2.03652655e+00] [-6.53703524e-03 9.99977313e-01 1.62494224e-03 1.71303011e-02] [ 3.26614248e-02 -1.41059679e-03 9.99465478e-01 -2.64589504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.673133365 meters Centerline goodness : 0.102480 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99442806e-01 6.68468326e-03 -3.27015799e-02 -2.03623977e+00] [-6.63156231e-03 9.99976510e-01 1.73260734e-03 1.67429847e-02] [ 3.27123936e-02 -1.51477938e-03 9.99463659e-01 -2.64867834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.703133365 meters Centerline goodness : 0.113954 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.27 [[ 9.99444335e-01 6.89568936e-03 -3.26109015e-02 -2.03639060e+00] [-6.84084525e-03 9.99974994e-01 1.79304728e-03 1.66145028e-02] [ 3.26224503e-02 -1.56896481e-03 9.99466515e-01 -2.65019849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73313336499996 meters Centerline goodness : 0.085262 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99448591e-01 6.89988242e-03 -3.24793077e-02 -2.03680568e+00] [-6.84921750e-03 9.99975148e-01 1.67091488e-03 1.72318686e-02] [ 3.24900297e-02 -1.44753568e-03 9.99471011e-01 -2.64916354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.763133365 meters Centerline goodness : 0.115926 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99453887e-01 6.93023724e-03 -3.23094257e-02 -2.03731273e+00] [-6.88492447e-03 9.99975153e-01 1.51350638e-03 1.83874963e-02] [ 3.23191119e-02 -1.29023187e-03 9.99476768e-01 -2.64813054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79313336499996 meters Centerline goodness : 0.118815 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.03, Z:-0.26 [[ 9.99454244e-01 5.22598535e-04 -3.30293977e-02 -2.02110483e+00] [-4.32746546e-04 9.99996187e-01 2.72745422e-03 2.53279327e-02] [ 3.30306971e-02 -2.71167234e-03 9.99450659e-01 -2.62084957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.823133365 meters Centerline goodness : 0.112605 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.02, Z:-0.26 [[ 9.99401845e-01 9.09034962e-03 -3.33664128e-02 -2.04196851e+00] [-9.02875694e-03 9.99957248e-01 1.99615831e-03 2.34627674e-02] [ 3.33831321e-02 -1.69370707e-03 9.99441193e-01 -2.63684613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85313336499996 meters Centerline goodness : 0.115408 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.03, Z:-0.26 [[ 9.99404192e-01 9.00712770e-03 -3.33186557e-02 -2.04187545e+00] [-8.95636626e-03 9.99958492e-01 1.67245174e-03 2.52798860e-02] [ 3.33323367e-02 -1.37304119e-03 9.99443380e-01 -2.64080545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.883133365 meters Centerline goodness : 0.116052 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.03, Z:-0.26 [[ 9.99425608e-01 1.97702168e-03 -3.38311454e-02 -2.02375926e+00] [-1.89727447e-03 9.99995346e-01 2.38915339e-03 3.33128819e-02] [ 3.38357114e-02 -2.32359411e-03 9.99424707e-01 -2.62420001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91313336499996 meters Centerline goodness : 0.114469 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.04, Z:-0.26 [[ 9.99427169e-01 1.86784184e-03 -3.37911836e-02 -2.02376489e+00] [-1.80335512e-03 9.99996495e-01 1.93876577e-03 3.59000915e-02] [ 3.37946864e-02 -1.87671768e-03 9.99427034e-01 -2.62706842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.943133365 meters Centerline goodness : 0.114666 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.04, Z:-0.26 [[ 9.99422455e-01 1.75046894e-03 -3.39365897e-02 -2.02341906e+00] [-1.70221870e-03 9.99997499e-01 1.45061609e-03 3.87213398e-02] [ 3.39390441e-02 -1.39201079e-03 9.99422935e-01 -2.62851109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97313336499997 meters Centerline goodness : 0.116189 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.04, Z:-0.26 [[ 9.99405751e-01 1.54203402e-03 -3.44349720e-02 -2.02239817e+00] [-1.52521839e-03 9.99998704e-01 5.14592809e-04 4.43447151e-02] [ 3.44357209e-02 -4.61766160e-04 9.99406808e-01 -2.62953202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.003133365 meters Centerline goodness : 0.110910 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99405282e-01 1.39576430e-03 -3.44548256e-02 -2.02218401e+00] [-1.39765633e-03 9.99999023e-01 -3.08283349e-05 4.75791143e-02] [ 3.44547489e-02 7.89660059e-05 9.99406256e-01 -2.63310536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03313336499997 meters Centerline goodness : 0.107430 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99409504e-01 1.23648064e-03 -3.43382322e-02 -2.02240559e+00] [-1.25478615e-03 9.99999082e-01 -5.11549430e-04 5.03104048e-02] [ 3.43375682e-02 5.54334500e-04 9.99410138e-01 -2.63480945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.063133365 meters Centerline goodness : 0.102383 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99420945e-01 1.07371969e-03 -3.40091357e-02 -2.02326213e+00] [-1.10636350e-03 9.99998945e-01 -9.41049856e-04 5.26891456e-02] [ 3.40080895e-02 9.78131402e-04 9.99421079e-01 -2.63417754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09313336499997 meters Centerline goodness : 0.107100 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.05, Z:-0.26 [[ 9.99434929e-01 9.18173212e-04 -3.36002940e-02 -2.02471454e+00] [-9.60869327e-04 9.99998751e-01 -1.25458132e-03 5.41378196e-02] [ 3.35991002e-02 1.28615789e-03 9.99434563e-01 -2.62730214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.123133365 meters Centerline goodness : 0.098323 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.06, Z:-0.26 [[ 9.99444972e-01 7.45138014e-04 -3.33045428e-02 -2.02599126e+00] [-7.96665948e-04 9.99998506e-01 -1.53393113e-03 5.52877606e-02] [ 3.33033501e-02 1.55961235e-03 9.99444073e-01 -2.61879112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.153133365 meters Centerline goodness : 0.099339 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.06, Z:-0.26 [[ 9.99433228e-01 4.20700883e-04 -3.36607598e-02 -2.02548664e+00] [-4.86798380e-04 9.99997970e-01 -1.95546527e-03 5.69112774e-02] [ 3.36598688e-02 1.97074297e-03 9.99431403e-01 -2.61409894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.183133365 meters Centerline goodness : 0.356732 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99326452e-01 -6.78592238e-04 -3.66903486e-02 -2.06771552e+00] [ 5.95292206e-04 9.99997221e-01 -2.28122946e-03 5.43692352e-02] [ 3.66917947e-02 2.25785147e-03 9.99324079e-01 -2.63097088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.213133365 meters Centerline goodness : 0.102248 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99308505e-01 -8.43109235e-04 -3.71725891e-02 -2.06639079e+00] [ 7.53804081e-04 9.99996796e-01 -2.41639626e-03 5.45165679e-02] [ 3.71745073e-02 2.38670448e-03 9.99305939e-01 -2.63371502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.243133365 meters Centerline goodness : 0.103972 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99302729e-01 -9.30511966e-04 -3.73254511e-02 -2.06611742e+00] [ 8.40836631e-04 9.99996723e-01 -2.41815098e-03 5.40567829e-02] [ 3.73275789e-02 2.38508027e-03 9.99300237e-01 -2.63206045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.273133365 meters Centerline goodness : 0.102014 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99303317e-01 -9.64690903e-04 -3.73088501e-02 -2.06644139e+00] [ 8.80767578e-04 9.99997045e-01 -2.26579190e-03 5.29521126e-02] [ 3.73109256e-02 2.23135294e-03 9.99301214e-01 -2.62708633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.303133365 meters Centerline goodness : 0.168249 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99312222e-01 -9.93488238e-04 -3.70687887e-02 -2.06735000e+00] [ 9.17578429e-04 9.99997447e-01 -2.06476567e-03 5.16897166e-02] [ 3.70707454e-02 2.02933205e-03 9.99310583e-01 -2.62115605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.333133365 meters Centerline goodness : 0.318354 Centerline is valid? [False, False] Translation: X:-2.05, Y:0.05, Z:-0.26 [[ 9.99292381e-01 -9.94262045e-03 -3.62750745e-02 -2.04723545e+00] [ 9.89019859e-03 9.99949772e-01 -1.62428199e-03 5.35434538e-02] [ 3.62894021e-02 1.26436493e-03 9.99340523e-01 -2.60293133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.363133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 294.393133365 meters Centerline goodness : 0.101485 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.05, Z:-0.26 [[ 0.99928801 -0.00319612 -0.03759333 -2.06276131] [ 0.00306751 0.99998925 -0.00347824 0.04598813] [ 0.03760405 0.00336044 0.99928707 -0.26304428] [ 0. 0. 0. 1. ]] SLAMing on 294.423133365 meters Centerline goodness : 0.144848 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.05, Z:-0.26 [[ 0.99928247 -0.00319144 -0.03774081 -2.06225219] [ 0.00306289 0.99998931 -0.00346364 0.0458659 ] [ 0.03775146 0.00334556 0.99928156 -0.26327057] [ 0. 0. 0. 1. ]] SLAMing on 294.453133365 meters Centerline goodness : 0.471735 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.04, Z:-0.26 [[ 0.99920183 -0.00297075 -0.03983553 -2.10746577] [ 0.00286067 0.99999193 -0.00282006 0.043501 ] [ 0.03984358 0.00270385 0.99920227 -0.26405817] [ 0. 0. 0. 1. ]] SLAMing on 294.48313336499996 meters Centerline goodness : 0.102893 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.04, Z:-0.26 [[ 0.99926353 0.00545674 -0.03798179 -2.08773717] [-0.00561018 0.99997652 -0.00393445 0.04452656] [ 0.03795943 0.00414464 0.99927069 -0.26262108] [ 0. 0. 0. 1. ]] SLAMing on 294.513133365 meters Centerline goodness : 0.102893 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.04, Z:-0.26 [[ 0.99926353 0.00545674 -0.03798179 -2.08773717] [-0.00561018 0.99997652 -0.00393445 0.04452656] [ 0.03795943 0.00414464 0.99927069 -0.26262108] [ 0. 0. 0. 1. ]] SLAMing on 294.54313336499996 meters Centerline goodness : 0.459113 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.99927097 0.00532163 -0.03780486 -2.08837821] [-0.00548618 0.99997592 -0.00425045 0.04584803] [ 0.03778133 0.00445475 0.9992761 -0.26232743] [ 0. 0. 0. 1. ]] SLAMing on 294.573133365 meters Centerline goodness : 0.464281 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.99927406 0.00522154 -0.0377371 -2.08875977] [-0.00539638 0.99997517 -0.00453295 0.04722796] [ 0.0377125 0.0047333 0.99927742 -0.26204694] [ 0. 0. 0. 1. ]] SLAMing on 294.60313336499996 meters Centerline goodness : 0.101790 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.99927294 0.00515689 -0.0377756 -2.08864951] [-0.00534085 0.99997436 -0.00477044 0.04857257] [ 0.03775003 0.00496872 0.99927486 -0.26211935] [ 0. 0. 0. 1. ]] SLAMing on 294.633133365 meters Centerline goodness : 0.201022 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.05, Z:-0.26 [[ 0.999275 0.00510101 -0.03772877 -2.08877344] [-0.00529373 0.99997344 -0.00500973 0.05001126] [ 0.03770221 0.00520582 0.99927546 -0.26216646] [ 0. 0. 0. 1. ]] SLAMing on 294.66313336499996 meters Centerline goodness : 0.323642 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 0.99930962 -0.00224064 -0.03708459 -2.07067074] [ 0.00209792 0.99999024 -0.00388713 0.05652298] [ 0.03709294 0.00380665 0.99930457 -0.26043999] [ 0. 0. 0. 1. ]] SLAMing on 294.693133365 meters Centerline goodness : 0.355728 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 0.99933268 -0.00228631 -0.0364551 -2.07270776] [ 0.00214103 0.99998961 -0.0040237 0.05726425] [ 0.03646392 0.00394296 0.99932719 -0.25966011] [ 0. 0. 0. 1. ]] SLAMing on 294.72313336499997 meters Centerline goodness : 0.501030 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 0.99933864 -0.00221531 -0.03629573 -2.07345517] [ 0.00207645 0.99999038 -0.00386296 0.05668255] [ 0.03630394 0.00378503 0.99933363 -0.25911857] [ 0. 0. 0. 1. ]] SLAMing on 294.753133365 meters Centerline goodness : 0.097481 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.06, Z:-0.26 [[ 9.99339617e-01 -2.10346069e-03 -3.62753965e-02 -2.07367484e+00] [ 1.97457039e-03 9.99991612e-01 -3.58856525e-03 5.55147958e-02] [ 3.62826406e-02 3.51456710e-03 9.99335388e-01 -2.58849618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78313336499997 meters Centerline goodness : 0.453901 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99336391e-01 -2.01683588e-03 -3.63690680e-02 -2.07350508e+00] [ 1.90020214e-03 9.99992942e-01 -3.24122938e-03 5.36695387e-02] [ 3.63753483e-02 3.16996990e-03 9.99333170e-01 -2.58706250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.813133365 meters Centerline goodness : 0.175286 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99330160e-01 -1.95157506e-03 -3.65434283e-02 -2.07309044e+00] [ 1.84811381e-03 9.99994189e-01 -2.86475173e-03 5.13051747e-02] [ 3.65488067e-02 2.79529639e-03 9.99327960e-01 -2.58639014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84313336499997 meters Centerline goodness : 0.389376 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.05, Z:-0.26 [[ 9.99322978e-01 -1.90949492e-03 -3.67415270e-02 -2.07261504e+00] [ 1.81946112e-03 9.99995260e-01 -2.48374458e-03 4.86957595e-02] [ 3.67460955e-02 2.41521325e-03 9.99321716e-01 -2.58589635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.873133365 meters Centerline goodness : 0.108648 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99307299e-01 -1.63008421e-03 -3.71788237e-02 -2.07157777e+00] [ 1.57168085e-03 9.99997485e-01 -1.60004958e-03 4.38669727e-02] [ 3.71813384e-02 1.54050798e-03 9.99307348e-01 -2.58532749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.903133365 meters Centerline goodness : 0.175263 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99301922e-01 -1.43055620e-03 -3.73312561e-02 -2.07114584e+00] [ 1.38828719e-03 9.99998366e-01 -1.15816637e-03 4.18740997e-02] [ 3.73328519e-02 1.10553138e-03 9.99302275e-01 -2.58634682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.933133365 meters Centerline goodness : 0.108408 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99292358e-01 -1.30034498e-03 -3.75911120e-02 -2.07028168e+00] [ 1.27092599e-03 9.99998867e-01 -8.06490413e-04 4.00277865e-02] [ 3.75921182e-02 7.58144185e-04 9.99292879e-01 -2.58993663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.963133365 meters Centerline goodness : 0.098526 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99283645e-01 -1.18571489e-03 -3.78257869e-02 -2.06945670e+00] [ 1.16727824e-03 9.99999189e-01 -5.09490265e-04 3.83713321e-02] [ 3.78263603e-02 4.64972071e-04 9.99284219e-01 -2.59377572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.993133365 meters Centerline goodness : 0.098550 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.04, Z:-0.26 [[ 9.99278412e-01 -1.06486105e-03 -3.79673853e-02 -2.06897406e+00] [ 1.05756682e-03 9.99999418e-01 -2.12201754e-04 3.67620400e-02] [ 3.79675892e-02 1.71895585e-04 9.99278956e-01 -2.59589025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.023133365 meters Centerline goodness : 0.151093 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99278174e-01 -8.49513926e-04 -3.79790524e-02 -2.06905127e+00] [ 8.64956979e-04 9.99999550e-01 3.90191066e-04 3.32843272e-02] [ 3.79787038e-02 -4.22759662e-04 9.99278459e-01 -2.59421661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.053133365 meters Centerline goodness : 0.093232 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99279144e-01 -7.22809507e-04 -3.79561488e-02 -2.06927513e+00] [ 7.53564684e-04 9.99999399e-01 7.95981694e-04 3.09329976e-02] [ 3.79555506e-02 -8.24010320e-04 9.99279089e-01 -2.59092226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.083133365 meters Centerline goodness : 0.100203 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99280804e-01 -6.02366509e-04 -3.79145395e-02 -2.06939452e+00] [ 6.48795945e-04 9.99999055e-01 1.21228939e-03 2.83184145e-02] [ 3.79137734e-02 -1.23601631e-03 9.99280250e-01 -2.59043437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.113133365 meters Centerline goodness : 0.145562 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.03, Z:-0.26 [[ 9.99279307e-01 -4.28533886e-04 -3.79563309e-02 -2.06929950e+00] [ 4.92709860e-04 9.99998465e-01 1.68144649e-03 2.57716245e-02] [ 3.79555521e-02 -1.69893614e-03 9.99277984e-01 -2.59010911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.143133365 meters Centerline goodness : 0.154264 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99276578e-01 -7.22324557e-05 -3.80304567e-02 -2.06887069e+00] [ 1.71445462e-04 9.99996591e-01 2.60552289e-03 2.07231760e-02] [ 3.80301389e-02 -2.61015815e-03 9.99273184e-01 -2.59250827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.173133365 meters Centerline goodness : 0.175095 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99277894e-01 7.00543941e-05 -3.79958758e-02 -2.06886827e+00] [ 4.24450931e-05 9.99995618e-01 2.96001942e-03 1.88302518e-02] [ 3.79959167e-02 -2.95949471e-03 9.99273512e-01 -2.59370257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.203133365 meters Centerline goodness : 0.087107 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99278606e-01 1.70280991e-04 -3.79768103e-02 -2.06890765e+00] [-4.76469262e-05 9.99994782e-01 3.23006454e-03 1.72772570e-02] [ 3.79771622e-02 -3.22592492e-03 9.99273400e-01 -2.59355231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23313336499996 meters Centerline goodness : 0.116986 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.02, Z:-0.26 [[ 9.99280149e-01 2.63652150e-04 -3.79356725e-02 -2.06905801e+00] [-1.32501144e-04 9.99994007e-01 3.45966735e-03 1.59874910e-02] [ 3.79363573e-02 -3.45215038e-03 9.99274194e-01 -2.59287052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.263133365 meters Centerline goodness : 0.117466 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99282561e-01 3.71015817e-04 -3.78711604e-02 -2.06915100e+00] [-2.30594158e-04 9.99993083e-01 3.71217909e-03 1.47157994e-02] [ 3.78722757e-02 -3.70078296e-03 9.99275735e-01 -2.59362801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29313336499996 meters Centerline goodness : 0.094600 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99282810e-01 4.96875853e-04 -3.78631690e-02 -2.06913112e+00] [-3.45857604e-04 9.99991960e-01 3.99497202e-03 1.33670862e-02] [ 3.78648496e-02 -3.97901159e-03 9.99274947e-01 -2.59393843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.323133365 meters Centerline goodness : 0.114735 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99280335e-01 7.10057101e-04 -3.79250431e-02 -2.06916453e+00] [-5.37713424e-04 9.99989484e-01 4.55433059e-03 1.05743216e-02] [ 3.79278782e-02 -4.53066019e-03 9.99270208e-01 -2.59090648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35313336499996 meters Centerline goodness : 0.105161 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99279783e-01 7.81514464e-04 -3.79381776e-02 -2.06917942e+00] [-5.98887644e-04 9.99988181e-01 4.82492636e-03 9.05404917e-03] [ 3.79414999e-02 -4.79873066e-03 9.99268440e-01 -2.59004556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.383133365 meters Centerline goodness : 0.117685 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99278799e-01 8.44461286e-04 -3.79627314e-02 -2.06920314e+00] [-6.50066999e-04 9.99986616e-01 5.13271322e-03 7.28486378e-03] [ 3.79665577e-02 -5.10433319e-03 9.99265974e-01 -2.58835307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41313336499996 meters Centerline goodness : 0.103805 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.01, Z:-0.26 [[ 9.99288106e-01 9.01512531e-04 -3.77156152e-02 -2.06986987e+00] [-6.96348776e-04 9.99984892e-01 5.45253897e-03 5.39259075e-03] [ 3.77199609e-02 -5.42239412e-03 9.99273637e-01 -2.58653583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.443133365 meters Centerline goodness : 0.114513 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.00, Z:-0.26 [[ 9.99293778e-01 9.55265043e-04 -3.75637269e-02 -2.07036622e+00] [-7.40166406e-04 9.99983254e-01 5.73972232e-03 3.66067559e-03] [ 3.75685808e-02 -5.70786539e-03 9.99277750e-01 -2.58357654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47313336499997 meters Centerline goodness : 0.105627 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.00, Z:-0.26 [[ 9.99289657e-01 9.99362812e-04 -3.76720445e-02 -2.07027983e+00] [-7.73032814e-04 9.99981569e-01 6.02199056e-03 1.94965575e-03] [ 3.76773684e-02 -5.98859116e-03 9.99272011e-01 -2.58105464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.503133365 meters Centerline goodness : 0.086097 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.00, Z:-0.26 [[ 9.99235627e-01 8.53388462e-04 -3.90823997e-02 -2.06672547e+00] [-6.06304101e-04 9.99979759e-01 6.33355505e-03 -7.72694222e-04] [ 3.90870137e-02 -6.30501803e-03 9.99215919e-01 -2.58432092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53313336499997 meters Centerline goodness : 0.123753 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.01, Z:-0.26 [[ 0.99917705 0.00817342 -0.03972933 -2.08390467] [-0.00797673 0.99995514 0.00510686 -0.00800859] [ 0.03976929 -0.00478574 0.99919743 -0.26104613] [ 0. 0. 0. 1. ]] SLAMing on 295.563133365 meters Centerline goodness : 0.082542 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.01, Z:-0.26 [[ 0.99917136 0.0082375 -0.03985887 -2.08354211] [-0.0080297 0.99995334 0.00537063 -0.00963103] [ 0.03990125 -0.00504613 0.99919089 -0.26111083] [ 0. 0. 0. 1. ]] SLAMing on 295.59313336499997 meters Centerline goodness : 0.117143 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 0.99921642 0.00534128 -0.03921758 -2.08533344] [-0.00524319 0.99998286 0.00260379 -0.01062005] [ 0.03923082 -0.00239613 0.9992273 -0.26082862] [ 0. 0. 0. 1. ]] SLAMing on 295.623133365 meters Centerline goodness : 0.151634 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 0.99922574 0.00543457 -0.03896653 -2.08624587] [-0.00532505 0.99998158 0.00291383 -0.01242576] [ 0.03898165 -0.00270408 0.99923627 -0.26034516] [ 0. 0. 0. 1. ]] SLAMing on 295.653133365 meters Centerline goodness : 0.114654 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 0.99923371 0.00553835 -0.03874679 -2.08706096] [-0.00541866 0.99998022 0.00319331 -0.01391888] [ 0.03876371 -0.00298091 0.99924396 -0.25989468] [ 0. 0. 0. 1. ]] SLAMing on 295.683133365 meters Centerline goodness : 0.114826 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924132 0.00574086 -0.0385205 -2.0878858 ] [-0.00560407 0.99997761 0.00365813 -0.01614047] [ 0.03854064 -0.00343949 0.99925111 -0.25941701] [ 0. 0. 0. 1. ]] SLAMing on 295.713133365 meters Centerline goodness : 0.107247 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924266 0.0057588 -0.03848304 -2.08799168] [-0.00561801 0.99997713 0.00376576 -0.01700312] [ 0.03850385 -0.00354671 0.99925216 -0.25937581] [ 0. 0. 0. 1. ]] SLAMing on 295.743133365 meters Centerline goodness : 0.099518 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.9992438 0.00578918 -0.03844878 -2.0880836 ] [-0.00564524 0.99997665 0.00385134 -0.01756635] [ 0.03847018 -0.00363137 0.99925315 -0.25935862] [ 0. 0. 0. 1. ]] SLAMing on 295.773133365 meters Centerline goodness : 0.115447 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924744 0.00591959 -0.03833431 -2.08807822] [-0.00577329 0.99997563 0.00392615 -0.01752602] [ 0.03835662 -0.00370188 0.99925726 -0.25979503] [ 0. 0. 0. 1. ]] SLAMing on 295.803133365 meters Centerline goodness : 0.051598 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.9992456 0.00597029 -0.03837434 -2.08778191] [-0.00582196 0.99997515 0.00397587 -0.01759093] [ 0.03839713 -0.00374945 0.99925552 -0.26009635] [ 0. 0. 0. 1. ]] SLAMing on 295.833133365 meters Centerline goodness : 0.120919 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99924431 0.00599029 -0.03840488 -2.08747588] [-0.00584128 0.99997498 0.00399108 -0.01768789] [ 0.03842782 -0.00376373 0.99925429 -0.26049461] [ 0. 0. 0. 1. ]] SLAMing on 295.863133365 meters Centerline goodness : 0.117939 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99923758 0.00598859 -0.03857972 -2.08675526] [-0.00583703 0.9999748 0.00403992 -0.01817274] [ 0.03860294 -0.00381165 0.99924736 -0.26095215] [ 0. 0. 0. 1. ]] SLAMing on 295.893133365 meters Centerline goodness : 0.124382 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99923425 0.00604518 -0.03865712 -2.08636591] [-0.00588736 0.99997387 0.00419524 -0.01910548] [ 0.03868147 -0.00396444 0.99924373 -0.26127424] [ 0. 0. 0. 1. ]] SLAMing on 295.923133365 meters Centerline goodness : 0.069205 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 0.99923004 0.0061098 -0.03875572 -2.08600956] [-0.00594481 0.99997278 0.00437116 -0.02006209] [ 0.03878137 -0.0041374 0.99923915 -0.26141969] [ 0. 0. 0. 1. ]] SLAMing on 295.953133365 meters Centerline goodness : 0.129201 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99255513e-01 3.43444384e-03 -3.84268822e-02 -2.08709977e+00] [-3.37207223e-03 9.99992890e-01 1.68781991e-03 -2.07709506e-02] [ 3.84324057e-02 -1.55698512e-03 9.99259989e-01 -2.61167139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98313336499996 meters Centerline goodness : 0.140457 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99254468e-01 3.41959650e-03 -3.84553531e-02 -2.08705241e+00] [-3.35824378e-03 9.99992983e-01 1.65990954e-03 -2.08087569e-02] [ 3.84607595e-02 -1.52952957e-03 9.99258941e-01 -2.61160705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.013133365 meters Centerline goodness : 0.084271 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99254725e-01 3.46073082e-03 -3.84449950e-02 -2.08681160e+00] [-3.39976199e-03 9.99992858e-01 1.65113490e-03 -2.04972058e-02] [ 3.84504346e-02 -1.51920052e-03 9.99259354e-01 -2.61547175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04313336499996 meters Centerline goodness : 0.118217 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99256611e-01 3.56180255e-03 -3.83867122e-02 -2.08667535e+00] [-3.50047946e-03 9.99992488e-01 1.66460091e-03 -1.99564495e-02] [ 3.83923528e-02 -1.52899157e-03 9.99261572e-01 -2.62002012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.073133365 meters Centerline goodness : 0.104671 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99261140e-01 3.61056956e-03 -3.82640623e-02 -2.08668399e+00] [-3.55251870e-03 9.99992434e-01 1.58499538e-03 -1.90601838e-02] [ 3.82694955e-02 -1.44789049e-03 9.99266406e-01 -2.62485211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10313336499996 meters Centerline goodness : 0.115764 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99263047e-01 3.61068265e-03 -3.82142089e-02 -2.08661382e+00] [-3.55777462e-03 9.99992616e-01 1.45242531e-03 -1.81996371e-02] [ 3.82191709e-02 -1.31539740e-03 9.99268515e-01 -2.62829452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.133133365 meters Centerline goodness : 0.120973 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99258168e-01 3.45172325e-03 -3.83562181e-02 -2.08625334e+00] [-3.41212932e-03 9.99993576e-01 1.09768342e-03 -1.68514454e-02] [ 3.83597606e-02 -9.65992748e-04 9.99263527e-01 -2.62940872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16313336499996 meters Centerline goodness : 0.121886 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99261017e-01 3.41057529e-03 -3.82856127e-02 -2.08639228e+00] [-3.37589168e-03 9.99993831e-01 9.70529018e-04 -1.61354586e-02] [ 3.82886866e-02 -8.40563732e-04 9.99266366e-01 -2.63022285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.193133365 meters Centerline goodness : 0.120985 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.02, Z:-0.26 [[ 9.99268305e-01 3.35691280e-03 -3.80996758e-02 -2.08696337e+00] [-3.32839915e-03 9.99994131e-01 8.11800334e-04 -1.51776569e-02] [ 3.81021774e-02 -6.84395416e-04 9.99273614e-01 -2.62871738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22313336499997 meters Centerline goodness : 0.139836 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.01, Z:-0.26 [[ 9.99277120e-01 3.32205039e-03 -3.78708514e-02 -2.08758733e+00] [-3.29860470e-03 9.99994327e-01 6.81561967e-04 -1.42354632e-02] [ 3.78729008e-02 -5.56148311e-04 9.99282410e-01 -2.62758975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.253133365 meters Centerline goodness : 0.135068 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.01, Z:-0.26 [[ 0.9992912 -0.00318779 -0.03750913 -2.11042266] [ 0.00331081 0.99998934 0.00321813 -0.00931528] [ 0.03749847 -0.00334004 0.9992911 -0.2639397 ] [ 0. 0. 0. 1. ]] SLAMing on 296.28313336499997 meters Centerline goodness : 0.173109 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.01, Z:-0.26 [[ 0.99929212 -0.00328706 -0.03747605 -2.11040825] [ 0.00339453 0.99999031 0.00280465 -0.0068471 ] [ 0.03746646 -0.00292988 0.99929359 -0.26413487] [ 0. 0. 0. 1. ]] SLAMing on 296.313133365 meters Centerline goodness : 0.113009 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.00, Z:-0.26 [[ 0.99929568 -0.00337811 -0.03737296 -2.11071728] [ 0.00346868 0.9999912 0.0023589 -0.00413741] [ 0.03736466 -0.00248687 0.9992986 -0.26416479] [ 0. 0. 0. 1. ]] SLAMing on 296.34313336499997 meters Centerline goodness : 0.113092 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.00, Z:-0.26 [[ 9.99301011e-01 -3.52502994e-03 -3.72164426e-02 -2.11125409e+00] [ 3.59510139e-03 9.99991889e-01 1.81605497e-03 -1.07026058e-03] [ 3.72097391e-02 -1.94858245e-03 9.99305578e-01 -2.64049805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.373133365 meters Centerline goodness : 0.109199 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.00, Z:-0.27 [[ 9.99298362e-01 4.41832622e-03 -3.71922241e-02 -2.13185893e+00] [-4.39805838e-03 9.99990132e-01 6.26746166e-04 -2.67616065e-03] [ 3.71946263e-02 -4.62732844e-04 9.99307933e-01 -2.65637103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.403133365 meters Centerline goodness : 0.109199 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.00, Z:-0.27 [[ 9.99298362e-01 4.41832622e-03 -3.71922241e-02 -2.13185893e+00] [-4.39805838e-03 9.99990132e-01 6.26746166e-04 -2.67616065e-03] [ 3.71946263e-02 -4.62732844e-04 9.99307933e-01 -2.65637103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.433133365 meters Centerline goodness : 0.116391 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.00, Z:-0.27 [[ 9.99297340e-01 4.28261334e-03 -3.72355447e-02 -2.13146372e+00] [-4.29648204e-03 9.99990727e-01 -2.92447531e-04 4.76999818e-03] [ 3.72339470e-02 4.52223888e-04 9.99306474e-01 -2.66275858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.463133365 meters Centerline goodness : 0.093411 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.01, Z:-0.27 [[ 9.99301632e-01 4.08976631e-03 -3.71419072e-02 -2.13158353e+00] [-4.12587688e-03 9.99991087e-01 -8.95636245e-04 8.00882681e-03] [ 3.71379132e-02 1.04825370e-03 9.99309600e-01 -2.66539419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.493133365 meters Centerline goodness : 0.149238 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.01, Z:-0.27 [[ 9.99305518e-01 3.91751071e-03 -3.70558356e-02 -2.13184811e+00] [-3.97414174e-03 9.99991045e-01 -1.45472751e-03 1.12249087e-02] [ 3.70498048e-02 1.60098237e-03 9.99312138e-01 -2.66591153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.523133365 meters Centerline goodness : 0.096409 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.01, Z:-0.27 [[ 9.99305872e-01 3.76029019e-03 -3.70625646e-02 -2.13198838e+00] [-3.83614567e-03 9.99990690e-01 -1.97578639e-03 1.43207123e-02] [ 3.70547900e-02 2.11659234e-03 9.99310994e-01 -2.66444495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.553133365 meters Centerline goodness : 0.169539 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.02, Z:-0.27 [[ 0.99931024 0.0035302 -0.03696728 -2.132317 ] [-0.00362692 0.99999017 -0.00254975 0.01725006] [ 0.03695792 0.00268207 0.99931322 -0.26636898] [ 0. 0. 0. 1. ]] SLAMing on 296.583133365 meters Centerline goodness : 0.097832 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.02, Z:-0.27 [[ 0.99931428 0.00327218 -0.03688173 -2.1325794 ] [-0.00339047 0.99998931 -0.00314514 0.02009787] [ 0.03687104 0.00326803 0.99931469 -0.26636803] [ 0. 0. 0. 1. ]] SLAMing on 296.613133365 meters Centerline goodness : 0.098648 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.03, Z:-0.27 [[ 0.99932239 0.00283236 -0.0366978 -2.13341309] [-0.00298863 0.9999867 -0.00420413 0.02572969] [ 0.03668541 0.00431096 0.99931757 -0.26596523] [ 0. 0. 0. 1. ]] SLAMing on 296.643133365 meters Centerline goodness : 0.102046 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.03, Z:-0.27 [[ 0.99932423 0.00266965 -0.03665993 -2.13367704] [-0.00284291 0.99998503 -0.00467464 0.02839946] [ 0.0366469 0.0047757 0.99931687 -0.26579885] [ 0. 0. 0. 1. ]] SLAMing on 296.673133365 meters Centerline goodness : 0.110419 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.03, Z:-0.27 [[ 0.99932858 0.00251168 -0.03655238 -2.13402183] [-0.00270156 0.99998311 -0.00514607 0.03123604] [ 0.03653883 0.00524136 0.99931849 -0.26574969] [ 0. 0. 0. 1. ]] SLAMing on 296.703133365 meters Centerline goodness : 0.102047 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.04, Z:-0.27 [[ 0.99940309 -0.00543809 -0.03411576 -2.1550531 ] [ 0.00527184 0.9999738 -0.00496112 0.0397194 ] [ 0.03414185 0.00477831 0.99940557 -0.26795777] [ 0. 0. 0. 1. ]] SLAMing on 296.73313336499996 meters Centerline goodness : 0.106509 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.04, Z:-0.27 [[ 0.99940123 -0.0055817 -0.03414709 -2.15515378] [ 0.00540713 0.99997185 -0.00520246 0.04073325] [ 0.03417517 0.00501471 0.99940328 -0.26774353] [ 0. 0. 0. 1. ]] SLAMing on 296.763133365 meters Centerline goodness : 0.100730 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.9993947 -0.00561522 -0.03433224 -2.15474551] [ 0.00544015 0.99997173 -0.0051906 0.04078305] [ 0.03436041 0.00500069 0.999397 -0.26772735] [ 0. 0. 0. 1. ]] SLAMing on 296.79313336499996 meters Centerline goodness : 0.152027 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.99938702 -0.00561885 -0.03455458 -2.15408572] [ 0.00544758 0.99997242 -0.00504841 0.04007916] [ 0.03458199 0.00485707 0.99939006 -0.26792869] [ 0. 0. 0. 1. ]] SLAMing on 296.823133365 meters Centerline goodness : 0.235408 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.99937587 -0.00575045 -0.03485411 -2.15315511] [ 0.00558271 0.99997237 -0.00490802 0.03871591] [ 0.03488137 0.00471038 0.99938036 -0.2681727 ] [ 0. 0. 0. 1. ]] SLAMing on 296.85313336499996 meters Centerline goodness : 0.101321 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.04, Z:-0.27 [[ 0.99936944 -0.00597281 -0.03500078 -2.15267483] [ 0.00580844 0.99997163 -0.0047962 0.03698709] [ 0.03502843 0.00458987 0.99937578 -0.26825498] [ 0. 0. 0. 1. ]] SLAMing on 296.883133365 meters Centerline goodness : 0.108022 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99936742 -0.00617187 -0.03502393 -2.1524677 ] [ 0.00601463 0.99997136 -0.00459336 0.03472489] [ 0.03505127 0.00437979 0.99937592 -0.26834598] [ 0. 0. 0. 1. ]] SLAMing on 296.91313336499996 meters Centerline goodness : 0.143172 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99937793 -0.00660513 -0.03464276 -2.15337853] [ 0.00646291 0.99997023 -0.00421565 0.02949746] [ 0.03466958 0.00398913 0.99939087 -0.26810656] [ 0. 0. 0. 1. ]] SLAMing on 296.943133365 meters Centerline goodness : 0.104089 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99938509 -0.00643635 -0.03446762 -2.15373023] [ 0.00631215 0.99997319 -0.00371092 0.02707851] [ 0.03449058 0.00349108 0.99939893 -0.26811652] [ 0. 0. 0. 1. ]] SLAMing on 296.97313336499997 meters Centerline goodness : 0.106688 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99938674 -0.00630267 -0.03444436 -2.15364731] [ 0.00619179 0.9999753 -0.0033249 0.02511165] [ 0.03446446 0.00310959 0.99940109 -0.26825325] [ 0. 0. 0. 1. ]] SLAMing on 297.003133365 meters Centerline goodness : 0.111225 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99409801e-01 1.01956057e-03 -3.43367221e-02 -2.17128553e+00] [-1.18044386e-03 9.99988420e-01 -4.66551228e-03 1.79726278e-02] [ 3.43315677e-02 4.70329128e-03 9.99399431e-01 -2.71281176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03313336499997 meters Centerline goodness : 0.109814 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99399927e-01 1.02502113e-03 -3.46227504e-02 -2.17023617e+00] [-1.18437066e-03 9.99988800e-01 -4.58225585e-03 1.71075463e-02] [ 3.46176657e-02 4.62051233e-03 9.99389948e-01 -2.71856701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.063133365 meters Centerline goodness : 0.115589 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99374214e-01 1.30112265e-03 -3.53481038e-02 -2.16784691e+00] [-1.45231590e-03 9.99989906e-01 -4.25192669e-03 1.58651441e-02] [ 3.53422147e-02 4.30060250e-03 9.99366015e-01 -2.72931398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09313336499997 meters Centerline goodness : 0.115092 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99371938e-01 1.39057748e-03 -3.54089755e-02 -2.16751961e+00] [-1.53758902e-03 9.99990310e-01 -4.12492366e-03 1.52682909e-02] [ 3.54028964e-02 4.17677740e-03 9.99364393e-01 -2.73251296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.123133365 meters Centerline goodness : 0.117293 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99374532e-01 1.47080275e-03 -3.53324375e-02 -2.16771821e+00] [-1.61151091e-03 9.99990883e-01 -3.95425942e-03 1.42679403e-02] [ 3.53262994e-02 4.00872476e-03 9.99367792e-01 -2.73236628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.153133365 meters Centerline goodness : 0.123447 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99381911e-01 1.53890783e-03 -3.51201948e-02 -2.16840608e+00] [-1.67135346e-03 9.99991601e-01 -3.74216339e-03 1.29566969e-02] [ 3.51141410e-02 3.79854865e-03 9.99376089e-01 -2.72981199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.183133365 meters Centerline goodness : 0.113698 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99391171e-01 1.60201038e-03 -3.48528592e-02 -2.16916383e+00] [-1.72630636e-03 9.99992256e-01 -3.53650626e-03 1.16964911e-02] [ 3.48469238e-02 3.59451985e-03 9.99386197e-01 -2.72807632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.213133365 meters Centerline goodness : 0.124852 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99401625e-01 1.71993697e-03 -3.45461231e-02 -2.17015269e+00] [-1.83428641e-03 9.99992943e-01 -3.27863079e-03 1.03815662e-02] [ 3.45402402e-02 3.34003642e-03 9.99397727e-01 -2.72435299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.243133365 meters Centerline goodness : 0.126023 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99415978e-01 1.77853051e-03 -3.41253447e-02 -2.17151441e+00] [-1.88865644e-03 9.99993112e-01 -3.19513747e-03 9.67978698e-03] [ 3.41194270e-02 3.25772249e-03 9.99412453e-01 -2.71906992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.273133365 meters Centerline goodness : 0.128226 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99412657e-01 1.71932937e-03 -3.42254974e-02 -2.17112700e+00] [-1.83800250e-03 9.99992407e-01 -3.43622899e-03 1.08611457e-02] [ 3.42193296e-02 3.49711729e-03 9.99408229e-01 -2.72189759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.303133365 meters Centerline goodness : 0.116927 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99404222e-01 1.76848753e-03 -3.44684342e-02 -2.17029300e+00] [-1.89700972e-03 9.99991369e-01 -3.69634600e-03 1.28381775e-02] [ 3.44615997e-02 3.75953076e-03 9.99398951e-01 -2.72692185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.333133365 meters Centerline goodness : 0.109226 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99399568e-01 1.94196301e-03 -3.45938110e-02 -2.16964081e+00] [-2.07767847e-03 9.99990285e-01 -3.88759791e-03 1.50731212e-02] [ 3.45859253e-02 3.95713849e-03 9.99393894e-01 -2.73356068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.363133365 meters Centerline goodness : 0.129324 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99394151e-01 2.09734358e-03 -3.47409153e-02 -2.16908958e+00] [-2.24291692e-03 9.99988866e-01 -4.15181392e-03 1.77378709e-02] [ 3.47318208e-02 4.22721954e-03 9.99387728e-01 -2.73811726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.393133365 meters Centerline goodness : 0.121319 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99412952e-01 2.11557181e-03 -3.41946763e-02 -2.17052295e+00] [-2.27974816e-03 9.99986058e-01 -4.76294955e-03 2.20482279e-02] [ 3.41841232e-02 4.83810872e-03 9.99403842e-01 -2.73791862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.423133365 meters Centerline goodness : 0.108794 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.02, Z:-0.27 [[ 9.99415699e-01 2.03728270e-03 -3.41190492e-02 -2.17084609e+00] [-2.20947198e-03 9.99985010e-01 -5.00977684e-03 2.34243818e-02] [ 3.41083315e-02 5.08223471e-03 9.99405219e-01 -2.73665193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.453133365 meters Centerline goodness : 0.127797 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99940949 -0.00518101 -0.03396811 -2.15272013] [ 0.00506027 0.99998057 -0.0036394 0.02963461] [ 0.0339863 0.00346536 0.99941629 -0.27119316] [ 0. 0. 0. 1. ]] SLAMing on 297.48313336499996 meters Centerline goodness : 0.123881 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99941292 -0.00514879 -0.03387187 -2.15311585] [ 0.00503271 0.99998117 -0.00351147 0.02911468] [ 0.03388931 0.00333894 0.99942001 -0.27091273] [ 0. 0. 0. 1. ]] SLAMing on 297.513133365 meters Centerline goodness : 0.103847 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.03, Z:-0.27 [[ 0.99942345 -0.00516659 -0.03355695 -2.1539685 ] [ 0.00505868 0.99998176 -0.00329987 0.02773095] [ 0.03357339 0.00312821 0.99943136 -0.2706694 ] [ 0. 0. 0. 1. ]] SLAMing on 297.54313336499996 meters Centerline goodness : 0.109246 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.02, Z:-0.27 [[ 0.99946873 -0.00581804 -0.03206869 -2.15753261] [ 0.00571564 0.99997827 -0.00328359 0.024351 ] [ 0.0320871 0.00309855 0.99948027 -0.27013376] [ 0. 0. 0. 1. ]] SLAMing on 297.573133365 meters Centerline goodness : 0.107649 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.02, Z:-0.27 [[ 0.99946939 -0.00574062 -0.03206206 -2.15739539] [ 0.00564985 0.99997977 -0.00292088 0.02224542] [ 0.03207818 0.00273818 0.99948161 -0.27030084] [ 0. 0. 0. 1. ]] SLAMing on 297.60313336499996 meters Centerline goodness : 0.206776 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.02, Z:-0.27 [[ 0.99945873 -0.00565831 -0.03240732 -2.15616564] [ 0.00557699 0.99998107 -0.00259898 0.0203883 ] [ 0.03242141 0.00241683 0.99947137 -0.27090079] [ 0. 0. 0. 1. ]] SLAMing on 297.633133365 meters Centerline goodness : 0.109193 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.27 [[ 9.99437078e-01 1.63636932e-03 -3.35089459e-02 -2.17256733e+00] [-1.77455757e-03 9.99990043e-01 -4.09459616e-03 1.32574142e-02] [ 3.35019120e-02 4.15175477e-03 9.99430030e-01 -2.74004366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66313336499996 meters Centerline goodness : 0.108599 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.01, Z:-0.28 [[ 9.99418583e-01 1.74099564e-03 -3.40509048e-02 -2.17061818e+00] [-1.86587127e-03 9.99991649e-01 -3.63588926e-03 1.01252220e-02] [ 3.40442904e-02 3.69730990e-03 9.99413486e-01 -2.75014291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.693133365 meters Centerline goodness : 0.164125 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.01, Z:-0.28 [[ 9.99356990e-01 1.21471006e-03 -3.58347801e-02 -2.21606497e+00] [-1.33242575e-03 9.99993794e-01 -3.26125807e-03 5.55675934e-03] [ 3.58305962e-02 3.30690824e-03 9.99352407e-01 -2.75897134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72313336499997 meters Centerline goodness : 0.108129 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.01, Z:-0.27 [[ 9.99373207e-01 -6.19316001e-03 -3.48545168e-02 -2.19734672e+00] [ 6.12595166e-03 9.99979166e-01 -2.03471557e-03 9.35873299e-03] [ 3.48663920e-02 1.81992314e-03 9.99390325e-01 -2.74343120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.753133365 meters Centerline goodness : 0.107834 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.01, Z:-0.27 [[ 9.99374706e-01 -6.13899103e-03 -3.48211131e-02 -2.19747590e+00] [ 6.07612794e-03 9.99979714e-01 -1.91084996e-03 8.60276329e-03] [ 3.48321374e-02 1.69807757e-03 9.99391734e-01 -2.74282790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78313336499997 meters Centerline goodness : 0.120398 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.01, Z:-0.27 [[ 9.99374219e-01 -6.13223099e-03 -3.48362792e-02 -2.19733159e+00] [ 6.06881320e-03 9.99979730e-01 -1.92590118e-03 8.57573659e-03] [ 3.48473831e-02 1.71328112e-03 9.99391177e-01 -2.74477761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.813133365 meters Centerline goodness : 0.112030 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99937874 0.00323525 -0.0350952 -2.17560743] [-0.00332022 0.9999917 -0.00236316 0.00810397] [ 0.03508726 0.00247822 0.99938118 -0.27346215] [ 0. 0. 0. 1. ]] SLAMing on 297.84313336499997 meters Centerline goodness : 0.108534 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99938843 0.00329039 -0.03481289 -2.17613344] [-0.00337796 0.99999128 -0.00245677 0.00914433] [ 0.0348045 0.00257286 0.99939083 -0.27369372] [ 0. 0. 0. 1. ]] SLAMing on 297.873133365 meters Centerline goodness : 0.110639 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99939836 0.00328106 -0.03452753 -2.17683063] [-0.0033724 0.99999097 -0.00258744 0.00984088] [ 0.03451872 0.00270232 0.9994004 -0.27369369] [ 0. 0. 0. 1. ]] SLAMing on 297.903133365 meters Centerline goodness : 0.107984 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99940275 0.0032026 -0.03440774 -2.17721862] [-0.00329899 0.99999079 -0.00274497 0.01030793] [ 0.03439863 0.00285684 0.99940411 -0.27357306] [ 0. 0. 0. 1. ]] SLAMing on 297.933133365 meters Centerline goodness : 0.107339 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99940481 0.0031346 -0.03435399 -2.1773455 ] [-0.00323417 0.99999073 -0.00284318 0.01047871] [ 0.03434476 0.0029526 0.99940568 -0.2736138 ] [ 0. 0. 0. 1. ]] SLAMing on 297.963133365 meters Centerline goodness : 0.114270 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.9994028 0.00312947 -0.03441286 -2.17714235] [-0.00322919 0.99999075 -0.00284264 0.01043027] [ 0.03440365 0.00295207 0.99940366 -0.27377511] [ 0. 0. 0. 1. ]] SLAMing on 297.993133365 meters Centerline goodness : 0.106444 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99939355 0.00315305 -0.03467834 -2.17616992] [-0.00324728 0.99999119 -0.00266127 0.0093839 ] [ 0.03466964 0.00277226 0.99939498 -0.27430929] [ 0. 0. 0. 1. ]] SLAMing on 298.023133365 meters Centerline goodness : 0.113577 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99939014 0.00317117 -0.03477495 -2.17582966] [-0.00325863 0.99999167 -0.00245855 0.00801887] [ 0.03476687 0.00257036 0.99939214 -0.27445038] [ 0. 0. 0. 1. ]] SLAMing on 298.053133365 meters Centerline goodness : 0.112243 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.01, Z:-0.27 [[ 0.99938888 0.00317052 -0.03481118 -2.17588821] [-0.00325023 0.99999222 -0.0022335 0.00636373] [ 0.03480382 0.00234528 0.99939141 -0.27415353] [ 0. 0. 0. 1. ]] SLAMing on 298.083133365 meters Centerline goodness : 0.110402 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.00, Z:-0.27 [[ 9.99387017e-01 3.21784631e-03 -3.48602206e-02 -2.17590516e+00] [-3.28945325e-03 9.99992596e-01 -1.99695784e-03 4.88820890e-03] [ 3.48535365e-02 2.11040480e-03 9.99390203e-01 -2.73944696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.113133365 meters Centerline goodness : 0.109074 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.00, Z:-0.27 [[ 9.99384930e-01 3.28909829e-03 -3.49133805e-02 -2.17572276e+00] [-3.35323965e-03 9.99992796e-01 -1.77876155e-03 3.74583581e-03] [ 3.49072784e-02 1.89474042e-03 9.99388759e-01 -2.74023688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.143133365 meters Centerline goodness : 0.118238 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99339687e-01 -5.06819117e-03 -3.59792151e-02 -2.19438244e+00] [ 5.05621514e-03 9.99987127e-01 -4.23841145e-04 6.12458333e-03] [ 3.59809000e-02 2.41642625e-04 9.99352449e-01 -2.76476133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.173133365 meters Centerline goodness : 0.106372 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99337433e-01 -5.05794755e-03 -3.60432066e-02 -2.19404705e+00] [ 5.04491977e-03 9.99987172e-01 -4.52387628e-04 6.48090416e-03] [ 3.60450324e-02 2.70252805e-04 9.99350130e-01 -2.76784067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.203133365 meters Centerline goodness : 0.105636 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99336089e-01 -4.99635061e-03 -3.60890356e-02 -2.19384388e+00] [ 4.98290784e-03 9.99987478e-01 -4.62423433e-04 7.07107713e-03] [ 3.60908942e-02 2.82288087e-04 9.99348472e-01 -2.76962749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23313336499996 meters Centerline goodness : 0.112363 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99331556e-01 -4.98417299e-03 -3.62160114e-02 -2.19351565e+00] [ 4.96878463e-03 9.99987523e-01 -5.14897453e-04 7.74187917e-03] [ 3.62181259e-02 3.34603712e-04 9.99343852e-01 -2.77031257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.263133365 meters Centerline goodness : 0.106366 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.01, Z:-0.28 [[ 9.99325739e-01 -5.03813045e-03 -3.63687382e-02 -2.19332278e+00] [ 5.02243053e-03 9.99987251e-01 -5.23034924e-04 7.35154695e-03] [ 3.63709097e-02 3.40022801e-04 9.99338302e-01 -2.76791848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29313336499996 meters Centerline goodness : 0.262224 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.00, Z:-0.28 [[ 9.99332563e-01 6.18298044e-04 -3.65246072e-02 -2.21549939e+00] [-7.38241128e-04 9.99994379e-01 -3.27050278e-03 2.69629031e-03] [ 3.65223798e-02 3.29528389e-03 9.99327402e-01 -2.77404563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.323133365 meters Centerline goodness : 0.262224 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.00, Z:-0.28 [[ 9.99332563e-01 6.18298044e-04 -3.65246072e-02 -2.21549939e+00] [-7.38241128e-04 9.99994379e-01 -3.27050278e-03 2.69629031e-03] [ 3.65223798e-02 3.29528389e-03 9.99327402e-01 -2.77404563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35313336499996 meters Centerline goodness : 0.104996 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.00, Z:-0.28 [[ 9.99402526e-01 6.80533702e-04 -3.45561486e-02 -2.17322218e+00] [-8.07602888e-04 9.99992964e-01 -3.66335537e-03 4.17860163e-03] [ 3.45534125e-02 3.68907425e-03 9.99396044e-01 -2.75509014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.383133365 meters Centerline goodness : 0.108109 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.00, Z:-0.28 [[ 9.99359735e-01 -7.70040635e-03 -3.49402753e-02 -2.19421935e+00] [ 7.62920726e-03 9.99968541e-01 -2.17060554e-03 4.76691219e-03] [ 3.49558907e-02 1.90264918e-03 9.99387045e-01 -2.76823498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41313336499996 meters Centerline goodness : 0.106862 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.00, Z:-0.28 [[ 9.99365343e-01 -7.52919337e-03 -3.48169831e-02 -2.19457346e+00] [ 7.47373683e-03 9.99970587e-01 -1.72267489e-03 2.69307442e-03] [ 3.48289294e-02 1.46136862e-03 9.99392220e-01 -2.76655922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.443133365 meters Centerline goodness : 0.105730 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.00, Z:-0.28 [[ 9.99369794e-01 -7.39646178e-03 -3.47175365e-02 -2.19468191e+00] [ 7.35737709e-03 9.99972149e-01 -1.25341120e-03 4.34943863e-05] [ 3.47258404e-02 9.97191282e-04 9.99396379e-01 -2.76730930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47313336499997 meters Centerline goodness : 0.101554 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.00, Z:-0.28 [[ 0.99933372 -0.01108339 -0.03477475 -2.19423238] [ 0.01094487 0.9999314 -0.00417122 -0.00494171] [ 0.03481859 0.00378784 0.99938647 -0.27694602] [ 0. 0. 0. 1. ]] SLAMing on 298.503133365 meters Centerline goodness : 0.102753 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.01, Z:-0.28 [[ 0.99932915 -0.01082202 -0.03498753 -2.19364203] [ 0.01070789 0.99993672 -0.00344785 -0.0087454 ] [ 0.03502263 0.00307089 0.9993818 -0.27701927] [ 0. 0. 0. 1. ]] SLAMing on 298.53313336499997 meters Centerline goodness : 0.168872 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.02, Z:-0.28 [[ 0.99939569 -0.00317488 -0.03461479 -2.21214327] [ 0.00305091 0.99998874 -0.00363368 -0.01891601] [ 0.03462594 0.00352588 0.99939412 -0.27902415] [ 0. 0. 0. 1. ]] SLAMing on 298.563133365 meters Centerline goodness : 0.102821 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.02, Z:-0.28 [[ 0.99939066 -0.00292644 -0.03478145 -2.21162684] [ 0.00282758 0.99999182 -0.00289109 -0.02313897] [ 0.03478962 0.00279098 0.99939076 -0.27913968] [ 0. 0. 0. 1. ]] SLAMing on 298.59313336499997 meters Centerline goodness : 0.102232 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.03, Z:-0.28 [[ 9.99387736e-01 -2.72248675e-03 -3.48818042e-02 -2.21112294e+00] [ 2.64599500e-03 9.99993993e-01 -2.23885913e-03 -2.73632850e-02] [ 3.48876899e-02 2.14519128e-03 9.99388937e-01 -2.79457816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.623133365 meters Centerline goodness : 0.115322 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.03, Z:-0.28 [[ 9.99387815e-01 -2.56070455e-03 -3.48918013e-02 -2.21090431e+00] [ 2.50260642e-03 9.99995409e-01 -1.70866574e-03 -3.07880340e-02] [ 3.48960165e-02 1.62029928e-03 9.99389635e-01 -2.79680115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.653133365 meters Centerline goodness : 0.117371 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99416452e-01 4.89690708e-03 -3.38049580e-02 -2.22930849e+00] [-4.95711545e-03 9.99986273e-01 -1.69746914e-03 -4.29075122e-02] [ 3.37961816e-02 1.86405367e-03 9.99427008e-01 -2.82418833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.683133365 meters Centerline goodness : 0.107733 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99415582e-01 5.14134696e-03 -3.37943969e-02 -2.22919562e+00] [-5.18707704e-03 9.99985746e-01 -1.26565177e-03 -4.47109037e-02] [ 3.37874081e-02 1.44020624e-03 9.99428005e-01 -2.82619886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.713133365 meters Centerline goodness : 0.115975 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99414714e-01 5.27703727e-03 -3.37991494e-02 -2.22896726e+00] [-5.31237008e-03 9.99985433e-01 -9.55657876e-04 -4.63669537e-02] [ 3.37936140e-02 1.13465213e-03 9.99428189e-01 -2.82932250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.743133365 meters Centerline goodness : 0.107731 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99411361e-01 5.35785011e-03 -3.38854543e-02 -2.22869330e+00] [-5.38510016e-03 9.99985246e-01 -7.12967221e-04 -4.80854215e-02] [ 3.38811344e-02 8.95024107e-04 9.99425469e-01 -2.83040360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.773133365 meters Centerline goodness : 0.120827 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99398607e-01 5.52700238e-03 -3.42326945e-02 -2.22748870e+00] [-5.54294479e-03 9.99984569e-01 -3.70821116e-04 -5.01929999e-02] [ 3.42301167e-02 5.60348042e-04 9.99413821e-01 -2.83679740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.803133365 meters Centerline goodness : 0.120558 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99396935e-01 5.61796297e-03 -3.42666626e-02 -2.22715079e+00] [-5.62921153e-03 9.99984129e-01 -2.31797994e-04 -5.08257457e-02] [ 3.42648165e-02 4.24552497e-04 9.99412699e-01 -2.84054915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.833133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 298.863133365 meters Centerline goodness : 0.128699 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99410455e-01 5.77286844e-03 -3.38440077e-02 -2.22795527e+00] [-5.77991644e-03 9.99983290e-01 -1.10416387e-04 -5.11813442e-02] [ 3.38428048e-02 3.05966828e-04 9.99427121e-01 -2.84374065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.893133365 meters Centerline goodness : 0.115339 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99415138e-01 5.79780534e-03 -3.37011411e-02 -2.22834889e+00] [-5.80629816e-03 9.99983131e-01 -1.54141311e-04 -5.08238680e-02] [ 3.36996789e-02 3.49730033e-04 9.99431943e-01 -2.84325934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.923133365 meters Centerline goodness : 0.117331 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.28 [[ 9.99413815e-01 5.77714172e-03 -3.37439020e-02 -2.22825040e+00] [-5.79133196e-03 9.99983178e-01 -3.22803209e-04 -4.98478740e-02] [ 3.37414694e-02 5.18036125e-04 9.99430460e-01 -2.84352810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.953133365 meters Centerline goodness : 0.119575 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.29 [[ 9.99393894e-01 6.00498357e-03 -3.42897192e-02 -2.22664171e+00] [-6.02821850e-03 9.99981665e-01 -5.74262023e-04 -4.72220946e-02] [ 3.42856420e-02 7.80619878e-04 9.99411770e-01 -2.85077090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98313336499996 meters Centerline goodness : 0.126079 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.05, Z:-0.29 [[ 9.99395194e-01 5.94899081e-03 -3.42615652e-02 -2.22654379e+00] [-5.98233212e-03 9.99981727e-01 -8.70709371e-04 -4.54704018e-02] [ 3.42557593e-02 1.07514682e-03 9.99412521e-01 -2.85369109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.013133365 meters Centerline goodness : 0.158242 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99431086e-01 6.19054238e-03 -3.31539187e-02 -2.22963815e+00] [-6.23080377e-03 9.99979971e-01 -1.11119866e-03 -4.24152526e-02] [ 3.31463758e-02 1.31714204e-03 9.99449640e-01 -2.84711041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04313336499996 meters Centerline goodness : 0.146449 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.04, Z:-0.28 [[ 9.99441365e-01 6.11825467e-03 -3.28561125e-02 -2.23055892e+00] [-6.16958957e-03 9.99979900e-01 -1.46126033e-03 -4.00735288e-02] [ 3.28465117e-02 1.66315274e-03 9.99459024e-01 -2.84460750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.073133365 meters Centerline goodness : 0.135920 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99384231e-01 6.20989919e-03 -3.45339841e-02 -2.27635752e+00] [-6.23406767e-03 9.99980393e-01 -5.92213396e-04 -4.04739440e-02] [ 3.45296294e-02 8.07135923e-04 9.99403349e-01 -2.85043416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10313336499996 meters Centerline goodness : 0.117080 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.03, Z:-0.28 [[ 9.99390051e-01 -2.60987983e-04 -3.49207348e-02 -2.25836710e+00] [ 2.73452084e-04 9.99999901e-01 3.52149958e-04 -3.05590699e-02] [ 3.49206394e-02 -3.61484312e-04 9.99390023e-01 -2.83267116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.133133365 meters Centerline goodness : 0.125891 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.03, Z:-0.28 [[ 9.99392482e-01 -4.56690625e-04 -3.48490706e-02 -2.25833350e+00] [ 4.46130489e-04 9.99999852e-01 -3.10800267e-04 -2.68941150e-02] [ 3.48492074e-02 2.95064217e-04 9.99392538e-01 -2.83727483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16313336499996 meters Centerline goodness : 0.194456 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.02, Z:-0.28 [[ 9.99388541e-01 -6.93409080e-04 -3.49580294e-02 -2.25794842e+00] [ 6.59245836e-04 9.99999294e-01 -9.88781604e-04 -2.32036746e-02] [ 3.49586904e-02 9.65131069e-04 9.99388292e-01 -2.84039159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.193133365 meters Centerline goodness : 0.085331 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.29 [[ 9.99283628e-01 -9.49420709e-05 -3.78447021e-02 -2.30102124e+00] [ 9.49200888e-05 9.99999995e-01 -2.37760635e-06 -1.88200159e-02] [ 3.78447022e-02 -1.21631938e-06 9.99283633e-01 -2.85203077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22313336499997 meters Centerline goodness : 0.114204 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.29 [[ 9.99281392e-01 -2.94305436e-04 -3.79026789e-02 -2.30103801e+00] [ 2.72643120e-04 9.99999797e-01 -5.76692225e-04 -1.54449377e-02] [ 3.79028409e-02 5.65943905e-04 9.99281269e-01 -2.85096007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.253133365 meters Centerline goodness : 0.135381 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.29 [[ 9.99280300e-01 -5.57095431e-04 -3.79285088e-02 -2.30106233e+00] [ 5.12042603e-04 9.99999152e-01 -1.19753910e-03 -1.22636848e-02] [ 3.79291438e-02 1.17725621e-03 9.99279738e-01 -2.85015735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28313336499997 meters Centerline goodness : 0.117266 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 9.99276924e-01 -8.89890900e-04 -3.80110188e-02 -2.30102521e+00] [ 8.18844658e-04 9.99997889e-01 -1.88462325e-03 -9.10968291e-03] [ 3.80126156e-02 1.85213540e-03 9.99275543e-01 -2.84874998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.313133365 meters Centerline goodness : 0.116984 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 9.99273861e-01 -1.17399631e-03 -3.80837511e-02 -2.30096657e+00] [ 1.07802108e-03 9.99996192e-01 -2.54054689e-03 -5.81270671e-03] [ 3.80865887e-02 2.49764702e-03 9.99271321e-01 -2.84792055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34313336499997 meters Centerline goodness : 0.109545 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.29 [[ 9.99271510e-01 -1.56723084e-03 -3.81312677e-02 -2.30067321e+00] [ 1.43669781e-03 9.99993015e-01 -3.45041524e-03 1.45955573e-03] [ 3.81364090e-02 3.39311853e-03 9.99266782e-01 -2.85099648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.373133365 meters Centerline goodness : 0.140183 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99272047e-01 -1.81053434e-03 -3.81063919e-02 -2.30087985e+00] [ 1.66308466e-03 9.99991009e-01 -3.90076421e-03 3.56287689e-03] [ 3.81131118e-02 3.83455048e-03 9.99266074e-01 -2.84888830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.403133365 meters Centerline goodness : 0.113011 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99269979e-01 -2.07940985e-03 -3.81468850e-02 -2.30105716e+00] [ 1.91898312e-03 9.99989163e-01 -4.24163313e-03 4.63020620e-03] [ 3.81552916e-02 4.16533342e-03 9.99263140e-01 -2.84487374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.433133365 meters Centerline goodness : 0.103448 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99253108e-01 -2.36980866e-03 -3.85695370e-02 -2.30019235e+00] [ 2.19956332e-03 9.99987654e-01 -4.45582020e-03 4.77164310e-03] [ 3.85796203e-02 4.36765605e-03 9.99245984e-01 -2.84272845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.463133365 meters Centerline goodness : 0.103700 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 0.99922482 -0.00330063 -0.03922828 -2.29839746] [ 0.00311334 0.99998347 -0.00483447 0.00333881] [ 0.03924359 0.00470859 0.99921858 -0.28443532] [ 0. 0. 0. 1. ]] SLAMing on 299.493133365 meters Centerline goodness : 0.102859 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.00, Z:-0.28 [[ 9.99228094e-01 -3.53379299e-03 -3.91245349e-02 -2.29870911e+00] [ 3.35318048e-03 9.99983422e-01 -4.68100816e-03 1.44360466e-03] [ 3.91404280e-02 4.54620323e-03 9.99223378e-01 -2.84207093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.523133365 meters Centerline goodness : 0.102573 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.00, Z:-0.28 [[ 9.99243424e-01 -3.88259251e-03 -3.86976201e-02 -2.29981575e+00] [ 3.70890864e-03 9.99982730e-01 -4.55901128e-03 -9.45376882e-04] [ 3.87146526e-02 4.41203610e-03 9.99240566e-01 -2.83841533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.553133365 meters Centerline goodness : 0.150753 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.00, Z:-0.28 [[ 0.99924734 -0.00417272 -0.03856617 -2.30029078] [ 0.00400725 0.99998244 -0.00436678 -0.00358361] [ 0.03858371 0.00420895 0.99924651 -0.28347431] [ 0. 0. 0. 1. ]] SLAMing on 299.583133365 meters Centerline goodness : 0.105228 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 0.99923922 -0.0043028 -0.03876163 -2.29979394] [ 0.00415102 0.9999834 -0.00399529 -0.00676551] [ 0.03877817 0.00383135 0.9992405 -0.28344188] [ 0. 0. 0. 1. ]] SLAMing on 299.613133365 meters Centerline goodness : 0.105182 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.01, Z:-0.28 [[ 0.99923566 -0.00425303 -0.03885883 -2.29948011] [ 0.00412183 0.99998553 -0.00345568 -0.010213 ] [ 0.03887297 0.00329287 0.99923873 -0.28348396] [ 0. 0. 0. 1. ]] SLAMing on 299.643133365 meters Centerline goodness : 0.105927 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.28 [[ 0.99925177 -0.00430724 -0.03843628 -2.30073796] [ 0.00420911 0.99998767 -0.00263352 -0.01775714] [ 0.03844715 0.00246977 0.99925758 -0.28292757] [ 0. 0. 0. 1. ]] SLAMing on 299.673133365 meters Centerline goodness : 0.095705 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.02, Z:-0.28 [[ 9.99258528e-01 -4.13273683e-03 -3.82794353e-02 -2.30138312e+00] [ 4.05844729e-03 9.99989728e-01 -2.01821987e-03 -2.12978475e-02] [ 3.82873829e-02 1.86136835e-03 9.99265036e-01 -2.82456009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.703133365 meters Centerline goodness : 0.123953 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.03, Z:-0.28 [[ 9.99257346e-01 -3.89499413e-03 -3.83351855e-02 -2.30138062e+00] [ 3.84687628e-03 9.99991718e-01 -1.32887033e-03 -2.52201992e-02] [ 3.83400440e-02 1.18041272e-03 9.99264053e-01 -2.82193314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73313336499996 meters Centerline goodness : 0.152401 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.03, Z:-0.28 [[ 9.99252192e-01 -3.69901160e-03 -3.84886280e-02 -2.30107480e+00] [ 3.67500233e-03 9.99993006e-01 -6.94532168e-04 -2.90147205e-02] [ 3.84909279e-02 5.52566993e-04 9.99258797e-01 -2.82073409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.763133365 meters Centerline goodness : 0.105614 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.04, Z:-0.28 [[ 9.99252668e-01 -3.71363594e-03 -3.84748650e-02 -2.30127673e+00] [ 3.71732466e-03 9.99993090e-01 2.43354232e-05 -3.82086032e-02] [ 3.84745088e-02 -1.67340801e-04 9.99259568e-01 -2.81760194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79313336499996 meters Centerline goodness : 0.107326 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.04, Z:-0.28 [[ 9.99259467e-01 -3.40286675e-03 -3.83267411e-02 -2.30170866e+00] [ 3.43436721e-03 9.99993817e-01 7.56083976e-04 -4.19964814e-02] [ 3.83239312e-02 -8.87152173e-04 9.99264974e-01 -2.81604780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.823133365 meters Centerline goodness : 0.103744 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.28 [[ 9.99263520e-01 -3.06708709e-03 -3.82493143e-02 -2.30200828e+00] [ 3.12616358e-03 9.99994011e-01 1.48479806e-03 -4.54620747e-02] [ 3.82445312e-02 -1.60327815e-03 9.99267124e-01 -2.81402752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85313336499996 meters Centerline goodness : 0.103127 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.28 [[ 9.99259314e-01 -2.77447667e-03 -3.83813204e-02 -2.30155410e+00] [ 2.85861652e-03 9.99993630e-01 2.13750290e-03 -4.87279215e-02] [ 3.83751455e-02 -2.24563715e-03 9.99260880e-01 -2.81559882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.883133365 meters Centerline goodness : 0.112155 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.28 [[ 0.99924453 -0.00258626 -0.03877737 -2.30039329] [ 0.00269016 0.99999293 0.00262761 -0.05156938] [ 0.0387703 -0.00272994 0.99924442 -0.28185509] [ 0. 0. 0. 1. ]] SLAMing on 299.91313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 299.943133365 meters Centerline goodness : 0.102793 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.07, Z:-0.28 [[ 9.99171853e-01 4.96044652e-03 -4.03856625e-02 -2.31734199e+00] [-4.86721803e-03 9.99985259e-01 2.40645158e-03 -6.71049502e-02] [ 4.03970043e-02 -2.20789286e-03 9.99181268e-01 -2.84427810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97313336499997 meters Centerline goodness : 0.109566 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.28 [[ 0.99923606 -0.0026768 -0.03898874 -2.29816429] [ 0.00283354 0.99998812 0.00396534 -0.06650801] [ 0.03897766 -0.00407278 0.99923178 -0.2830456 ] [ 0. 0. 0. 1. ]] SLAMing on 300.003133365 meters Centerline goodness : 0.114658 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.28 [[ 0.99924762 -0.00239739 -0.03870988 -2.29905091] [ 0.00258368 0.99998532 0.00476329 -0.07085602] [ 0.03869789 -0.00485972 0.99923914 -0.28261836] [ 0. 0. 0. 1. ]] SLAMing on 300.03313336499997 meters Centerline goodness : 0.096058 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.28 [[ 9.99250766e-01 -2.22011571e-03 -3.86390702e-02 -2.29947857e+00] [ 2.43458615e-03 9.99981887e-01 5.50444356e-03 -7.55099993e-02] [ 3.86261498e-02 -5.59438959e-03 9.99238071e-01 -2.82170750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.063133365 meters Centerline goodness : 0.095939 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.28 [[ 9.99249008e-01 -2.16825132e-03 -3.86874374e-02 -2.29943854e+00] [ 2.40821413e-03 9.99978145e-01 6.15707981e-03 -8.03464924e-02] [ 3.86732418e-02 -6.24562352e-03 9.99232392e-01 -2.81964907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09313336499997 meters Centerline goodness : 0.133354 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 9.99237355e-01 -2.07739852e-03 -3.89922197e-02 -2.29867255e+00] [ 2.34586056e-03 9.99973852e-01 6.84052608e-03 -8.52247480e-02] [ 3.89769896e-02 -6.92677949e-03 9.99216100e-01 -2.81944649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.123133365 meters Centerline goodness : 0.100264 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99923483 -0.0042008 -0.03888583 -2.29909362] [ 0.00444775 0.99997047 0.00626643 -0.09494299] [ 0.03885835 -0.00643459 0.99922401 -0.28219295] [ 0. 0. 0. 1. ]] SLAMing on 300.153133365 meters Centerline goodness : 0.155461 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.10, Z:-0.28 [[ 0.99925046 -0.00414928 -0.03848772 -2.30006718] [ 0.00441615 0.99996678 0.00685165 -0.09780509] [ 0.03845801 -0.00701648 0.99923558 -0.2822995 ] [ 0. 0. 0. 1. ]] SLAMing on 300.183133365 meters Centerline goodness : 0.119283 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924621 0.00365997 -0.03864738 -2.28255162] [-0.00340222 0.99997155 0.00673299 -0.10597093] [ 0.03867092 -0.00659643 0.99923023 -0.28098871] [ 0. 0. 0. 1. ]] SLAMing on 300.213133365 meters Centerline goodness : 0.119283 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924621 0.00365997 -0.03864738 -2.28255162] [-0.00340222 0.99997155 0.00673299 -0.10597093] [ 0.03867092 -0.00659643 0.99923023 -0.28098871] [ 0. 0. 0. 1. ]] SLAMing on 300.243133365 meters Centerline goodness : 0.094979 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924091 0.00377455 -0.03877321 -2.28221874] [-0.00350477 0.99996919 0.00702363 -0.10762351] [ 0.03879853 -0.00688241 0.99922335 -0.28099926] [ 0. 0. 0. 1. ]] SLAMing on 300.273133365 meters Centerline goodness : 0.098871 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99923472 0.00383666 -0.03892617 -2.28169859] [-0.00355886 0.99996772 0.00720329 -0.10870887] [ 0.03895255 -0.00705925 0.99921613 -0.28123246] [ 0. 0. 0. 1. ]] SLAMing on 300.303133365 meters Centerline goodness : 0.094307 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99923376 0.00389104 -0.03894547 -2.28156109] [-0.00360784 0.99996656 0.00733919 -0.10958206] [ 0.03897273 -0.00719306 0.99921438 -0.28134466] [ 0. 0. 0. 1. ]] SLAMing on 300.333133365 meters Centerline goodness : 0.208168 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924324 0.00392945 -0.03869776 -2.28234182] [-0.00364461 0.99996577 0.00742836 -0.11020785] [ 0.03872562 -0.0072817 0.99922335 -0.28101561] [ 0. 0. 0. 1. ]] SLAMing on 300.363133365 meters Centerline goodness : 0.121803 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99924171 0.00392313 -0.03873786 -2.2821627 ] [-0.00363663 0.99996553 0.00746356 -0.11049877] [ 0.0387658 -0.00731703 0.99922153 -0.28115896] [ 0. 0. 0. 1. ]] SLAMing on 300.393133365 meters Centerline goodness : 0.215609 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99923644 0.00392559 -0.03887331 -2.28159646] [-0.00363591 0.99996512 0.00751971 -0.11072869] [ 0.03890147 -0.00737263 0.99921585 -0.28156994] [ 0. 0. 0. 1. ]] SLAMing on 300.423133365 meters Centerline goodness : 0.121083 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99919427 0.00360834 -0.03997247 -2.27853764] [-0.0033138 0.99996689 0.00743224 -0.11141732] [ 0.03999796 -0.00729379 0.99917314 -0.28236122] [ 0. 0. 0. 1. ]] SLAMing on 300.453133365 meters Centerline goodness : 0.119957 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99918039 0.00351433 -0.04032616 -2.27769906] [-0.00321389 0.99996661 0.00751273 -0.11238471] [ 0.04035121 -0.00737697 0.99915833 -0.28240103] [ 0. 0. 0. 1. ]] SLAMing on 300.48313336499996 meters Centerline goodness : 0.098331 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 0.99917261 0.00345219 -0.04052374 -2.27743565] [-0.00314385 0.99996564 0.00767026 -0.11365444] [ 0.04054882 -0.00753651 0.99914913 -0.28217343] [ 0. 0. 0. 1. ]] SLAMing on 300.513133365 meters Centerline goodness : 0.179911 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99916561 0.00335938 -0.04070388 -2.27721178] [-0.0030418 0.99996447 0.00786161 -0.11519441] [ 0.04072884 -0.00773123 0.99914033 -0.28191583] [ 0. 0. 0. 1. ]] SLAMing on 300.54313336499996 meters Centerline goodness : 0.109184 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99916072 0.00326722 -0.04083101 -2.27703697] [-0.00293967 0.99996304 0.00807947 -0.11686695] [ 0.0408559 -0.00795266 0.9991334 -0.28175996] [ 0. 0. 0. 1. ]] SLAMing on 300.573133365 meters Centerline goodness : 0.209202 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915196 0.00313865 -0.04105485 -2.27653147] [-0.00280115 0.99996183 0.00827562 -0.11857598] [ 0.04107926 -0.00815361 0.99912262 -0.28175056] [ 0. 0. 0. 1. ]] SLAMing on 300.60313336499996 meters Centerline goodness : 0.119930 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 9.99167237e-01 -6.23956573e-04 -4.07975872e-02 -2.27670312e+00] [ 8.32838958e-04 9.99986632e-01 5.10317357e-03 -1.21210210e-01] [ 4.07938576e-02 -5.13290166e-03 9.99154400e-01 -2.82236974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.633133365 meters Centerline goodness : 0.107721 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 9.99161444e-01 -6.74221401e-04 -4.09384103e-02 -2.27655889e+00] [ 8.93743823e-04 9.99985320e-01 5.34419543e-03 -1.23028933e-01] [ 4.09342062e-02 -5.37630248e-03 9.99147380e-01 -2.82035547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66313336499996 meters Centerline goodness : 0.111621 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 9.99164356e-01 -6.19000093e-04 -4.08681561e-02 -2.27693137e+00] [ 8.51080309e-04 9.99983611e-01 5.66160019e-03 -1.24740895e-01] [ 4.08639818e-02 -5.69165119e-03 9.99148508e-01 -2.81747455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.693133365 meters Centerline goodness : 0.160932 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.13, Z:-0.28 [[ 0.99918476 0.00571194 -0.03996475 -2.25513093] [-0.00558989 0.99997937 0.00316512 -0.12821523] [ 0.03998201 -0.00293915 0.99919608 -0.28160966] [ 0. 0. 0. 1. ]] SLAMing on 300.72313336499997 meters Centerline goodness : 0.442786 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.13, Z:-0.28 [[ 0.99914321 -0.00379831 -0.04121187 -2.27379016] [ 0.00397484 0.99998327 0.00420223 -0.12945263] [ 0.04119522 -0.00436244 0.99914159 -0.28381591] [ 0. 0. 0. 1. ]] SLAMing on 300.753133365 meters Centerline goodness : 0.097133 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.13, Z:-0.28 [[ 0.99913972 -0.00378488 -0.04129756 -2.27345081] [ 0.00397662 0.99998169 0.00456173 -0.13209298] [ 0.04127953 -0.00472203 0.99913648 -0.28401433] [ 0. 0. 0. 1. ]] SLAMing on 300.78313336499997 meters Centerline goodness : 0.102256 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.13, Z:-0.28 [[ 0.9991422 -0.00369832 -0.0412455 -2.27355069] [ 0.00390539 0.99998017 0.00494098 -0.13437076] [ 0.0412264 -0.00509782 0.99913683 -0.28404129] [ 0. 0. 0. 1. ]] SLAMing on 300.813133365 meters Centerline goodness : 0.183881 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.14, Z:-0.28 [[ 0.99915586 -0.00358757 -0.04092317 -2.27459928] [ 0.00380801 0.99997865 0.00530992 -0.13638284] [ 0.04090324 -0.00546127 0.99914819 -0.28361785] [ 0. 0. 0. 1. ]] SLAMing on 300.84313336499997 meters Centerline goodness : 0.094195 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99920886 0.0044225 -0.03952344 -2.25628418] [-0.00426875 0.99998299 0.00397354 -0.14175157] [ 0.03954034 -0.00380169 0.99921074 -0.28180018] [ 0. 0. 0. 1. ]] SLAMing on 300.873133365 meters Centerline goodness : 0.109179 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99920122 0.00445465 -0.03971252 -2.25577577] [-0.00429437 0.99998229 0.00412038 -0.14288614] [ 0.03973017 -0.00394655 0.99920265 -0.28182495] [ 0. 0. 0. 1. ]] SLAMing on 300.903133365 meters Centerline goodness : 0.118611 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99919456 0.00445538 -0.03987946 -2.25517288] [-0.00429633 0.99998248 0.00407294 -0.14247246] [ 0.03989691 -0.00389832 0.9991962 -0.28211537] [ 0. 0. 0. 1. ]] SLAMing on 300.933133365 meters Centerline goodness : 0.116545 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.14, Z:-0.28 [[ 0.99919525 0.00448711 -0.03985881 -2.25499664] [-0.00433045 0.99998256 0.00401579 -0.14176508] [ 0.03987613 -0.00383996 0.99919725 -0.28242292] [ 0. 0. 0. 1. ]] SLAMing on 300.963133365 meters Centerline goodness : 0.133317 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99919735 0.00449792 -0.03980491 -2.25501731] [-0.00434743 0.99998307 0.00386653 -0.14060632] [ 0.03982163 -0.00369038 0.99919999 -0.28254711] [ 0. 0. 0. 1. ]] SLAMing on 300.993133365 meters Centerline goodness : 0.136540 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 0.99920191 0.00439732 -0.03970158 -2.25527116] [-0.00426197 0.99998482 0.00349307 -0.13860121] [ 0.03971633 -0.00332108 0.99920548 -0.28250447] [ 0. 0. 0. 1. ]] SLAMing on 301.023133365 meters Centerline goodness : 0.088664 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.13, Z:-0.28 [[ 0.99918524 -0.00282927 -0.04025969 -2.23550654] [ 0.00300168 0.99998658 0.00422274 -0.1340635 ] [ 0.0402472 -0.00434014 0.99918033 -0.28043041] [ 0. 0. 0. 1. ]] SLAMing on 301.053133365 meters Centerline goodness : 0.100639 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.13, Z:-0.28 [[ 0.99918176 -0.00286913 -0.0403432 -2.23527415] [ 0.00303859 0.99998681 0.00413994 -0.13362545] [ 0.04033079 -0.00425914 0.9991773 -0.28054519] [ 0. 0. 0. 1. ]] SLAMing on 301.083133365 meters Centerline goodness : 0.115158 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.13, Z:-0.28 [[ 0.99918106 -0.00289897 -0.04035836 -2.23532774] [ 0.00306652 0.99998693 0.00409017 -0.13327329] [ 0.04034597 -0.00421058 0.9991769 -0.28045637] [ 0. 0. 0. 1. ]] SLAMing on 301.113133365 meters Centerline goodness : 0.114664 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.13, Z:-0.28 [[ 9.99228765e-01 3.74346023e-03 -3.90878839e-02 -2.21422771e+00] [-3.68818395e-03 9.99992094e-01 1.48616764e-03 -1.34655909e-01] [ 3.90931383e-02 -1.34085814e-03 9.99234671e-01 -2.80087915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.143133365 meters Centerline goodness : 0.102695 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.13, Z:-0.28 [[ 9.99234183e-01 3.68756210e-03 -3.89544449e-02 -2.21470716e+00] [-3.63147701e-03 9.99992265e-01 1.51042091e-03 -1.34974388e-01] [ 3.89597134e-02 -1.36780203e-03 9.99239846e-01 -2.79887438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.173133365 meters Centerline goodness : 0.096775 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99235329e-01 3.09939287e-03 -3.89762955e-02 -2.21475146e+00] [-3.05237559e-03 9.99994540e-01 1.26575451e-03 -1.35275806e-01] [ 3.89800058e-02 -1.14581633e-03 9.99239334e-01 -2.79798276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.203133365 meters Centerline goodness : 0.147599 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.13, Z:-0.28 [[ 9.99201811e-01 -4.58008385e-03 -3.96832823e-02 -2.19392889e+00] [ 4.66585396e-03 9.99986974e-01 2.06902068e-03 -1.32283170e-01] [ 3.96732891e-02 -2.25252561e-03 9.99210166e-01 -2.77914228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23313336499996 meters Centerline goodness : 0.094452 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99198514e-01 2.47603158e-03 -3.99524529e-02 -2.21251516e+00] [-2.43098050e-03 9.99996353e-01 1.17615927e-03 -1.36989360e-01] [ 3.99552194e-02 -1.07809296e-03 9.99200890e-01 -2.79957099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.263133365 meters Centerline goodness : 0.096164 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99196847e-01 2.41207399e-03 -3.99980272e-02 -2.21243640e+00] [-2.36238156e-03 9.99996378e-01 1.28958961e-03 -1.37921871e-01] [ 4.00009929e-02 -1.19406327e-03 9.99198927e-01 -2.80020701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29313336499996 meters Centerline goodness : 0.140047 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99197245e-01 2.30967431e-03 -3.99941267e-02 -2.21257613e+00] [-2.25621427e-03 9.99996500e-01 1.38178149e-03 -1.38642635e-01] [ 3.99971782e-02 -1.29043694e-03 9.99198959e-01 -2.79934949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.323133365 meters Centerline goodness : 0.123114 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99200723e-01 2.29307339e-03 -3.99080952e-02 -2.21283072e+00] [-2.23521401e-03 9.99996385e-01 1.49437466e-03 -1.39373218e-01] [ 3.99113776e-02 -1.40397711e-03 9.99202237e-01 -2.79919216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35313336499996 meters Centerline goodness : 0.105748 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.14, Z:-0.28 [[ 0.99916705 -0.00650633 -0.04028492 -2.23231481] [ 0.00661558 0.99997479 0.0025792 -0.13542966] [ 0.04026712 -0.00284356 0.9991849 -0.28208627] [ 0. 0. 0. 1. ]] SLAMing on 301.383133365 meters Centerline goodness : 0.102983 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.14, Z:-0.28 [[ 9.99200385e-01 1.83672576e-03 -3.99401808e-02 -2.21278427e+00] [-1.77620709e-03 9.99997220e-01 1.55066524e-03 -1.39169722e-01] [ 3.99429179e-02 -1.47848327e-03 9.99200869e-01 -2.80820944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41313336499996 meters Centerline goodness : 0.122151 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 9.99114786e-01 1.40945623e-03 -4.20435173e-02 -2.25729358e+00] [-1.31930910e-03 9.99996771e-01 2.17180812e-03 -1.36999866e-01] [ 4.20464427e-02 -2.11441721e-03 9.99113420e-01 -2.81857605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.443133365 meters Centerline goodness : 0.103585 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.14, Z:-0.28 [[ 9.99113121e-01 1.35239022e-03 -4.20849378e-02 -2.25718821e+00] [-1.27115076e-03 9.99997277e-01 1.95706927e-03 -1.35364353e-01] [ 4.20874699e-02 -1.90183728e-03 9.99112120e-01 -2.81759227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47313336499997 meters Centerline goodness : 0.094424 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.13, Z:-0.28 [[ 0.99911622 -0.00434878 -0.04180743 -2.27852609] [ 0.00455854 0.99997749 0.00492334 -0.12756846] [ 0.04178508 -0.00510957 0.99911356 -0.28271178] [ 0. 0. 0. 1. ]] SLAMing on 301.503133365 meters Centerline goodness : 0.101059 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.13, Z:-0.28 [[ 0.99913052 0.00415143 -0.04148447 -2.25941645] [-0.00400566 0.99998551 0.00359657 -0.12913651] [ 0.0414988 -0.00342727 0.99913268 -0.28116434] [ 0. 0. 0. 1. ]] SLAMing on 301.53313336499997 meters Centerline goodness : 0.106312 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915196 -0.00228185 -0.04111144 -2.28062014] [ 0.00253913 0.99997751 0.00620678 -0.12275711] [ 0.04109635 -0.0063059 0.99913529 -0.28243409] [ 0. 0. 0. 1. ]] SLAMing on 301.563133365 meters Centerline goodness : 0.096710 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915276 -0.00236366 -0.04108741 -2.28064205] [ 0.00260482 0.99997969 0.00581701 -0.12026591] [ 0.04107283 -0.0059191 0.99913862 -0.28247945] [ 0. 0. 0. 1. ]] SLAMing on 301.59313336499997 meters Centerline goodness : 0.144542 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.12, Z:-0.28 [[ 0.99915023 -0.00243414 -0.04114483 -2.28048246] [ 0.00265947 0.99998176 0.00542255 -0.11755708] [ 0.04113088 -0.00552737 0.99913848 -0.28250282] [ 0. 0. 0. 1. ]] SLAMing on 301.623133365 meters Centerline goodness : 0.110956 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 9.99129255e-01 1.17173961e-03 -4.17056142e-02 -2.27886199e+00] [-8.26169277e-04 9.99965195e-01 8.30221389e-03 -1.12903465e-01] [ 4.17138907e-02 -8.26052888e-03 9.99095448e-01 -2.83009658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.653133365 meters Centerline goodness : 0.150597 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 9.99120236e-01 1.03916306e-03 -4.19246262e-02 -2.27799394e+00] [-7.13028318e-04 9.99969378e-01 7.79327677e-03 -1.09665910e-01] [ 4.19314409e-02 -7.75652708e-03 9.99090382e-01 -2.83515804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.683133365 meters Centerline goodness : 0.101891 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.11, Z:-0.28 [[ 9.99120110e-01 8.29301723e-04 -4.19323075e-02 -2.27788471e+00] [-5.26483047e-04 9.99973709e-01 7.23213526e-03 -1.06622248e-01] [ 4.19372027e-02 -7.20369512e-03 9.99094279e-01 -2.83653351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.713133365 meters Centerline goodness : 0.103180 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.10, Z:-0.28 [[ 9.99125059e-01 5.58967201e-04 -4.18186972e-02 -2.27834137e+00] [-2.82221513e-04 9.99978025e-01 6.62336109e-03 -1.03531599e-01] [ 4.18214805e-02 -6.60576391e-03 9.99103262e-01 -2.83418819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.743133365 meters Centerline goodness : 0.165505 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99914357 -0.00670491 -0.04083097 -2.30202428] [ 0.00703431 0.99994382 0.00792899 -0.09335358] [ 0.04077552 -0.00820941 0.99913461 -0.28343508] [ 0. 0. 0. 1. ]] SLAMing on 301.773133365 meters Centerline goodness : 0.103026 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99914309 -0.0069206 -0.04080664 -2.30208026] [ 0.00723165 0.99994588 0.00747981 -0.09084829] [ 0.04075267 -0.0077685 0.99913906 -0.28353877] [ 0. 0. 0. 1. ]] SLAMing on 301.803133365 meters Centerline goodness : 0.156113 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99914387 -0.00708477 -0.04075954 -2.3020883 ] [ 0.00738183 0.99994725 0.0071421 -0.08895689] [ 0.04070679 -0.00743686 0.99914346 -0.28377217] [ 0. 0. 0. 1. ]] SLAMing on 301.833133365 meters Centerline goodness : 0.154572 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.9991412 -0.0072632 -0.04079347 -2.30185725] [ 0.00754779 0.99994821 0.00682679 -0.08738131] [ 0.04074177 -0.00712882 0.99914428 -0.28407298] [ 0. 0. 0. 1. ]] SLAMing on 301.863133365 meters Centerline goodness : 0.123417 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.09, Z:-0.28 [[ 0.99913527 -0.00746569 -0.04090199 -2.30144827] [ 0.0077392 0.99994871 0.00653259 -0.08609475] [ 0.04085113 -0.00684349 0.99914181 -0.28437676] [ 0. 0. 0. 1. ]] SLAMing on 301.893133365 meters Centerline goodness : 0.105126 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.29 [[ 0.99911855 -0.00788498 -0.04123035 -2.30030568] [ 0.00813857 0.99994896 0.00598623 -0.08378066] [ 0.04118104 -0.00631651 0.99913173 -0.28506565] [ 0. 0. 0. 1. ]] SLAMing on 301.923133365 meters Centerline goodness : 0.117318 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.09, Z:-0.28 [[ 9.99146636e-01 -1.13548301e-04 -4.13036017e-02 -2.28170853e+00] [ 3.06271252e-04 9.99989097e-01 4.65971055e-03 -8.70057880e-02] [ 4.13026223e-02 -4.66838423e-03 9.99135776e-01 -2.83538898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.953133365 meters Centerline goodness : 0.113613 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.29 [[ 0.99908629 -0.00840673 -0.04190366 -2.3006408 ] [ 0.00865409 0.99994616 0.00572516 -0.08001504] [ 0.04185327 -0.00608256 0.99910525 -0.28562104] [ 0. 0. 0. 1. ]] SLAMing on 301.98313336499996 meters Centerline goodness : 0.114126 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.08, Z:-0.29 [[ 0.99908597 -0.00854211 -0.04188395 -2.30058936] [ 0.00877335 0.99994725 0.00534016 -0.07785521] [ 0.04183612 -0.00570274 0.99910821 -0.28574135] [ 0. 0. 0. 1. ]] SLAMing on 302.013133365 meters Centerline goodness : 0.110500 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.29 [[ 0.99909398 -0.00863175 -0.04167393 -2.30109082] [ 0.008843 0.99994896 0.00488747 -0.07492546] [ 0.04162961 -0.00525156 0.99911931 -0.28570199] [ 0. 0. 0. 1. ]] SLAMing on 302.04313336499996 meters Centerline goodness : 0.109446 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.07, Z:-0.28 [[ 0.99914836 -0.00678888 -0.04069958 -2.3046844 ] [ 0.0070482 0.99995575 0.00623143 -0.0704431 ] [ 0.04065548 -0.00651298 0.999152 -0.28440743] [ 0. 0. 0. 1. ]] SLAMing on 302.073133365 meters Centerline goodness : 0.095774 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914503 -0.0042194 -0.04112674 -2.30174536] [ 0.00454927 0.99995821 0.00793037 -0.06408266] [ 0.04109156 -0.00811069 0.99912247 -0.2865673 ] [ 0. 0. 0. 1. ]] SLAMing on 302.10313336499996 meters Centerline goodness : 0.223097 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914123 -0.00438422 -0.04120167 -2.30127788] [ 0.00469224 0.99996174 0.00738226 -0.06104957] [ 0.04116773 -0.00756925 0.99912358 -0.28700436] [ 0. 0. 0. 1. ]] SLAMing on 302.133133365 meters Centerline goodness : 0.223097 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914123 -0.00438422 -0.04120167 -2.30127788] [ 0.00469224 0.99996174 0.00738226 -0.06104957] [ 0.04116773 -0.00756925 0.99912358 -0.28700436] [ 0. 0. 0. 1. ]] SLAMing on 302.16313336499996 meters Centerline goodness : 0.451994 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914443 -0.00456176 -0.0411047 -2.30148777] [ 0.00484888 0.99996452 0.00688789 -0.05839837] [ 0.04107182 -0.00708131 0.9991311 -0.28703402] [ 0. 0. 0. 1. ]] SLAMing on 302.193133365 meters Centerline goodness : 0.434726 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.06, Z:-0.29 [[ 0.99914716 -0.00470064 -0.04102274 -2.30177327] [ 0.00497114 0.99996656 0.00649429 -0.05604766] [ 0.04099084 -0.00669268 0.99913711 -0.28693733] [ 0. 0. 0. 1. ]] SLAMing on 302.22313336499997 meters Centerline goodness : 0.446050 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.29 [[ 0.99914268 -0.0049427 -0.04110329 -2.30155841] [ 0.00519228 0.99996871 0.00596751 -0.05319528] [ 0.04107251 -0.00617581 0.99913708 -0.28703143] [ 0. 0. 0. 1. ]] SLAMing on 302.253133365 meters Centerline goodness : 0.441438 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.29 [[ 0.99912888 -0.00509403 -0.04141896 -2.30061145] [ 0.00533502 0.99996947 0.00570991 -0.05196454] [ 0.04138861 -0.00592591 0.99912555 -0.28738697] [ 0. 0. 0. 1. ]] SLAMing on 302.28313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 302.313133365 meters Centerline goodness : 0.444060 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.05, Z:-0.29 [[ 0.99910503 -0.00536568 -0.04195652 -2.29899187] [ 0.00559249 0.99997037 0.00529023 -0.04999772] [ 0.04192689 -0.00552014 0.99910543 -0.2880354 ] [ 0. 0. 0. 1. ]] SLAMing on 302.34313336499997 meters Centerline goodness : 0.089896 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99166970e-01 2.26121523e-03 -4.07461928e-02 -2.28049092e+00] [-2.10441026e-03 9.99990216e-01 3.89081468e-03 -5.32081835e-02] [ 4.07545921e-02 -3.80182681e-03 9.99161954e-01 -2.86717286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.373133365 meters Centerline goodness : 0.449554 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99186529e-01 2.12371867e-03 -4.02712110e-02 -2.28180940e+00] [-1.97876182e-03 9.99991421e-01 3.63903366e-03 -5.20457686e-02] [ 4.02785938e-02 -3.55638627e-03 9.99182159e-01 -2.86437145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.403133365 meters Centerline goodness : 0.447065 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99214631e-01 1.68506615e-03 -3.95888996e-02 -2.28389025e+00] [-1.57129252e-03 9.99994547e-01 2.90481651e-03 -4.91959400e-02] [ 3.95935785e-02 -2.84032942e-03 9.99211830e-01 -2.85727319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.433133365 meters Centerline goodness : 0.448806 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99214533e-01 1.55077826e-03 -3.95968828e-02 -2.28383883e+00] [-1.44687466e-03 9.99995435e-01 2.65255709e-03 -4.80224220e-02] [ 3.96008156e-02 -2.59318187e-03 9.99212215e-01 -2.85778241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.463133365 meters Centerline goodness : 0.452566 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99212681e-01 1.44780892e-03 -3.96474594e-02 -2.28355260e+00] [-1.35209935e-03 9.99996107e-01 2.44072315e-03 -4.69501258e-02] [ 3.96508387e-02 -2.38519422e-03 9.99210749e-01 -2.86063391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.493133365 meters Centerline goodness : 0.096314 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99211313e-01 1.31212040e-03 -3.96866478e-02 -2.28339774e+00] [-1.22289643e-03 9.99996670e-01 2.27240360e-03 -4.62968440e-02] [ 3.96894973e-02 -2.22207873e-03 9.99209591e-01 -2.86197056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.523133365 meters Centerline goodness : 0.452073 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99214491e-01 1.15607742e-03 -3.96114286e-02 -2.28346275e+00] [-1.07345133e-03 9.99997204e-01 2.10712068e-03 -4.58732108e-02] [ 3.96137539e-02 -2.06294458e-03 9.99212938e-01 -2.86421180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.553133365 meters Centerline goodness : 0.451506 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99224984e-01 8.47465341e-04 -3.93537041e-02 -2.28391502e+00] [-7.71333576e-04 9.99997802e-01 1.94969443e-03 -4.59663896e-02] [ 3.93552699e-02 -1.91782855e-03 9.99223441e-01 -2.86746375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.583133365 meters Centerline goodness : 0.093877 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99227408e-01 8.35980277e-04 -3.92923557e-02 -2.28376883e+00] [-7.56696274e-04 9.99997648e-01 2.03262575e-03 -4.64619469e-02] [ 3.92939626e-02 -2.00132298e-03 9.99225690e-01 -2.87236786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.613133365 meters Centerline goodness : 0.449142 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99228643e-01 8.20458121e-04 -3.92612579e-02 -2.28358924e+00] [-7.38722101e-04 9.99997530e-01 2.09631113e-03 -4.69475873e-02] [ 3.92628808e-02 -2.06569097e-03 9.99226781e-01 -2.87661590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.643133365 meters Centerline goodness : 0.099168 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99226008e-01 7.94904200e-04 -3.93287732e-02 -2.28333810e+00] [-7.13411102e-04 9.99997570e-01 2.08608948e-03 -4.69808390e-02] [ 3.93303359e-02 -2.05641728e-03 9.99224147e-01 -2.87823501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.673133365 meters Centerline goodness : 0.094315 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99205256e-01 8.46813844e-04 -3.98514559e-02 -2.28213191e+00] [-7.65340160e-04 9.99997586e-01 2.05964592e-03 -4.62388016e-02] [ 3.98531039e-02 -2.02750911e-03 9.99203492e-01 -2.87799982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.703133365 meters Centerline goodness : 0.093536 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.05, Z:-0.29 [[ 9.99191288e-01 8.66254438e-04 -4.01997476e-02 -2.28117031e+00] [-7.87365028e-04 9.99997733e-01 1.97822630e-03 -4.54497452e-02] [ 4.02013702e-02 -1.94497461e-03 9.99189705e-01 -2.87976913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 302.763133365 meters Centerline goodness : 0.371232 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99172601e-01 8.77629844e-04 -4.06613297e-02 -2.27977095e+00] [-8.09964281e-04 9.99998260e-01 1.68056970e-03 -4.34714549e-02] [ 4.06627339e-02 -1.64624498e-03 9.99171573e-01 -2.88351584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79313336499996 meters Centerline goodness : 0.097790 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99170962e-01 8.46069429e-04 -4.07022525e-02 -2.27964124e+00] [-7.83953830e-04 9.99998504e-01 1.54203408e-03 -4.26632353e-02] [ 4.07034963e-02 -1.50884699e-03 9.99170130e-01 -2.88365740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.823133365 meters Centerline goodness : 0.119702 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99173163e-01 8.18649969e-04 -4.06487299e-02 -2.27991072e+00] [-7.61401918e-04 9.99998696e-01 1.42382157e-03 -4.19562088e-02] [ 4.06498425e-02 -1.39169428e-03 9.99172484e-01 -2.88153679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85313336499996 meters Centerline goodness : 0.098964 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99192900e-01 8.84620552e-04 -4.01592622e-02 -2.28158865e+00] [-8.37435962e-04 9.99998939e-01 1.19174365e-03 -4.01783845e-02] [ 4.01602738e-02 -1.15715099e-03 9.99192581e-01 -2.87251490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.883133365 meters Centerline goodness : 0.445014 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.04, Z:-0.29 [[ 9.99192218e-01 7.92639659e-04 -4.01781526e-02 -2.28185654e+00] [-7.58184600e-04 9.99999332e-01 8.72787214e-04 -3.85160819e-02] [ 4.01788175e-02 -8.41619735e-04 9.99192151e-01 -2.86706335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91313336499996 meters Centerline goodness : 0.094480 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.04, Z:-0.28 [[ 9.99253764e-01 1.33393093e-03 -3.86022787e-02 -2.23874931e+00] [-1.30405350e-03 9.99998830e-01 7.99149776e-04 -3.89553823e-02] [ 3.86032996e-02 -7.48213985e-04 9.99254335e-01 -2.84782445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.943133365 meters Centerline goodness : 0.452303 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.04, Z:-0.28 [[ 9.99247106e-01 1.23267561e-03 -3.87776034e-02 -2.23829699e+00] [-1.22006650e-03 9.99999195e-01 3.48827750e-04 -3.63193014e-02] [ 3.87780022e-02 -3.01253865e-04 9.99247805e-01 -2.84735216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97313336499997 meters Centerline goodness : 0.453994 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.03, Z:-0.28 [[ 9.99237927e-01 1.20190851e-03 -3.90143756e-02 -2.23754287e+00] [-1.20617583e-03 9.99999269e-01 -8.58402128e-05 -3.32272263e-02] [ 3.90142439e-02 1.32832993e-04 9.99238646e-01 -2.84912363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.003133365 meters Centerline goodness : 0.450652 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.03, Z:-0.29 [[ 9.99226990e-01 1.15521123e-03 -3.92948850e-02 -2.23664537e+00] [-1.17796284e-03 9.99999152e-01 -5.55848562e-04 -2.99557556e-02] [ 3.92942096e-02 6.01706799e-04 9.99227503e-01 -2.85136729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03313336499997 meters Centerline goodness : 0.092246 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.02, Z:-0.28 [[ 9.99216675e-01 2.03931582e-03 -3.95205856e-02 -2.23615280e+00] [-2.05850208e-03 9.99997782e-01 -4.44788621e-04 -2.22759615e-02] [ 3.95195909e-02 5.25793415e-04 9.99218657e-01 -2.84965265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.063133365 meters Centerline goodness : 0.098360 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.02, Z:-0.28 [[ 9.99218400e-01 1.88796767e-03 -3.94844771e-02 -2.23645255e+00] [-1.92426578e-03 9.99997760e-01 -8.81316623e-04 -1.98984751e-02] [ 3.94827248e-02 9.56606415e-04 9.99219795e-01 -2.84594503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09313336499997 meters Centerline goodness : 0.115533 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.02, Z:-0.28 [[ 9.99217164e-01 1.72570539e-03 -3.95231752e-02 -2.23656466e+00] [-1.77718256e-03 9.99997618e-01 -1.26735859e-03 -1.78791999e-02] [ 3.95208940e-02 1.33660635e-03 9.99217850e-01 -2.84272200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 303.153133365 meters Centerline goodness : 0.094531 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.00, Z:-0.29 [[ 9.99254162e-01 -6.15054168e-03 -3.81220516e-02 -2.25497165e+00] [ 6.09651328e-03 9.99980241e-01 -1.53333525e-03 -3.45821240e-03] [ 3.81307291e-02 1.29978003e-03 9.99271914e-01 -2.86533899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.183133365 meters Centerline goodness : 0.104580 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.00, Z:-0.29 [[ 9.99254598e-01 -6.33679746e-03 -3.80800895e-02 -2.25499222e+00] [ 6.26539739e-03 9.99978384e-01 -1.99404294e-03 -9.92259536e-04] [ 3.80919023e-02 1.75396969e-03 9.99272701e-01 -2.86615084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.213133365 meters Centerline goodness : 0.103753 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.00, Z:-0.29 [[ 9.99251986e-01 -6.49660961e-03 -3.81216822e-02 -2.25480110e+00] [ 6.40906228e-03 9.99976538e-01 -2.41828180e-03 1.46142996e-03] [ 3.81364984e-02 2.17214866e-03 9.99270178e-01 -2.86728733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.243133365 meters Centerline goodness : 0.104804 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.00, Z:-0.29 [[ 0.99924637 -0.00663959 -0.03824406 -2.25448899] [ 0.00653542 0.99997459 -0.00284831 0.00421518] [ 0.038262 0.00259622 0.99926437 -0.28673459] [ 0. 0. 0. 1. ]] SLAMing on 303.273133365 meters Centerline goodness : 0.160887 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.01, Z:-0.29 [[ 9.99308557e-01 1.27782052e-03 -3.71587917e-02 -2.23516950e+00] [-1.43767571e-03 9.99989826e-01 -4.27554593e-03 6.68726346e-03] [ 3.71529502e-02 4.32601193e-03 9.99300227e-01 -2.85388839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.303133365 meters Centerline goodness : 0.103830 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.01, Z:-0.29 [[ 9.99233546e-01 1.19705378e-03 -3.91265546e-02 -2.28041892e+00] [-1.39105466e-03 9.99986873e-01 -4.93144410e-03 1.37509571e-02] [ 3.91201378e-02 4.98209155e-03 9.99222094e-01 -2.85725577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.333133365 meters Centerline goodness : 0.093032 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.02, Z:-0.28 [[ 0.99921541 -0.0067149 -0.03903171 -2.26099014] [ 0.00655639 0.99996974 -0.00418761 0.02005675] [ 0.03905865 0.00392842 0.9992292 -0.28337856] [ 0. 0. 0. 1. ]] SLAMing on 303.363133365 meters Centerline goodness : 0.103156 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.02, Z:-0.28 [[ 0.99921235 -0.00690941 -0.03907598 -2.2610058 ] [ 0.00672905 0.9999661 -0.00474526 0.02331599] [ 0.03910744 0.00447858 0.99922497 -0.28313821] [ 0. 0. 0. 1. ]] SLAMing on 303.393133365 meters Centerline goodness : 0.098470 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 9.99236809e-01 -3.56950198e-03 -3.88980397e-02 -2.26146811e+00] [ 3.50573514e-03 9.99992397e-01 -1.70741888e-03 2.56844015e-02] [ 3.89038386e-02 1.56974957e-03 9.99241726e-01 -2.83144108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.423133365 meters Centerline goodness : 0.102471 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 0.99921582 -0.003991 -0.03939316 -2.26010971] [ 0.00388701 0.99998876 -0.00271591 0.03124895] [ 0.03940356 0.00256066 0.9992201 -0.28332458] [ 0. 0. 0. 1. ]] SLAMing on 303.453133365 meters Centerline goodness : 0.109045 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 0.9992075 -0.00418916 -0.03958308 -2.25961685] [ 0.00406883 0.99998686 -0.00311999 0.03299142] [ 0.03959563 0.00295647 0.99921141 -0.28338946] [ 0. 0. 0. 1. ]] SLAMing on 303.48313336499996 meters Centerline goodness : 0.107125 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.03, Z:-0.28 [[ 0.9992012 -0.00435018 -0.03972442 -2.25940538] [ 0.00421551 0.99998508 -0.00347314 0.03464139] [ 0.03973894 0.00330291 0.99920464 -0.28316437] [ 0. 0. 0. 1. ]] SLAMing on 303.513133365 meters Centerline goodness : 0.105446 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.99920386 -0.00443893 -0.03964761 -2.25985286] [ 0.00429395 0.99998378 -0.00374112 0.03625388] [ 0.03966357 0.0035679 0.99920672 -0.28273053] [ 0. 0. 0. 1. ]] SLAMing on 303.54313336499996 meters Centerline goodness : 0.105410 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.03, Z:-0.28 [[ 0.99925736 0.00355089 -0.0383682 -2.2414888 ] [-0.00373633 0.99998168 -0.00476278 0.03400186] [ 0.03835059 0.0049026 0.99925232 -0.28090205] [ 0. 0. 0. 1. ]] SLAMing on 303.573133365 meters Centerline goodness : 0.101830 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.04, Z:-0.28 [[ 0.99927272 0.00341576 -0.03797839 -2.24286852] [-0.00362316 0.99997889 -0.00539334 0.03777453] [ 0.03795916 0.00552701 0.99926401 -0.28003125] [ 0. 0. 0. 1. ]] SLAMing on 303.60313336499996 meters Centerline goodness : 0.105933 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.04, Z:-0.28 [[ 0.99927071 0.00327982 -0.03804334 -2.24265592] [-0.00349741 0.9999779 -0.0056544 0.03881253] [ 0.03802395 0.00578333 0.99926009 -0.28010408] [ 0. 0. 0. 1. ]] SLAMing on 303.633133365 meters Centerline goodness : 0.104655 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.04, Z:-0.28 [[ 0.99926203 0.00321494 -0.03827601 -2.24189225] [-0.00343867 0.99997738 -0.00578085 0.03938054] [ 0.03825656 0.0059082 0.99925048 -0.28039721] [ 0. 0. 0. 1. ]] SLAMing on 303.66313336499996 meters Centerline goodness : 0.109796 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99919945 -0.00459427 -0.03974105 -2.25970335] [ 0.00442084 0.99998032 -0.00445078 0.04514565] [ 0.03976071 0.00427153 0.9992001 -0.28244628] [ 0. 0. 0. 1. ]] SLAMing on 303.693133365 meters Centerline goodness : 0.105689 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.99918833 -0.00453764 -0.04002611 -2.25877658] [ 0.00436672 0.99998098 -0.00435666 0.04496421] [ 0.04004512 0.00417834 0.99918914 -0.28285983] [ 0. 0. 0. 1. ]] SLAMing on 303.72313336499997 meters Centerline goodness : 0.082275 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.999182 -0.00454534 -0.04018303 -2.25840635] [ 0.00437527 0.9999811 -0.00431938 0.04469882] [ 0.0402019 0.00414004 0.999183 -0.28288555] [ 0. 0. 0. 1. ]] SLAMing on 303.753133365 meters Centerline goodness : 0.152664 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.04, Z:-0.28 [[ 0.99918087 -0.0045827 -0.04020691 -2.25865403] [ 0.00441248 0.99998093 -0.00432139 0.04438102] [ 0.04022594 0.00414044 0.99918203 -0.28243171] [ 0. 0. 0. 1. ]] SLAMing on 303.78313336499997 meters Centerline goodness : 0.108819 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99918196 -0.00457759 -0.04018033 -2.25893898] [ 0.00440422 0.99998061 -0.0044024 0.04505461] [ 0.0401997 0.00422184 0.99918275 -0.28206555] [ 0. 0. 0. 1. ]] SLAMing on 303.813133365 meters Centerline goodness : 0.098111 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.04, Z:-0.28 [[ 0.99921108 0.00407674 -0.03950436 -2.27985195] [-0.00428397 0.9999775 -0.0051625 0.04341336] [ 0.03948243 0.00532766 0.99920606 -0.28386886] [ 0. 0. 0. 1. ]] SLAMing on 303.84313336499997 meters Centerline goodness : 0.454112 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.05, Z:-0.28 [[ 0.99921231 0.00402657 -0.03947833 -2.27997432] [-0.00424432 0.99997623 -0.00543342 0.04501152] [ 0.03945551 0.0055967 0.99920565 -0.28368553] [ 0. 0. 0. 1. ]] SLAMing on 303.873133365 meters Centerline goodness : 0.110691 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99918552 -0.00329463 -0.04021733 -2.26177745] [ 0.0031251 0.99998597 -0.00427746 0.05025794] [ 0.04023086 0.00414829 0.9991818 -0.28099678] [ 0. 0. 0. 1. ]] SLAMing on 303.903133365 meters Centerline goodness : 0.150837 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.05, Z:-0.28 [[ 0.99918913 -0.00324842 -0.04013132 -2.26217468] [ 0.00305328 0.99998322 -0.00492298 0.05467685] [ 0.04014664 0.00479645 0.99918229 -0.28056318] [ 0. 0. 0. 1. ]] SLAMing on 303.933133365 meters Centerline goodness : 0.098832 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.06, Z:-0.28 [[ 9.99226574e-01 -1.14176378e-03 -3.93058468e-02 -2.26564760e+00] [ 1.01491039e-03 9.99994213e-01 -3.24714382e-03 5.82008436e-02] [ 3.93093268e-02 3.20474048e-03 9.99221951e-01 -2.79017971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.963133365 meters Centerline goodness : 0.098330 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.06, Z:-0.28 [[ 9.99222011e-01 -1.20835055e-03 -3.94197026e-02 -2.26539616e+00] [ 1.06568754e-03 9.99992808e-01 -3.63989066e-03 6.07490603e-02] [ 3.94238174e-02 3.59504978e-03 9.99216112e-01 -2.78937780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.993133365 meters Centerline goodness : 0.106817 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.06, Z:-0.28 [[ 9.99214676e-01 -1.30245064e-03 -3.96022192e-02 -2.26477170e+00] [ 1.14200532e-03 9.99991050e-01 -4.07377447e-03 6.34307620e-02] [ 3.96071707e-02 4.02534929e-03 9.99207220e-01 -2.79173679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.023133365 meters Centerline goodness : 0.106817 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.06, Z:-0.28 [[ 9.99214676e-01 -1.30245064e-03 -3.96022192e-02 -2.26477170e+00] [ 1.14200532e-03 9.99991050e-01 -4.07377447e-03 6.34307620e-02] [ 3.96071707e-02 4.02534929e-03 9.99207220e-01 -2.79173679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.053133365 meters Centerline goodness : 0.105866 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99204322e-01 -1.46977997e-03 -3.98567865e-02 -2.26373457e+00] [ 1.28863971e-03 9.99988727e-01 -4.57008850e-03 6.60789723e-02] [ 3.98630542e-02 4.51509114e-03 9.99194951e-01 -2.79778967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.083133365 meters Centerline goodness : 0.107822 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99195463e-01 -1.63290520e-03 -4.00719500e-02 -2.26292512e+00] [ 1.43311295e-03 9.99986403e-01 -5.01405678e-03 6.82595862e-02] [ 4.00795926e-02 4.95259516e-03 9.99184216e-01 -2.80202646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.113133365 meters Centerline goodness : 0.111251 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99183596e-01 -1.93218862e-03 -4.03535412e-02 -2.26236681e+00] [ 1.70080301e-03 9.99981921e-01 -5.76750430e-03 7.21488947e-02] [ 4.03639556e-02 5.69416226e-03 9.99168818e-01 -2.79991668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.143133365 meters Centerline goodness : 0.107156 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99183819e-01 -2.02219347e-03 -4.03435952e-02 -2.26246533e+00] [ 1.78002836e-03 9.99980189e-01 -6.03758464e-03 7.37152572e-02] [ 4.03550051e-02 5.96084414e-03 9.99167625e-01 -2.79876749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.173133365 meters Centerline goodness : 0.104169 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.07, Z:-0.28 [[ 9.99188152e-01 -2.14432911e-03 -4.02298295e-02 -2.26280141e+00] [ 1.89305025e-03 9.99978469e-01 -6.28313787e-03 7.48635761e-02] [ 4.02424364e-02 6.20187982e-03 9.99170698e-01 -2.79776696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.203133365 meters Centerline goodness : 0.115945 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99195124e-01 -2.29580734e-03 -4.00478870e-02 -2.26327656e+00] [ 2.03528492e-03 9.99976511e-01 -6.54483073e-03 7.59138025e-02] [ 4.00619720e-02 6.45805410e-03 9.99176327e-01 -2.79708615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23313336499996 meters Centerline goodness : 0.187223 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.08, Z:-0.28 [[ 0.99916171 -0.01089883 -0.03946008 -2.24350921] [ 0.01067672 0.99992598 -0.0058351 0.08089944] [ 0.03952075 0.00540891 0.99920411 -0.2777178 ] [ 0. 0. 0. 1. ]] SLAMing on 304.263133365 meters Centerline goodness : 0.111768 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99224053e-01 -2.15017401e-03 -3.93277200e-02 -2.26389087e+00] [ 1.89623134e-03 9.99977121e-01 -6.49325331e-03 7.91856121e-02] [ 3.93407818e-02 6.41364043e-03 9.99205268e-01 -2.79547235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29313336499996 meters Centerline goodness : 0.107251 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99221062e-01 -2.16528804e-03 -3.94027980e-02 -2.26350907e+00] [ 1.90851268e-03 9.99976707e-01 -6.55312694e-03 7.98145751e-02] [ 3.94160696e-02 6.47282173e-03 9.99201920e-01 -2.79871781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.323133365 meters Centerline goodness : 0.119417 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99212388e-01 -2.20382715e-03 -3.96200244e-02 -2.26271233e+00] [ 1.94336294e-03 9.99976256e-01 -6.61136656e-03 8.01861396e-02] [ 3.96336540e-02 6.52916328e-03 9.99192946e-01 -2.80319153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35313336499996 meters Centerline goodness : 0.116395 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99205502e-01 -2.25440524e-03 -3.97904883e-02 -2.26195966e+00] [ 1.99147116e-03 9.99975930e-01 -6.64636319e-03 8.02063668e-02] [ 3.98045141e-02 6.56184105e-03 9.99185940e-01 -2.80882455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.383133365 meters Centerline goodness : 0.111965 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.08, Z:-0.28 [[ 0.99914524 -0.01068227 -0.03993331 -2.24139327] [ 0.01046159 0.99992885 -0.00573098 0.08275227] [ 0.03999169 0.00530831 0.99918591 -0.27931121] [ 0. 0. 0. 1. ]] SLAMing on 304.41313336499996 meters Centerline goodness : 0.118431 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99277221e-01 -2.03640458e-03 -3.79590292e-02 -2.26366746e+00] [ 1.81382079e-03 9.99980966e-01 -5.89730616e-03 7.95373047e-02] [ 3.79703159e-02 5.82419284e-03 9.99261895e-01 -2.80789087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.443133365 meters Centerline goodness : 0.126491 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99282890e-01 -2.04715359e-03 -3.78089297e-02 -2.26424444e+00] [ 1.82648804e-03 9.99981104e-01 -5.86995347e-03 7.93453472e-02] [ 3.78202319e-02 5.79668650e-03 9.99267746e-01 -2.80481660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47313336499997 meters Centerline goodness : 0.092599 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99286716e-01 -2.10712638e-03 -3.77043770e-02 -2.26451644e+00] [ 1.88903017e-03 9.99981285e-01 -5.81906427e-03 7.85954600e-02] [ 3.77159329e-02 5.74368892e-03 9.99271994e-01 -2.80496348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.503133365 meters Centerline goodness : 0.116730 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99286936e-01 -2.12546561e-03 -3.76974957e-02 -2.26441755e+00] [ 1.91217227e-03 9.99981966e-01 -5.69317676e-03 7.75199400e-02] [ 3.77089165e-02 5.61703305e-03 9.99272979e-01 -2.80745717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53313336499997 meters Centerline goodness : 0.131675 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.08, Z:-0.28 [[ 9.99294780e-01 -1.98592465e-03 -3.74966579e-02 -2.26486178e+00] [ 1.78975280e-03 9.99984540e-01 -5.26455770e-03 7.53164875e-02] [ 3.75065333e-02 5.19373528e-03 9.99282885e-01 -2.80884634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.563133365 meters Centerline goodness : 0.135793 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.07, Z:-0.28 [[ 9.99303638e-01 -1.91936202e-03 -3.72633187e-02 -2.26552964e+00] [ 1.73059407e-03 9.99985511e-01 -5.09737905e-03 7.44496857e-02] [ 3.72725625e-02 5.02934175e-03 9.99292481e-01 -2.80731928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59313336499997 meters Centerline goodness : 0.121131 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.07, Z:-0.28 [[ 9.99309942e-01 -1.85204271e-03 -3.70972948e-02 -2.26610167e+00] [ 1.66792333e-03 9.99986141e-01 -4.99348206e-03 7.40479752e-02] [ 3.71060288e-02 4.92816083e-03 9.99299182e-01 -2.80458537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.623133365 meters Centerline goodness : 0.109954 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99245706e-01 -4.33969750e-04 -3.88307862e-02 -2.31210157e+00] [ 2.56048078e-04 9.99989448e-01 -4.58683034e-03 7.80656495e-02] [ 3.88323670e-02 4.57342798e-03 9.99235273e-01 -2.81086012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.653133365 meters Centerline goodness : 0.099002 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99235558e-01 -3.79511497e-04 -3.90916433e-02 -2.31158627e+00] [ 1.97326678e-04 9.99989103e-01 -4.66420730e-03 7.88669551e-02] [ 3.90929874e-02 4.65292796e-03 9.99224744e-01 -2.80917841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.683133365 meters Centerline goodness : 0.112936 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99210835e-01 -1.14226944e-04 -3.97202015e-02 -2.31011105e+00] [-7.87658359e-05 9.99988201e-01 -4.85720780e-03 8.14890954e-02] [ 3.97202877e-02 4.85650325e-03 9.99199036e-01 -2.80845577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.713133365 meters Centerline goodness : 0.116327 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99206586e-01 -1.72313573e-04 -3.98267350e-02 -2.30988876e+00] [-3.23033488e-05 9.99986805e-01 -5.13697691e-03 8.31445151e-02] [ 3.98270946e-02 5.13418770e-03 9.99193396e-01 -2.80792106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.743133365 meters Centerline goodness : 0.109047 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.08, Z:-0.28 [[ 9.99208949e-01 -2.47832210e-04 -3.97669980e-02 -2.30998678e+00] [ 3.42951980e-05 9.99985579e-01 -5.37029642e-03 8.43804490e-02] [ 3.97677554e-02 5.36468443e-03 9.99194549e-01 -2.80858472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.773133365 meters Centerline goodness : 0.119840 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99211342e-01 -3.15452040e-04 -3.97063524e-02 -2.31003266e+00] [ 9.55555786e-05 9.99984650e-01 -5.53984355e-03 8.52568634e-02] [ 3.97074905e-02 5.53168034e-03 9.99196035e-01 -2.81021729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.803133365 meters Centerline goodness : 0.155141 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99212598e-01 -2.90910370e-04 -3.96749095e-02 -2.31005404e+00] [ 7.12006668e-05 9.99984657e-01 -5.53904991e-03 8.55221403e-02] [ 3.96759121e-02 5.53186357e-03 9.99197288e-01 -2.81137924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.833133365 meters Centerline goodness : 0.120073 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99210375e-01 -2.90471269e-04 -3.97308812e-02 -2.30968210e+00] [ 6.88034907e-05 9.99984427e-01 -5.58048492e-03 8.60138201e-02] [ 3.97318835e-02 5.57334480e-03 9.99194833e-01 -2.81500624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.863133365 meters Centerline goodness : 0.137150 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.09, Z:-0.28 [[ 0.99911188 -0.00836092 -0.04129826 -2.28854469] [ 0.00815215 0.99995314 -0.00522123 0.09169099] [ 0.04133997 0.00487992 0.99913322 -0.27967708] [ 0. 0. 0. 1. ]] SLAMing on 304.893133365 meters Centerline goodness : 0.099349 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99145970e-01 2.72498032e-04 -4.13189542e-02 -2.30903595e+00] [-5.41952390e-04 9.99978661e-01 -6.51026473e-03 9.12498172e-02] [ 4.13162984e-02 6.52709767e-03 9.99124797e-01 -2.81497730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.923133365 meters Centerline goodness : 0.109334 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.09, Z:-0.28 [[ 9.99144051e-01 1.70602177e-04 -4.13658783e-02 -2.30917423e+00] [-4.59189535e-04 9.99975624e-01 -6.96705800e-03 9.37294469e-02] [ 4.13636814e-02 6.98008934e-03 9.99119775e-01 -2.81077946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.953133365 meters Centerline goodness : 0.120939 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.10, Z:-0.28 [[ 9.99146926e-01 2.37535245e-04 -4.12960412e-02 -2.30954972e+00] [-5.39735109e-04 9.99973159e-01 -7.30689426e-03 9.63671978e-02] [ 4.12931971e-02 7.32294986e-03 9.99120236e-01 -2.80632843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98313336499996 meters Centerline goodness : 0.118694 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.10, Z:-0.28 [[ 0.99914685 0.00400553 -0.04110393 -2.3100832 ] [-0.00418615 0.99998195 -0.00430919 0.10087545] [ 0.04108593 0.00447759 0.99914558 -0.28036932] [ 0. 0. 0. 1. ]] SLAMing on 305.013133365 meters Centerline goodness : 0.121608 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.10, Z:-0.28 [[ 0.99914584 0.00382185 -0.04114587 -2.31001946] [-0.00402513 0.99998009 -0.00485888 0.10366586] [ 0.04112648 0.00502034 0.99914134 -0.28028913] [ 0. 0. 0. 1. ]] SLAMing on 305.04313336499996 meters Centerline goodness : 0.124796 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.11, Z:-0.28 [[ 0.99914793 0.00361051 -0.04111423 -2.31011539] [-0.00383651 0.99997796 -0.00541925 0.10628623] [ 0.04109376 0.00557237 0.99913976 -0.28021158] [ 0. 0. 0. 1. ]] SLAMing on 305.073133365 meters Centerline goodness : 0.111601 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.11, Z:-0.28 [[ 0.99915071 0.00338199 -0.04106602 -2.31022437] [-0.00363006 0.9999756 -0.00596785 0.10897031] [ 0.04104483 0.00611186 0.99913861 -0.28019176] [ 0. 0. 0. 1. ]] SLAMing on 305.10313336499996 meters Centerline goodness : 0.122256 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.11, Z:-0.28 [[ 0.99914837 0.00322669 -0.04113554 -2.31017145] [-0.00349322 0.99997336 -0.00640909 0.11150305] [ 0.04111376 0.00654733 0.99913302 -0.27999792] [ 0. 0. 0. 1. ]] SLAMing on 305.133133365 meters Centerline goodness : 0.116695 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.12, Z:-0.28 [[ 0.99914343 -0.00357423 -0.04122649 -2.32736858] [ 0.00337622 0.99998243 -0.00487152 0.1205224 ] [ 0.04124317 0.00472815 0.99913795 -0.28280063] [ 0. 0. 0. 1. ]] SLAMing on 305.16313336499996 meters Centerline goodness : 0.114011 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.13, Z:-0.28 [[ 9.99115591e-01 -1.64871386e-03 -4.20156937e-02 -2.32386478e+00] [ 1.51173514e-03 9.99993440e-01 -3.29174391e-03 1.25518791e-01] [ 4.20208452e-02 3.22531606e-03 9.99111528e-01 -2.84528981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.193133365 meters Centerline goodness : 0.114362 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.13, Z:-0.28 [[ 9.99119163e-01 -1.81919422e-03 -4.19236098e-02 -2.32398294e+00] [ 1.67037776e-03 9.99992181e-01 -3.58446146e-03 1.26841287e-01] [ 4.19298028e-02 3.51127587e-03 9.99114389e-01 -2.84697625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22313336499997 meters Centerline goodness : 0.126864 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 9.99032064e-01 -2.28546786e-03 -4.39284883e-02 -2.36944263e+00] [ 2.06620429e-03 9.99985184e-01 -5.03613172e-03 1.31789093e-01] [ 4.39393474e-02 4.94049183e-03 9.99021984e-01 -2.85629992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.253133365 meters Centerline goodness : 0.143838 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 9.99038576e-01 -2.46640928e-03 -4.37703150e-02 -2.36971438e+00] [ 2.24089908e-03 9.99983967e-01 -5.20044475e-03 1.32132931e-01] [ 4.37824397e-02 5.09736006e-03 9.99028085e-01 -2.85792237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28313336499997 meters Centerline goodness : 0.109904 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99903802 -0.00266063 -0.04377158 -2.3695643 ] [ 0.00243216 0.99998314 -0.00527213 0.13185235] [ 0.04378487 0.0051606 0.99902765 -0.28605945] [ 0. 0. 0. 1. ]] SLAMing on 305.313133365 meters Centerline goodness : 0.111691 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99904732 -0.00338376 -0.04350866 -2.37005304] [ 0.00314356 0.99997945 -0.00558804 0.13114663] [ 0.04352667 0.00544594 0.99903742 -0.28638381] [ 0. 0. 0. 1. ]] SLAMing on 305.34313336499997 meters Centerline goodness : 0.113065 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.28 [[ 0.99901831 -0.01242752 -0.04252037 -2.34971401] [ 0.01223521 0.99991372 -0.00478025 0.13160532] [ 0.04257611 0.00425531 0.99908416 -0.28467317] [ 0. 0. 0. 1. ]] SLAMing on 305.373133365 meters Centerline goodness : 0.126541 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.28 [[ 0.99903299 -0.01244722 -0.04216813 -2.3507898 ] [ 0.01226276 0.99991409 -0.0046302 0.13060309] [ 0.04222214 0.00410862 0.9990998 -0.28436044] [ 0. 0. 0. 1. ]] SLAMing on 305.403133365 meters Centerline goodness : 0.111283 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99913865 -0.00375141 -0.04132651 -2.37115931] [ 0.00353761 0.99997999 -0.00524542 0.12678699] [ 0.04134536 0.0050947 0.99913193 -0.2865394 ] [ 0. 0. 0. 1. ]] SLAMing on 305.433133365 meters Centerline goodness : 0.112107 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.9991398 -0.00365596 -0.04130742 -2.37101862] [ 0.0034551 0.99998186 -0.00493275 0.12524769] [ 0.0413247 0.00478579 0.99913431 -0.28689912] [ 0. 0. 0. 1. ]] SLAMing on 305.463133365 meters Centerline goodness : 0.112691 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99913525 -0.00361636 -0.0414207 -2.37064869] [ 0.00342193 0.9999828 -0.00476382 0.12417067] [ 0.04143721 0.00461796 0.99913044 -0.28708536] [ 0. 0. 0. 1. ]] SLAMing on 305.493133365 meters Centerline goodness : 0.113447 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.9991341 -0.00358039 -0.04145165 -2.37052276] [ 0.00339263 0.99998367 -0.00459915 0.12305572] [ 0.04146744 0.00445454 0.99912993 -0.28722855] [ 0. 0. 0. 1. ]] SLAMing on 305.523133365 meters Centerline goodness : 0.129635 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.9991331 -0.00351691 -0.04148097 -2.37054726] [ 0.00333559 0.99998458 -0.00443962 0.1221213 ] [ 0.04149595 0.0042974 0.99912943 -0.28713184] [ 0. 0. 0. 1. ]] SLAMing on 305.553133365 meters Centerline goodness : 0.115481 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.29 [[ 0.9991191 0.00529241 -0.04162956 -2.39149061] [-0.00551558 0.99997102 -0.00524787 0.11887214] [ 0.04160058 0.00547286 0.99911933 -0.28872211] [ 0. 0. 0. 1. ]] SLAMing on 305.583133365 meters Centerline goodness : 0.114804 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99914997 -0.00285619 -0.04112404 -2.37262076] [ 0.00270323 0.99998922 -0.00377454 0.11985217] [ 0.04113438 0.00366017 0.99914692 -0.28661911] [ 0. 0. 0. 1. ]] SLAMing on 305.613133365 meters Centerline goodness : 0.112490 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99914169 -0.00268793 -0.0413359 -2.37208968] [ 0.0025477 0.99999082 -0.00344466 0.11820981] [ 0.04134477 0.00333639 0.99913937 -0.28671411] [ 0. 0. 0. 1. ]] SLAMing on 305.643133365 meters Centerline goodness : 0.129004 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99913324 -0.00260842 -0.04154469 -2.37152272] [ 0.00247323 0.99999148 -0.00330505 0.11752894] [ 0.04155295 0.00319944 0.99913118 -0.286845 ] [ 0. 0. 0. 1. ]] SLAMing on 305.673133365 meters Centerline goodness : 0.114989 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99123721e-01 -2.49920944e-03 -4.17796978e-02 -2.37100445e+00] [ 2.36997765e-03 9.99992254e-01 -3.14241601e-03 1.16938313e-01] [ 4.17872278e-02 3.04064543e-03 9.99121906e-01 -2.86852738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.703133365 meters Centerline goodness : 0.111685 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99115146e-01 -2.35875566e-03 -4.19923882e-02 -2.37058279e+00] [ 2.23641458e-03 9.99993118e-01 -2.96014928e-03 1.16376329e-01] [ 4.19990815e-02 2.86361759e-03 9.99113546e-01 -2.86758634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73313336499996 meters Centerline goodness : 0.111980 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99113767e-01 -2.25885383e-03 -4.20306828e-02 -2.37063749e+00] [ 2.14318787e-03 9.99993792e-01 -2.79679724e-03 1.15733214e-01] [ 4.20367395e-02 2.70423898e-03 9.99112406e-01 -2.86567093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.763133365 meters Centerline goodness : 0.128648 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 9.99116916e-01 -2.16833803e-03 -4.19605258e-02 -2.37074631e+00] [ 2.05974549e-03 9.99994418e-01 -2.63102907e-03 1.15016104e-01] [ 4.19659965e-02 2.54227765e-03 9.99115805e-01 -2.86676843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79313336499996 meters Centerline goodness : 0.133722 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.29 [[ 0.99911472 0.00524466 -0.04174058 -2.35177749] [-0.00539805 0.99997908 -0.00356305 0.10695763] [ 0.04172102 0.00378522 0.99912213 -0.28507416] [ 0. 0. 0. 1. ]] SLAMing on 305.823133365 meters Centerline goodness : 0.111303 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.28 [[ 0.99911838 0.00530454 -0.04164527 -2.35219388] [-0.00545414 0.99997907 -0.0034795 0.10646777] [ 0.04162595 0.00370357 0.9991264 -0.28482687] [ 0. 0. 0. 1. ]] SLAMing on 305.85313336499996 meters Centerline goodness : 0.127721 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.28 [[ 0.99912351 0.00536882 -0.04151378 -2.35284052] [-0.00551453 0.99997903 -0.0033961 0.10602284] [ 0.04149468 0.00362205 0.99913216 -0.28434172] [ 0. 0. 0. 1. ]] SLAMing on 305.883133365 meters Centerline goodness : 0.116683 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.28 [[ 0.99905543 0.00664332 -0.0429431 -2.39944189] [-0.00679147 0.99997148 -0.00330499 0.10902805] [ 0.04291992 0.00359351 0.99907205 -0.28443625] [ 0. 0. 0. 1. ]] SLAMing on 305.91313336499996 meters Centerline goodness : 0.144657 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99166899e-01 1.14102642e-03 -4.07946754e-02 -2.37837855e+00] [-1.14192569e-03 9.99999348e-01 1.25822600e-06 1.06611576e-01] [ 4.07946503e-02 4.53273099e-05 9.99167551e-01 -2.83958763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.943133365 meters Centerline goodness : 0.144657 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99166899e-01 1.14102642e-03 -4.07946754e-02 -2.37837855e+00] [-1.14192569e-03 9.99999348e-01 1.25822601e-06 1.06611576e-01] [ 4.07946503e-02 4.53273099e-05 9.99167551e-01 -2.83958763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97313336499997 meters Centerline goodness : 0.127724 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99168026e-01 1.22560216e-03 -4.07646165e-02 -2.37835821e+00] [-1.22255351e-03 9.99999248e-01 9.97152884e-05 1.06208200e-01] [ 4.07647081e-02 -4.97954028e-05 9.99168773e-01 -2.84103281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.003133365 meters Centerline goodness : 0.125087 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99166311e-01 1.30838369e-03 -4.08040452e-02 -2.37816769e+00] [-1.30225068e-03 9.99999136e-01 1.76883350e-04 1.05913281e-01] [ 4.08042414e-02 -1.23598789e-04 9.99167152e-01 -2.84269039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03313336499997 meters Centerline goodness : 0.186481 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99160678e-01 1.45126555e-03 -4.09369336e-02 -2.37787915e+00] [-1.44300790e-03 9.99998932e-01 2.31264448e-04 1.06151538e-01] [ 4.09372256e-02 -1.71998025e-04 9.99161706e-01 -2.84244142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.063133365 meters Centerline goodness : 0.109952 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99162331e-01 1.63647732e-03 -4.08895936e-02 -2.37800162e+00] [-1.62694266e-03 9.99998641e-01 2.66456129e-04 1.06689312e-01] [ 4.08899741e-02 -1.99707902e-04 9.99163635e-01 -2.84184121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09313336499997 meters Centerline goodness : 0.110238 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99187302e-01 2.22384429e-03 -4.02466138e-02 -2.37978119e+00] [-2.20677434e-03 9.99997455e-01 4.68554427e-04 1.07426073e-01] [ 4.02475534e-02 -3.79358439e-04 9.99189667e-01 -2.83697194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.123133365 meters Centerline goodness : 0.097467 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99192663e-01 2.25249739e-03 -4.01117000e-02 -2.38020281e+00] [-2.23952845e-03 9.99997424e-01 3.68251685e-04 1.08086107e-01] [ 4.01124262e-02 -2.78123088e-04 9.99195134e-01 -2.83575354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.153133365 meters Centerline goodness : 0.108978 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99192416e-01 2.30408344e-03 -4.01149192e-02 -2.38019854e+00] [-2.29199454e-03 9.99997313e-01 3.47344493e-04 1.08500479e-01] [ 4.01156117e-02 -2.55120807e-04 9.99195012e-01 -2.83617138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.183133365 meters Centerline goodness : 0.120748 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99186750e-01 2.38224956e-03 -4.02512426e-02 -2.37985675e+00] [-2.36813325e-03 9.99997117e-01 3.98380802e-04 1.08573994e-01] [ 4.02520756e-02 -3.02736513e-04 9.99189511e-01 -2.83700533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.213133365 meters Centerline goodness : 0.119243 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99178788e-01 2.44449914e-03 -4.04447097e-02 -2.37930690e+00] [-2.42676001e-03 9.99996936e-01 4.87691280e-04 1.08245610e-01] [ 4.04457779e-02 -3.89141178e-04 9.99181659e-01 -2.83885431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.243133365 meters Centerline goodness : 0.112458 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99175220e-01 2.46282995e-03 -4.05316341e-02 -2.37887405e+00] [-2.44187139e-03 9.99996858e-01 5.66590079e-04 1.07623380e-01] [ 4.05329021e-02 -4.67149729e-04 9.99178095e-01 -2.84276040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.273133365 meters Centerline goodness : 0.176874 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99167231e-01 2.59761035e-03 -4.07197463e-02 -2.37819312e+00] [-2.56432055e-03 9.99996334e-01 8.69744170e-04 1.06126464e-01] [ 4.07218563e-02 -7.64601391e-04 9.99170229e-01 -2.84682869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.303133365 meters Centerline goodness : 0.106787 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99165501e-01 2.75313276e-03 -4.07519635e-02 -2.37811242e+00] [-2.71459260e-03 9.99995814e-01 1.00103054e-03 1.06161350e-01] [ 4.07545489e-02 -8.89570202e-04 9.99168792e-01 -2.84716733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.333133365 meters Centerline goodness : 0.110165 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99165561e-01 2.88689519e-03 -4.07412387e-02 -2.37816185e+00] [-2.84823802e-03 9.99995437e-01 1.00685882e-03 1.06875055e-01] [ 4.07439595e-02 -8.89977910e-04 9.99169224e-01 -2.84655514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.363133365 meters Centerline goodness : 0.112302 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99157748e-01 3.39485908e-03 -4.08933835e-02 -2.37773521e+00] [-3.35912255e-03 9.99993914e-01 9.42575336e-04 1.09134011e-01] [ 4.08963346e-02 -8.04415563e-04 9.99163071e-01 -2.84746456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.393133365 meters Centerline goodness : 0.114603 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.28 [[ 9.99149395e-01 3.52821716e-03 -4.10857481e-02 -2.37721449e+00] [-3.50109762e-03 9.99993603e-01 7.32006261e-04 1.10979883e-01] [ 4.10880679e-02 -5.87538398e-04 9.99155356e-01 -2.84886950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.423133365 meters Centerline goodness : 0.145941 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.29 [[ 9.99133517e-01 3.89237644e-03 -4.14374826e-02 -2.37632310e+00] [-3.86613808e-03 9.99992272e-01 7.13320890e-04 1.12997729e-01] [ 4.14399389e-02 -5.52499780e-04 9.99140844e-01 -2.85011568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.453133365 meters Centerline goodness : 0.108696 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.11, Z:-0.29 [[ 0.99911312 0.00766112 -0.04140381 -2.37614606] [-0.0075004 0.99996373 0.00403568 0.11487222] [ 0.04143323 -0.00372155 0.99913434 -0.2854051 ] [ 0. 0. 0. 1. ]] SLAMing on 306.48313336499996 meters Centerline goodness : 0.100037 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.29 [[ 9.99221907e-01 1.61397984e-03 -3.94078125e-02 -2.39265980e+00] [-1.40235039e-03 9.99984451e-01 5.39729319e-03 1.24097957e-01] [ 3.94159109e-02 -5.33783003e-03 9.99208634e-01 -2.88428473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.513133365 meters Centerline goodness : 0.102559 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.29 [[ 0.99920313 0.0093641 -0.03879961 -2.37284403] [-0.00921829 0.99994977 0.0039352 0.12256232] [ 0.03883451 -0.00357439 0.99923926 -0.28658098] [ 0. 0. 0. 1. ]] SLAMing on 306.54313336499996 meters Centerline goodness : 0.143123 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.29 [[ 0.99922538 0.00930011 -0.03823796 -2.37459833] [-0.00918162 0.99995249 0.00327319 0.12585854] [ 0.03826659 -0.00291957 0.9992633 -0.28626421] [ 0. 0. 0. 1. ]] SLAMing on 306.573133365 meters Centerline goodness : 0.108522 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99923263 0.00945617 -0.03800972 -2.37543054] [-0.00933877 0.99995106 0.00326496 0.12693715] [ 0.03803873 -0.00290749 0.99927204 -0.28589637] [ 0. 0. 0. 1. ]] SLAMing on 306.60313336499996 meters Centerline goodness : 0.109434 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.9992437 0.00957311 -0.03768798 -2.37638435] [-0.00945863 0.9999501 0.00321464 0.12792904] [ 0.03771687 -0.00285573 0.99928439 -0.2856634 ] [ 0. 0. 0. 1. ]] SLAMing on 306.633133365 meters Centerline goodness : 0.117204 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99924862 0.00950476 -0.03757465 -2.37657816] [-0.00940152 0.99995153 0.00292341 0.12926095] [ 0.03760061 -0.00256796 0.99928955 -0.28586865] [ 0. 0. 0. 1. ]] SLAMing on 306.66313336499996 meters Centerline goodness : 0.106248 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99248518e-01 9.22431743e-03 -3.76471851e-02 -2.37605891e+00] [-9.14148308e-03 9.99955403e-01 2.37182747e-03 1.31027797e-01] [ 3.76673846e-02 -2.02589398e-03 9.99288279e-01 -2.86501672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.693133365 meters Centerline goodness : 0.103004 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99243884e-01 9.03678014e-03 -3.78152965e-02 -2.37573190e+00] [-8.97030104e-03 9.99957909e-01 1.92729710e-03 1.32540993e-01] [ 3.78311214e-02 -1.58662525e-03 9.99282887e-01 -2.86648899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72313336499997 meters Centerline goodness : 0.098194 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99252518e-01 9.20864704e-03 -3.75447308e-02 -2.37650252e+00] [-9.13681186e-03 9.99956086e-01 2.08445754e-03 1.32441210e-01] [ 3.75622770e-02 -1.73986030e-03 9.99292774e-01 -2.86499078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.753133365 meters Centerline goodness : 0.098997 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99294974e-01 1.41885170e-03 -3.75172164e-02 -2.35940321e+00] [-1.32102781e-03 9.99995663e-01 2.63210089e-03 1.37301798e-01] [ 3.75207883e-02 -2.58068391e-03 9.99292515e-01 -2.84849531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78313336499997 meters Centerline goodness : 0.100525 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99298728e-01 1.39608315e-03 -3.74179581e-02 -2.35962692e+00] [-1.29796061e-03 9.99995656e-01 2.64650181e-03 1.36767430e-01] [ 3.74214903e-02 -2.59607886e-03 9.99296199e-01 -2.84888228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.813133365 meters Centerline goodness : 0.146827 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99294498e-01 1.39201293e-03 -3.75308975e-02 -2.35930156e+00] [-1.29304529e-03 9.99995623e-01 2.66110847e-03 1.36298722e-01] [ 3.75344375e-02 -2.61070191e-03 9.99291924e-01 -2.85017712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84313336499997 meters Centerline goodness : 0.099189 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99274146e-01 1.78886524e-03 -3.80523459e-02 -2.35785842e+00] [-1.67653304e-03 9.99994143e-01 2.98374868e-03 1.35832717e-01] [ 3.80574606e-02 -2.91778690e-03 9.99271293e-01 -2.85441985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.873133365 meters Centerline goodness : 0.099493 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99279425e-01 1.89464749e-03 -3.79083332e-02 -2.35826353e+00] [-1.78020005e-03 9.99993756e-01 3.05258434e-03 1.35818532e-01] [ 3.79138801e-02 -2.98290031e-03 9.99276558e-01 -2.85406858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.903133365 meters Centerline goodness : 0.100294 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99293940e-01 1.87706406e-03 -3.75246433e-02 -2.35938220e+00] [-1.76661232e-03 9.99994010e-01 2.97638616e-03 1.35982345e-01] [ 3.75300054e-02 -2.90799316e-03 9.99291270e-01 -2.85115363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.933133365 meters Centerline goodness : 0.101717 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99307057e-01 1.85142696e-03 -3.71749712e-02 -2.36046672e+00] [-1.74533199e-03 9.99994312e-01 2.88618516e-03 1.36267797e-01] [ 3.71801033e-02 -2.81930253e-03 9.99304604e-01 -2.84786427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.963133365 meters Centerline goodness : 0.103733 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.28 [[ 9.99309715e-01 1.92283734e-03 -3.70998251e-02 -2.36070954e+00] [-1.81676610e-03 9.99994166e-01 2.89257724e-03 1.36444926e-01] [ 3.71051706e-02 -2.82317883e-03 9.99307378e-01 -2.84766384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.993133365 meters Centerline goodness : 0.168916 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 9.99299287e-01 2.07661986e-03 -3.73714077e-02 -2.35991165e+00] [-1.96757127e-03 9.99993700e-01 2.95451020e-03 1.36741761e-01] [ 3.73773077e-02 -2.87890903e-03 9.99297077e-01 -2.85095280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.023133365 meters Centerline goodness : 0.109335 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 0.99925602 0.00254591 -0.03848273 -2.35680423] [-0.00242852 0.99999226 0.00309691 0.13753423] [ 0.03849032 -0.00300115 0.99925447 -0.28606008] [ 0. 0. 0. 1. ]] SLAMing on 307.053133365 meters Centerline goodness : 0.167843 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 9.99179618e-01 1.07696498e-02 -3.90397902e-02 -2.37572742e+00] [-1.07090093e-02 9.99941104e-01 1.76209131e-03 1.33233212e-01] [ 3.90564681e-02 -1.34256824e-03 9.99236103e-01 -2.88353798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.083133365 meters Centerline goodness : 0.108020 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.29 [[ 0.99923148 0.00306451 -0.03907749 -2.35663462] [-0.0029563 0.99999164 0.00282668 0.13772206] [ 0.03908582 -0.00270899 0.99923219 -0.28686524] [ 0. 0. 0. 1. ]] SLAMing on 307.113133365 meters Centerline goodness : 0.099017 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.29 [[ 0.99920471 -0.00467564 -0.03959918 -2.37647502] [ 0.00484534 0.99997948 0.0041907 0.1397321 ] [ 0.03957877 -0.00437923 0.99920686 -0.28895376] [ 0. 0. 0. 1. ]] SLAMing on 307.143133365 meters Centerline goodness : 0.142414 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.29 [[ 0.99920123 -0.00458575 -0.03969722 -2.37633798] [ 0.00476622 0.99997873 0.0044527 0.13817808] [ 0.03967596 -0.00463835 0.99920183 -0.28880033] [ 0. 0. 0. 1. ]] SLAMing on 307.173133365 meters Centerline goodness : 0.105925 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.29 [[ 0.99919645 -0.00450373 -0.03982678 -2.37615449] [ 0.00469682 0.99997766 0.00475601 0.13634135] [ 0.03980447 -0.00493925 0.99919528 -0.28859339] [ 0. 0. 0. 1. ]] SLAMing on 307.203133365 meters Centerline goodness : 0.187316 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.9991905 -0.00440344 -0.03998686 -2.37574373] [ 0.00461147 0.9999763 0.00511154 0.13425213] [ 0.0399634 -0.0052918 0.99918713 -0.28859758] [ 0. 0. 0. 1. ]] SLAMing on 307.23313336499996 meters Centerline goodness : 0.178346 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99918811 -0.0042798 -0.04005997 -2.37551307] [ 0.00450363 0.99997474 0.00549872 0.13212261] [ 0.04003543 -0.00567467 0.99918215 -0.28864411] [ 0. 0. 0. 1. ]] SLAMing on 307.263133365 meters Centerline goodness : 0.097357 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99919028 -0.00411557 -0.04002315 -2.37548874] [ 0.00435602 0.99997298 0.00592235 0.13000903] [ 0.0399977 -0.00609189 0.9991812 -0.28878673] [ 0. 0. 0. 1. ]] SLAMing on 307.29313336499996 meters Centerline goodness : 0.095026 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.29 [[ 0.99919239 -0.00383134 -0.03999855 -2.37531538] [ 0.00410404 0.99996888 0.00673784 0.12549711] [ 0.03997149 -0.00689655 0.99917702 -0.289016 ] [ 0. 0. 0. 1. ]] SLAMing on 307.323133365 meters Centerline goodness : 0.100024 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.29 [[ 0.99919329 -0.00366441 -0.03999189 -2.37546978] [ 0.00395512 0.99996631 0.00719259 0.1231041 ] [ 0.03996419 -0.00734496 0.99917412 -0.28877026] [ 0. 0. 0. 1. ]] SLAMing on 307.35313336499996 meters Centerline goodness : 0.096485 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.29 [[ 0.99919165 -0.00348277 -0.04004899 -2.37537935] [ 0.00379363 0.99996325 0.00768868 0.1203449 ] [ 0.04002074 -0.0078344 0.99916814 -0.28866333] [ 0. 0. 0. 1. ]] SLAMing on 307.383133365 meters Centerline goodness : 0.093236 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.29 [[ 0.99905651 0.00278886 -0.04333961 -2.35566976] [-0.00247961 0.99997109 0.0071877 0.10888437] [ 0.0433584 -0.00707346 0.99903454 -0.28605055] [ 0. 0. 0. 1. ]] SLAMing on 307.41313336499996 meters Centerline goodness : 0.422583 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.29 [[ 0.99904972 0.00297755 -0.04348313 -2.35502047] [-0.00264744 0.99996726 0.00764716 0.10637284] [ 0.04350448 -0.00752477 0.99902489 -0.28647302] [ 0. 0. 0. 1. ]] SLAMing on 307.443133365 meters Centerline goodness : 0.323362 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99905125 0.00322759 -0.04343017 -2.35510123] [-0.00287578 0.99996257 0.00816045 0.10384687] [ 0.04345488 -0.00802781 0.99902314 -0.28653843] [ 0. 0. 0. 1. ]] SLAMing on 307.47313336499997 meters Centerline goodness : 0.280426 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99906065 0.00345811 -0.04319559 -2.35585276] [-0.00308571 0.99995752 0.00868506 0.10121662] [ 0.04322378 -0.00854362 0.99902888 -0.28623039] [ 0. 0. 0. 1. ]] SLAMing on 307.503133365 meters Centerline goodness : 0.094619 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99906844 0.00365364 -0.04299881 -2.35656507] [-0.00326316 0.99995283 0.00914781 0.09871495] [ 0.0430302 -0.00899897 0.99903324 -0.28587287] [ 0. 0. 0. 1. ]] SLAMing on 307.53313336499997 meters Centerline goodness : 0.445449 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.10, Z:-0.29 [[ 0.99907452 0.00383609 -0.04284138 -2.35719154] [-0.00342801 0.99994809 0.00959496 0.09618088] [ 0.04287597 -0.00943922 0.99903581 -0.28549224] [ 0. 0. 0. 1. ]] SLAMing on 307.563133365 meters Centerline goodness : 0.095842 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.09, Z:-0.29 [[ 0.99908366 0.00425322 -0.04258824 -2.35785488] [-0.00381054 0.99993792 0.01047039 0.09164461] [ 0.04263013 -0.01029851 0.99903784 -0.28534428] [ 0. 0. 0. 1. ]] SLAMing on 307.59313336499997 meters Centerline goodness : 0.450120 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.09, Z:-0.29 [[ 0.99908063 0.00446378 -0.0426376 -2.35757803] [-0.00400066 0.99993214 0.01094093 0.08934288] [ 0.04268354 -0.0107603 0.9990307 -0.28558883] [ 0. 0. 0. 1. ]] SLAMing on 307.623133365 meters Centerline goodness : 0.131474 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.09, Z:-0.29 [[ 0.999077 0.00466473 -0.04270111 -2.35716433] [-0.00418073 0.99992609 0.01141685 0.08686321] [ 0.04275121 -0.01122779 0.99902266 -0.28596312] [ 0. 0. 0. 1. ]] SLAMing on 307.653133365 meters Centerline goodness : 0.091708 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.08, Z:-0.29 [[ 0.99907478 0.00513411 -0.04269927 -2.35715939] [-0.00460387 0.99991118 0.01250716 0.08058616] [ 0.04275969 -0.012299 0.99900968 -0.28588881] [ 0. 0. 0. 1. ]] SLAMing on 307.683133365 meters Centerline goodness : 0.093263 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.08, Z:-0.29 [[ 0.99907757 0.00540273 -0.04260075 -2.35749749] [-0.00484622 0.99990172 0.01315569 0.0773133 ] [ 0.04266764 -0.0129371 0.99900556 -0.28563729] [ 0. 0. 0. 1. ]] SLAMing on 307.713133365 meters Centerline goodness : 0.198168 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99908215 0.00562837 -0.04246397 -2.35793752] [-0.0050479 0.99989252 0.01376445 0.07410846] [ 0.04253688 -0.01353746 0.99900318 -0.28538178] [ 0. 0. 0. 1. ]] SLAMing on 307.743133365 meters Centerline goodness : 0.172146 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99908169 0.00585122 -0.0424446 -2.35803686] [-0.00524567 0.99988307 0.01436432 0.07085657] [ 0.04252368 -0.01412848 0.99899556 -0.28524873] [ 0. 0. 0. 1. ]] SLAMing on 307.773133365 meters Centerline goodness : 0.451919 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.9991149 0.00291708 -0.04196313 -2.35930511] [-0.00242505 0.99992777 0.01177145 0.06817856] [ 0.04199444 -0.01165927 0.99904981 -0.28509348] [ 0. 0. 0. 1. ]] SLAMing on 307.803133365 meters Centerline goodness : 0.143722 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99910988 0.00314079 -0.04206639 -2.35902682] [-0.00262429 0.99992057 0.01232774 0.06515021] [ 0.04210176 -0.01220637 0.99903876 -0.28509471] [ 0. 0. 0. 1. ]] SLAMing on 307.833133365 meters Centerline goodness : 0.143722 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.07, Z:-0.29 [[ 0.99910988 0.00314079 -0.04206639 -2.35902682] [-0.00262429 0.99992057 0.01232774 0.06515021] [ 0.04210176 -0.01220637 0.99903876 -0.28509471] [ 0. 0. 0. 1. ]] SLAMing on 307.863133365 meters Centerline goodness : 0.450563 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.06, Z:-0.29 [[ 0.99909712 0.00360817 -0.04233108 -2.35792246] [-0.00304358 0.99990566 0.01339442 0.05898498] [ 0.04237542 -0.01325349 0.99901385 -0.28562148] [ 0. 0. 0. 1. ]] SLAMing on 307.893133365 meters Centerline goodness : 0.507382 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.06, Z:-0.29 [[ 0.99909342 0.00384709 -0.04239738 -2.35769361] [-0.00325739 0.99989712 0.01396919 0.0559126 ] [ 0.04244676 -0.01381842 0.99900317 -0.2856524 ] [ 0. 0. 0. 1. ]] SLAMing on 307.923133365 meters Centerline goodness : 0.453918 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.05, Z:-0.29 [[ 0.99909467 0.00407068 -0.04234701 -2.35795641] [-0.00345869 0.99988867 0.01451503 0.05293202] [ 0.04240139 -0.01435542 0.99899752 -0.28539344] [ 0. 0. 0. 1. ]] SLAMing on 307.953133365 meters Centerline goodness : 0.303664 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.05, Z:-0.29 [[ 0.99909073 0.00428971 -0.04241841 -2.35788369] [-0.00365353 0.99987986 0.01506394 0.05000096] [ 0.04247793 -0.01489527 0.99898636 -0.28519872] [ 0. 0. 0. 1. ]] SLAMing on 307.98313336499996 meters Centerline goodness : 0.260982 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.04, Z:-0.28 [[ 0.9989625 0.0121473 -0.04389029 -2.33776172] [-0.01151026 0.99982514 0.01473804 0.04027464] [ 0.04406164 -0.01421756 0.99892764 -0.28280884] [ 0. 0. 0. 1. ]] SLAMing on 308.013133365 meters Centerline goodness : 0.425346 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.28 [[ 0.99899653 0.0038222 -0.04462419 -2.35767119] [-0.00311366 0.99986816 0.01593659 0.04106388] [ 0.04467922 -0.01578165 0.99887672 -0.2846447 ] [ 0. 0. 0. 1. ]] SLAMing on 308.04313336499996 meters Centerline goodness : 0.092520 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.28 [[ 0.99899688 0.004014 -0.04459948 -2.35759686] [-0.00329027 0.99986191 0.0162888 0.039485 ] [ 0.0446587 -0.01612572 0.99887214 -0.28482514] [ 0. 0. 0. 1. ]] SLAMing on 308.073133365 meters Centerline goodness : 0.139044 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.28 [[ 0.99899384 0.00416156 -0.04465402 -2.35735812] [-0.00342351 0.99985648 0.01659198 0.03797411] [ 0.04471666 -0.01642241 0.99886472 -0.28497546] [ 0. 0. 0. 1. ]] SLAMing on 308.10313336499996 meters Centerline goodness : 0.090743 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.29 [[ 0.99899046 0.00427769 -0.04471876 -2.3571067 ] [-0.00352721 0.99985185 0.01684767 0.03654051] [ 0.0447842 -0.01667292 0.99885754 -0.28512651] [ 0. 0. 0. 1. ]] SLAMing on 308.133133365 meters Centerline goodness : 0.172225 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.04, Z:-0.29 [[ 0.99898236 0.00435573 -0.04489177 -2.35662335] [-0.00359368 0.99984832 0.01704204 0.03526373] [ 0.04495919 -0.01686337 0.99884648 -0.28524341] [ 0. 0. 0. 1. ]] SLAMing on 308.16313336499996 meters Centerline goodness : 0.098702 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.03, Z:-0.29 [[ 0.99896621 0.00464163 -0.04522124 -2.35584013] [-0.0038461 0.9998366 0.01766302 0.03199123] [ 0.04529583 -0.01747083 0.99882083 -0.28520553] [ 0. 0. 0. 1. ]] SLAMing on 308.193133365 meters Centerline goodness : 0.109531 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.03, Z:-0.29 [[ 0.99896924 0.00485158 -0.04513216 -2.35606589] [-0.0040378 0.99982794 0.01810477 0.02996026] [ 0.04521224 -0.01790388 0.99881695 -0.28514701] [ 0. 0. 0. 1. ]] SLAMing on 308.22313336499997 meters Centerline goodness : 0.102339 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.03, Z:-0.29 [[ 9.99007701e-01 1.86824385e-03 -4.44985727e-02 -2.35755600e+00] [-1.18522452e-03 9.99881162e-01 1.53706819e-02 2.83408291e-02] [ 4.45220007e-02 -1.53026888e-02 9.98891195e-01 -2.85125111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.253133365 meters Centerline goodness : 0.098020 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.02, Z:-0.28 [[ 9.99049913e-01 -9.06293925e-05 -4.35805411e-02 -2.36105137e+00] [ 6.92322415e-04 9.99904652e-01 1.37915657e-02 2.49739112e-02] [ 4.35751358e-02 -1.38086343e-02 9.98954718e-01 -2.83772021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28313336499997 meters Centerline goodness : 0.090319 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.02, Z:-0.28 [[ 9.99055969e-01 5.42685211e-05 -4.34415339e-02 -2.36142002e+00] [ 5.66592261e-04 9.99897883e-01 1.42794304e-02 2.22327085e-02] [ 4.34378727e-02 -1.42905638e-02 9.98953918e-01 -2.83590025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.313133365 meters Centerline goodness : 0.101187 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.02, Z:-0.28 [[ 0.99900343 0.00757705 -0.04398562 -2.34320435] [-0.00700624 0.99988942 0.01311701 0.01561797] [ 0.04408015 -0.01279577 0.99894605 -0.2806658 ] [ 0. 0. 0. 1. ]] SLAMing on 308.34313336499997 meters Centerline goodness : 0.106116 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98956855e-01 -1.65988028e-03 -4.56338263e-02 -2.36442604e+00] [ 2.30084294e-03 9.99899392e-01 1.39968441e-02 1.11293731e-02] [ 4.56060021e-02 -1.40872396e-02 9.98860172e-01 -2.81712324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.373133365 meters Centerline goodness : 0.097809 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98947815e-01 -1.53311296e-03 -4.58357074e-02 -2.36377778e+00] [ 2.19576074e-03 9.99893757e-01 1.44101695e-02 8.71218252e-03] [ 4.58087453e-02 -1.44956516e-02 9.98845051e-01 -2.81894424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.403133365 meters Centerline goodness : 0.111963 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98941094e-01 -1.42119005e-03 -4.59855575e-02 -2.36320427e+00] [ 2.10331628e-03 9.99888432e-01 1.47885034e-02 6.39559127e-03] [ 4.59594097e-02 -1.48695660e-02 9.98832633e-01 -2.82125455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.433133365 meters Centerline goodness : 0.104071 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98933859e-01 -1.20905948e-03 -4.61484888e-02 -2.36251541e+00] [ 1.92356881e-03 9.99878922e-01 1.54415658e-02 2.53163494e-03] [ 4.61242314e-02 -1.55138727e-02 9.98815236e-01 -2.82452911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.463133365 meters Centerline goodness : 0.098089 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98931147e-01 -1.13723788e-03 -4.62089754e-02 -2.36223119e+00] [ 1.86279317e-03 9.99875615e-01 1.56615830e-02 1.24296689e-03] [ 4.61854167e-02 -1.57309208e-02 9.98809013e-01 -2.82620508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.493133365 meters Centerline goodness : 0.118235 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98921101e-01 -1.06192509e-03 -4.64274202e-02 -2.36147560e+00] [ 1.79857119e-03 9.99873116e-01 1.58277234e-02 3.44547594e-04] [ 4.64047214e-02 -1.58941499e-02 9.98796264e-01 -2.82951891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.523133365 meters Centerline goodness : 0.118829 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98911895e-01 -1.05363635e-03 -4.66252693e-02 -2.36069544e+00] [ 1.79445287e-03 9.99872775e-01 1.58497319e-02 6.57354763e-05] [ 4.66026375e-02 -1.59161526e-02 9.98786699e-01 -2.83430576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.553133365 meters Centerline goodness : 0.106119 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98907535e-01 -1.05963262e-03 -4.67184479e-02 -2.36023407e+00] [ 1.79862437e-03 9.99873889e-01 1.57787872e-02 4.27050709e-04] [ 4.66958365e-02 -1.58455784e-02 9.98783468e-01 -2.83822319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.583133365 meters Centerline goodness : 0.108412 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98915775e-01 -1.04170136e-03 -4.65423288e-02 -2.36071018e+00] [ 1.77431137e-03 9.99875139e-01 1.57021863e-02 1.10883597e-03] [ 4.65201605e-02 -1.57677422e-02 9.98792898e-01 -2.83781648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.613133365 meters Centerline goodness : 0.104757 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98955965e-01 -9.27853412e-04 -4.56740612e-02 -2.36324072e+00] [ 1.64025069e-03 9.99877553e-01 1.55624088e-02 2.61534956e-03] [ 4.56540289e-02 -1.56210781e-02 9.98835167e-01 -2.83089284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.643133365 meters Centerline goodness : 0.109934 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98963261e-01 -1.01621468e-03 -4.55123198e-02 -2.36386530e+00] [ 1.71708265e-03 9.99880507e-01 1.53630760e-02 3.41501988e-03] [ 4.54912692e-02 -1.54252969e-02 9.98845636e-01 -2.82766120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.673133365 meters Centerline goodness : 0.084058 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98961688e-01 -1.13503087e-03 -4.55440270e-02 -2.36399712e+00] [ 1.82582671e-03 9.99883884e-01 1.51289182e-02 4.30747887e-03] [ 4.55215668e-02 -1.51963651e-02 9.98847765e-01 -2.82540770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.703133365 meters Centerline goodness : 0.119493 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.01, Z:-0.28 [[ 9.98943480e-01 -1.21273262e-03 -4.59396761e-02 -2.36287020e+00] [ 1.90112547e-03 9.99886525e-01 1.49439862e-02 5.26428603e-03] [ 4.59163400e-02 -1.50155347e-02 9.98832430e-01 -2.82927366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73313336499996 meters Centerline goodness : 0.120209 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98931722e-01 -1.21259516e-03 -4.61946272e-02 -2.36223013e+00] [ 1.90944477e-03 9.99885010e-01 1.50439407e-02 4.62731141e-03] [ 4.61710731e-02 -1.51160757e-02 9.98819171e-01 -2.82945960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.763133365 meters Centerline goodness : 0.117759 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98925915e-01 -1.19082036e-03 -4.63205973e-02 -2.36210817e+00] [ 1.89864250e-03 9.99882063e-01 1.52399435e-02 3.41393025e-03] [ 4.62969863e-02 -1.53115208e-02 9.98810366e-01 -2.82644438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79313336499996 meters Centerline goodness : 0.115801 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.00, Z:-0.28 [[ 9.98926983e-01 -1.21511122e-03 -4.62969327e-02 -2.36249173e+00] [ 1.93525944e-03 9.99877788e-01 1.55133419e-02 1.50425891e-03] [ 4.62724243e-02 -1.55862924e-02 9.98807254e-01 -2.82041665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.823133365 meters Centerline goodness : 0.108385 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.00, Z:-0.28 [[ 9.98971336e-01 -3.14714670e-03 -4.52367675e-02 -2.36658120e+00] [ 3.78425476e-03 9.99894762e-01 1.40051239e-02 -8.62578829e-04] [ 4.51879307e-02 -1.41619048e-02 9.98878116e-01 -2.80248367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85313336499996 meters Centerline goodness : 0.122885 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.00, Z:-0.28 [[ 9.99032939e-01 2.29361807e-03 -4.39081584e-02 -2.34500170e+00] [-1.81536756e-03 9.99938631e-01 1.09288420e-02 -3.88605418e-03] [ 4.39305304e-02 -1.08385637e-02 9.98975793e-01 -2.79420120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.883133365 meters Centerline goodness : 0.453184 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.01, Z:-0.28 [[ 9.98977817e-01 5.92747864e-04 -4.51992124e-02 -2.39166699e+00] [-9.91623533e-05 9.99940352e-01 1.09216840e-02 -1.02473279e-02] [ 4.52029902e-02 -1.09060380e-02 9.98918289e-01 -2.79693789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91313336499996 meters Centerline goodness : 0.111515 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.02, Z:-0.28 [[ 9.99020249e-01 -1.61891919e-03 -4.42257973e-02 -2.39527424e+00] [ 2.04158072e-03 9.99952662e-01 9.51340517e-03 -1.59982618e-02] [ 4.42083024e-02 -9.59437494e-03 9.98976263e-01 -2.78073801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.943133365 meters Centerline goodness : 0.229014 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99903092 0.00488362 -0.04374202 -2.37336411] [-0.00458092 0.99996488 0.00701777 -0.01924746] [ 0.04377476 -0.00681059 0.99901821 -0.27748471] [ 0. 0. 0. 1. ]] SLAMing on 308.97313336499997 meters Centerline goodness : 0.113308 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99902169 0.00500744 -0.04393857 -2.37277893] [-0.00468932 0.99996207 0.0073401 -0.02113341] [ 0.04397366 -0.00712687 0.99900727 -0.27763824] [ 0. 0. 0. 1. ]] SLAMing on 309.003133365 meters Centerline goodness : 0.113898 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99901206 0.00530117 -0.04412267 -2.37227626] [-0.00496007 0.99995699 0.00783658 -0.02346308] [ 0.04416232 -0.00760999 0.99899538 -0.27771771] [ 0. 0. 0. 1. ]] SLAMing on 309.03313336499997 meters Centerline goodness : 0.192508 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.9990152 0.00541817 -0.0440372 -2.37252677] [-0.00507176 0.99995534 0.00797424 -0.02388873] [ 0.04407844 -0.00774304 0.99899807 -0.27766024] [ 0. 0. 0. 1. ]] SLAMing on 309.063133365 meters Centerline goodness : 0.224188 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99901739 0.00546587 -0.04398164 -2.37255406] [-0.00511652 0.99995449 0.0080518 -0.02437336] [ 0.04402365 -0.00781886 0.99899989 -0.27782156] [ 0. 0. 0. 1. ]] SLAMing on 309.09313336499997 meters Centerline goodness : 0.119595 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99901737 0.00545775 -0.04398309 -2.37232172] [-0.00510711 0.99995431 0.00808062 -0.02495305] [ 0.04402518 -0.00784805 0.9989996 -0.27814772] [ 0. 0. 0. 1. ]] SLAMing on 309.123133365 meters Centerline goodness : 0.149293 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.03, Z:-0.28 [[ 0.99901282 0.00545678 -0.04408638 -2.37188952] [-0.00510439 0.99995415 0.00810174 -0.02545449] [ 0.04412856 -0.00786871 0.99899487 -0.27842941] [ 0. 0. 0. 1. ]] SLAMing on 309.153133365 meters Centerline goodness : 0.453245 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.03, Z:-0.28 [[ 0.99901226 0.00545829 -0.04409888 -2.3717989 ] [-0.00510694 0.99995435 0.00807606 -0.02532907] [ 0.04414095 -0.00784287 0.99899453 -0.27857898] [ 0. 0. 0. 1. ]] SLAMing on 309.183133365 meters Centerline goodness : 0.162680 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99903987 0.0057936 -0.04342543 -2.37365546] [-0.00543916 0.99995096 0.00827595 -0.02494204] [ 0.04347125 -0.0080318 0.99902239 -0.27827065] [ 0. 0. 0. 1. ]] SLAMing on 309.213133365 meters Centerline goodness : 0.101161 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.02, Z:-0.28 [[ 0.99904939 -0.00271985 -0.04350774 -2.39398227] [ 0.00313196 0.99995085 0.00940672 -0.02232458] [ 0.04348002 -0.00953404 0.9990088 -0.28008879] [ 0. 0. 0. 1. ]] SLAMing on 309.243133365 meters Centerline goodness : 0.113100 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99906498 0.00517152 -0.0429234 -2.37470364] [-0.00484145 0.99995794 0.00779013 -0.0247238 ] [ 0.04296188 -0.00757504 0.99904799 -0.27835505] [ 0. 0. 0. 1. ]] SLAMing on 309.273133365 meters Centerline goodness : 0.202802 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.9990613 0.00509659 -0.04301795 -2.37426383] [-0.00476954 0.99995896 0.00770197 -0.02462769] [ 0.04305543 -0.00748956 0.99904461 -0.27868637] [ 0. 0. 0. 1. ]] SLAMing on 309.303133365 meters Centerline goodness : 0.114877 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99905771 0.00507989 -0.04310321 -2.37404866] [-0.0047529 0.99995917 0.00768537 -0.02459173] [ 0.04314049 -0.00747326 0.99904106 -0.27874912] [ 0. 0. 0. 1. ]] SLAMing on 309.333133365 meters Centerline goodness : 0.124125 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99906049 0.00510792 -0.04303549 -2.37434576] [-0.00477868 0.99995855 0.00774974 -0.02477572] [ 0.04307329 -0.00753681 0.99904349 -0.27858064] [ 0. 0. 0. 1. ]] SLAMing on 309.363133365 meters Centerline goodness : 0.120236 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.03, Z:-0.28 [[ 0.9990614 0.00503495 -0.04302278 -2.37467039] [-0.0047057 0.99995889 0.00775075 -0.02507378] [ 0.04306004 -0.00754102 0.99904403 -0.27812248] [ 0. 0. 0. 1. ]] SLAMing on 309.393133365 meters Centerline goodness : 0.122880 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.9990576 0.00497554 -0.04311787 -2.37435422] [-0.00464864 0.99995971 0.00767851 -0.02498801] [ 0.04315434 -0.00747084 0.99904048 -0.27825696] [ 0. 0. 0. 1. ]] SLAMing on 309.423133365 meters Centerline goodness : 0.121704 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99905066 0.00492439 -0.04328439 -2.37380673] [-0.00460058 0.99996071 0.00757741 -0.02447963] [ 0.04332001 -0.00737108 0.99903406 -0.27851224] [ 0. 0. 0. 1. ]] SLAMing on 309.453133365 meters Centerline goodness : 0.117862 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99904264 0.00488801 -0.04347315 -2.37309131] [-0.00456865 0.99996187 0.0074426 -0.02362393] [ 0.04350787 -0.00723686 0.99902687 -0.27894839] [ 0. 0. 0. 1. ]] SLAMing on 309.48313336499996 meters Centerline goodness : 0.101230 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.02, Z:-0.28 [[ 0.99903888 0.00484003 -0.0435647 -2.37271512] [-0.00452544 0.99996299 0.00731701 -0.02292426] [ 0.0435985 -0.00711283 0.99902381 -0.27920847] [ 0. 0. 0. 1. ]] SLAMing on 309.513133365 meters Centerline goodness : 0.098254 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99894857 0.00346043 -0.04571409 -2.41792633] [-0.00315094 0.99997164 0.00684059 -0.02439434] [ 0.04573647 -0.00668935 0.99893114 -0.2801377 ] [ 0. 0. 0. 1. ]] SLAMing on 309.54313336499996 meters Centerline goodness : 0.124645 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99895478 0.00321383 -0.0455962 -2.41872026] [-0.00293021 0.99997595 0.00628556 -0.02183818] [ 0.04561531 -0.00614539 0.99894018 -0.27944717] [ 0. 0. 0. 1. ]] SLAMing on 309.573133365 meters Centerline goodness : 0.111680 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99896073 0.00312789 -0.0454717 -2.4191721 ] [-0.0028567 0.99997775 0.00602762 -0.02036622] [ 0.04548954 -0.00589146 0.99894744 -0.27924495] [ 0. 0. 0. 1. ]] SLAMing on 309.60313336499996 meters Centerline goodness : 0.119071 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.02, Z:-0.28 [[ 0.99896485 0.01119437 -0.04408994 -2.39986854] [-0.01100351 0.99992902 0.00456918 -0.02078325] [ 0.04413796 -0.00407931 0.99901712 -0.27770484] [ 0. 0. 0. 1. ]] SLAMing on 309.633133365 meters Centerline goodness : 0.120901 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99905929 0.00270896 -0.04328045 -2.41956223] [-0.00248103 0.99998278 0.00531917 -0.01572453] [ 0.04329412 -0.00520679 0.9990488 -0.2801896 ] [ 0. 0. 0. 1. ]] SLAMing on 309.66313336499996 meters Centerline goodness : 0.121093 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99060511e-01 2.55215654e-03 -4.32617725e-02 -2.41964398e+00] [-2.33788581e-03 9.99984753e-01 5.00275948e-03 -1.43426880e-02] [ 4.32738807e-02 -4.89691836e-03 9.99051246e-01 -2.80162665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 309.72313336499997 meters Centerline goodness : 0.120089 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99075987e-01 2.45495207e-03 -4.29085662e-02 -2.42108393e+00] [-2.25345996e-03 9.99986210e-01 4.74358640e-03 -1.25876848e-02] [ 4.29196197e-02 -4.64251053e-03 9.99067742e-01 -2.79341374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.753133365 meters Centerline goodness : 0.120089 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99075987e-01 2.45495207e-03 -4.29085662e-02 -2.42108393e+00] [-2.25345996e-03 9.99986210e-01 4.74358640e-03 -1.25876848e-02] [ 4.29196197e-02 -4.64251053e-03 9.99067742e-01 -2.79341374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78313336499997 meters Centerline goodness : 0.133062 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99081459e-01 2.47198374e-03 -4.27799856e-02 -2.42155255e+00] [-2.26871767e-03 9.99985910e-01 4.79932724e-03 -1.28409872e-02] [ 4.27912467e-02 -4.69786315e-03 9.99072990e-01 -2.79068871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.813133365 meters Centerline goodness : 0.116310 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99085805e-01 2.46197374e-03 -4.26789522e-02 -2.42190336e+00] [-2.25707660e-03 9.99985699e-01 4.84841655e-03 -1.32782119e-02] [ 4.26902785e-02 -4.74765448e-03 9.99077074e-01 -2.78870937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84313336499997 meters Centerline goodness : 0.122604 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99086741e-01 2.47525765e-03 -4.26562588e-02 -2.42196990e+00] [-2.26635941e-03 9.99985206e-01 4.94491076e-03 -1.39289303e-02] [ 4.26678676e-02 -4.84372037e-03 9.99077570e-01 -2.78830519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.873133365 meters Centerline goodness : 0.119259 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.01, Z:-0.28 [[ 9.99085268e-01 2.51743616e-03 -4.26882972e-02 -2.42180127e+00] [-2.30317712e-03 9.99984507e-01 5.06759095e-03 -1.46291964e-02] [ 4.27003932e-02 -4.96463675e-03 9.99075587e-01 -2.78978847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.903133365 meters Centerline goodness : 0.119228 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99062096e-01 2.65015535e-03 -4.32192753e-02 -2.42023283e+00] [-2.41898195e-03 9.99982493e-01 5.40027056e-03 -1.63578152e-02] [ 4.32328302e-02 -5.29065898e-03 9.99051015e-01 -2.79433240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.933133365 meters Centerline goodness : 0.116720 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99050057e-01 2.62637130e-03 -4.34981129e-02 -2.41937137e+00] [-2.39244678e-03 9.99982401e-01 5.42899373e-03 -1.69549879e-02] [ 4.35116060e-02 -5.31976958e-03 9.99038758e-01 -2.79732818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.963133365 meters Centerline goodness : 0.126424 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99042251e-01 2.60654514e-03 -4.36782178e-02 -2.41888926e+00] [-2.37033160e-03 9.99982290e-01 5.45895809e-03 -1.75218837e-02] [ 4.36916733e-02 -5.35019792e-03 9.99030737e-01 -2.79831350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.993133365 meters Centerline goodness : 0.114151 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 9.99040225e-01 2.59922989e-03 -4.37249765e-02 -2.41894656e+00] [-2.36324889e-03 9.99982368e-01 5.44776397e-03 -1.75979906e-02] [ 4.37383655e-02 -5.33920234e-03 9.99028752e-01 -2.79619706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.023133365 meters Centerline goodness : 0.106988 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99904129 0.00268622 -0.04369529 -2.41920515] [-0.00244638 0.99998165 0.00554144 -0.01776181] [ 0.04370938 -0.00542923 0.99902954 -0.2793875 ] [ 0. 0. 0. 1. ]] SLAMing on 310.053133365 meters Centerline goodness : 0.112841 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.02, Z:-0.28 [[ 0.99904534 0.0027943 -0.04359588 -2.41947007] [-0.00254651 0.99998029 0.00573835 -0.01851618] [ 0.04361105 -0.00562186 0.99903277 -0.27938143] [ 0. 0. 0. 1. ]] SLAMing on 310.083133365 meters Centerline goodness : 0.117421 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.03, Z:-0.28 [[ 9.98946673e-01 7.75740065e-04 -4.58796461e-02 -2.46311858e+00] [-5.34918756e-04 9.99986018e-01 5.26102372e-03 -2.54442671e-02] [ 4.58830857e-02 -5.23094026e-03 9.98933121e-01 -2.81088965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.113133365 meters Centerline goodness : 0.181836 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.03, Z:-0.28 [[ 9.98933032e-01 8.40453754e-04 -4.61745767e-02 -2.46244342e+00] [-5.79318861e-04 9.99983766e-01 5.66847351e-03 -2.81006499e-02] [ 4.61785912e-02 -5.63567562e-03 9.98917302e-01 -2.81014643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.143133365 meters Centerline goodness : 0.228776 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.03, Z:-0.28 [[ 9.98918720e-01 9.33253333e-04 -4.64813912e-02 -2.46180553e+00] [-6.48655144e-04 9.99980955e-01 6.13754851e-03 -3.10127870e-02] [ 4.64862338e-02 -6.10076171e-03 9.98900301e-01 -2.80831117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.173133365 meters Centerline goodness : 0.090972 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.04, Z:-0.28 [[ 9.98900605e-01 -1.39823248e-03 -4.68575143e-02 -2.45978005e+00] [ 1.62290669e-03 9.99987368e-01 4.75713807e-03 -3.81380232e-02] [ 4.68502708e-02 -4.82795347e-03 9.98890256e-01 -2.81696861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.203133365 meters Centerline goodness : 0.132673 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.04, Z:-0.28 [[ 9.98896224e-01 -1.20801876e-03 -4.69560839e-02 -2.45960232e+00] [ 1.45950087e-03 9.99984774e-01 5.32177149e-03 -4.11652435e-02] [ 4.69489402e-02 -5.38442989e-03 9.98882778e-01 -2.81591854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23313336499996 meters Centerline goodness : 0.123585 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.04, Z:-0.28 [[ 9.98893360e-01 -1.04495306e-03 -4.70208914e-02 -2.45949274e+00] [ 1.31750721e-03 9.99982510e-01 5.76582908e-03 -4.35063567e-02] [ 4.70140440e-02 -5.82139874e-03 9.98877265e-01 -2.81472816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.263133365 meters Centerline goodness : 0.111312 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99889159 0.00731533 -0.04649804 -2.44021419] [-0.00710318 0.9999636 0.00472607 -0.04808819] [ 0.04653092 -0.00439055 0.9989072 -0.27955973] [ 0. 0. 0. 1. ]] SLAMing on 310.29313336499996 meters Centerline goodness : 0.143726 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99889556 0.00737402 -0.04640339 -2.44035246] [-0.00715801 0.99996277 0.00481947 -0.04852684] [ 0.0464372 -0.00448199 0.99891116 -0.27968641] [ 0. 0. 0. 1. ]] SLAMing on 310.323133365 meters Centerline goodness : 0.129487 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99890521 0.00749114 -0.04617655 -2.44090991] [-0.00727169 0.99996146 0.00491868 -0.04867939] [ 0.04621162 -0.00457751 0.99892118 -0.27966732] [ 0. 0. 0. 1. ]] SLAMing on 310.35313336499996 meters Centerline goodness : 0.232871 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99891363 0.00753092 -0.04598735 -2.44151923] [-0.00731379 0.99996131 0.0048879 -0.04831209] [ 0.04602238 -0.00454624 0.99893006 -0.2794605 ] [ 0. 0. 0. 1. ]] SLAMing on 310.383133365 meters Centerline goodness : 0.125662 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99892101 0.00762486 -0.04581135 -2.4418983 ] [-0.00741496 0.99996123 0.00475004 -0.04719707] [ 0.04584579 -0.00440522 0.99893882 -0.27956391] [ 0. 0. 0. 1. ]] SLAMing on 310.41313336499996 meters Centerline goodness : 0.126024 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99892697 0.0076017 -0.04568508 -2.44225392] [-0.00739651 0.99996179 0.00465878 -0.04679513] [ 0.04571875 -0.00431587 0.99894503 -0.27953976] [ 0. 0. 0. 1. ]] SLAMing on 310.443133365 meters Centerline goodness : 0.126656 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893059 0.00758307 -0.04560898 -2.44250851] [-0.00738034 0.99996213 0.0046116 -0.04656098] [ 0.04564222 -0.00427005 0.99894872 -0.27946242] [ 0. 0. 0. 1. ]] SLAMing on 310.47313336499997 meters Centerline goodness : 0.118276 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893389 0.00755005 -0.04554214 -2.44264204] [-0.00735024 0.99996262 0.0045533 -0.04631559] [ 0.04557482 -0.0042137 0.99895204 -0.27953117] [ 0. 0. 0. 1. ]] SLAMing on 310.503133365 meters Centerline goodness : 0.125662 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893308 0.00748858 -0.04556987 -2.44248064] [-0.00729226 0.99996341 0.0044727 -0.04610915] [ 0.0456017 -0.00413562 0.99895114 -0.27965593] [ 0. 0. 0. 1. ]] SLAMing on 310.53313336499997 meters Centerline goodness : 0.130784 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.05, Z:-0.28 [[ 0.99893253 0.00731873 -0.04560961 -2.44254976] [-0.00713291 0.99996559 0.00423549 -0.04534666] [ 0.04563904 -0.00390564 0.99895036 -0.27946802] [ 0. 0. 0. 1. ]] SLAMing on 310.563133365 meters Centerline goodness : 0.121778 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98957413e-01 -1.57598149e-04 -4.56515304e-02 -2.42337475e+00] [ 3.93090351e-04 9.99986664e-01 5.14954200e-03 -4.03458444e-02] [ 4.56501100e-02 -5.16211833e-03 9.98944153e-01 -2.77157225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59313336499997 meters Centerline goodness : 0.122430 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98950549e-01 -1.57591541e-04 -4.58014851e-02 -2.42303980e+00] [ 3.95825341e-04 9.99986441e-01 5.19241979e-03 -4.05061275e-02] [ 4.58000458e-02 -5.20509998e-03 9.98937066e-01 -2.77082904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.623133365 meters Centerline goodness : 0.123858 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98942724e-01 -1.70337209e-04 -4.59717819e-02 -2.42264214e+00] [ 4.11564899e-04 9.99986197e-01 5.23788492e-03 -4.09587511e-02] [ 4.59702552e-02 -5.25126741e-03 9.98929006e-01 -2.77084355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.653133365 meters Centerline goodness : 0.096139 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98935771e-01 -2.56538985e-04 -4.61222294e-02 -2.42232174e+00] [ 4.99575788e-04 9.99986052e-01 5.25795741e-03 -4.16977412e-02] [ 4.61202372e-02 -5.27540329e-03 9.98921966e-01 -2.77014510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.683133365 meters Centerline goodness : 0.124806 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.04, Z:-0.28 [[ 9.98932224e-01 -2.94757859e-04 -4.61987599e-02 -2.42219190e+00] [ 5.44761203e-04 9.99985277e-01 5.39897609e-03 -4.29562060e-02] [ 4.61964883e-02 -5.41837848e-03 9.98917677e-01 -2.76943957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.713133365 meters Centerline goodness : 0.089188 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98926941e-01 -2.84214218e-04 -4.63129186e-02 -2.42185365e+00] [ 5.60593661e-04 9.99982113e-01 5.95477427e-03 -4.62941640e-02] [ 4.63103978e-02 -5.97434717e-03 9.98909232e-01 -2.76951840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.743133365 meters Centerline goodness : 0.168252 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98930390e-01 -1.81290679e-04 -4.62389761e-02 -2.42211651e+00] [ 4.77168208e-04 9.99979483e-01 6.38791964e-03 -4.87300164e-02] [ 4.62368694e-02 -6.40315083e-03 9.98909982e-01 -2.76739095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.773133365 meters Centerline goodness : 0.113636 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98937078e-01 -8.89566307e-05 -4.60945368e-02 -2.42279063e+00] [ 4.06711411e-04 9.99976221e-01 6.88421265e-03 -5.17205661e-02] [ 4.60928283e-02 -6.89564244e-03 9.98913360e-01 -2.76153273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.803133365 meters Centerline goodness : 0.445952 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.05, Z:-0.28 [[ 9.98947642e-01 8.32121490e-05 -4.58650393e-02 -2.42374782e+00] [ 2.59289397e-04 9.99972128e-01 7.46159530e-03 -5.48410464e-02] [ 4.58643818e-02 -7.46563535e-03 9.98919778e-01 -2.75457286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.833133365 meters Centerline goodness : 0.122962 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.06, Z:-0.28 [[ 9.98946023e-01 3.24811306e-04 -4.58992140e-02 -2.42384831e+00] [ 4.70992444e-05 9.99967182e-01 8.10145134e-03 -5.80279754e-02] [ 4.59003391e-02 -8.09507442e-03 9.98913224e-01 -2.75139093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.863133365 meters Centerline goodness : 0.094207 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.07, Z:-0.27 [[ 0.9988522 0.0080808 -0.04721205 -2.40378294] [-0.00774719 0.99994374 0.00724495 -0.0651734 ] [ 0.04726794 -0.00687088 0.99885862 -0.27298404] [ 0. 0. 0. 1. ]] SLAMing on 310.893133365 meters Centerline goodness : 0.111056 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.07, Z:-0.28 [[ 0.99878785 0.0064507 -0.04879772 -2.39798086] [-0.00616224 0.99996266 0.00605929 -0.07143121] [ 0.04883498 -0.00575124 0.9987903 -0.27500369] [ 0. 0. 0. 1. ]] SLAMing on 310.923133365 meters Centerline goodness : 0.124253 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.07, Z:-0.27 [[ 0.99878029 0.00670612 -0.0489178 -2.39769958] [-0.0063863 0.99995722 0.00669129 -0.07488757] [ 0.04896058 -0.00637072 0.99878039 -0.27495055] [ 0. 0. 0. 1. ]] SLAMing on 310.953133365 meters Centerline goodness : 0.124383 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.08, Z:-0.27 [[ 0.99877835 0.0069587 -0.04892223 -2.39783745] [-0.00660815 0.99995135 0.00732341 -0.07823535] [ 0.04897081 -0.00699118 0.99877574 -0.27468806] [ 0. 0. 0. 1. ]] SLAMing on 310.98313336499996 meters Centerline goodness : 0.256999 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.08, Z:-0.27 [[ 0.99877344 0.0072424 -0.04898123 -2.39784251] [-0.00685761 0.99994433 0.00801934 -0.08183466] [ 0.04903659 -0.00767361 0.9987675 -0.2744152 ] [ 0. 0. 0. 1. ]] SLAMing on 311.013133365 meters Centerline goodness : 0.207468 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98817648e-01 -3.88251733e-04 -4.86122929e-02 -2.37790964e+00] [ 8.29824084e-04 9.99958579e-01 9.06370103e-03 -7.88885339e-02] [ 4.86067603e-02 -9.09332420e-03 9.98776599e-01 -2.72994618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04313336499996 meters Centerline goodness : 0.090032 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98813358e-01 -2.93038819e-05 -4.87018900e-02 -2.37753169e+00] [ 5.13333311e-04 9.99950603e-01 9.92613909e-03 -8.39755883e-02] [ 4.86991934e-02 -9.93936062e-03 9.98764035e-01 -2.73037348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.073133365 meters Centerline goodness : 0.123326 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98811155e-01 9.44972007e-05 -4.87469794e-02 -2.37725343e+00] [ 4.02571799e-04 9.99948030e-01 1.01870003e-02 -8.53318103e-02] [ 4.87454086e-02 -1.01945137e-02 9.98759209e-01 -2.73260312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10313336499996 meters Centerline goodness : 0.258080 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98812540e-01 2.35997405e-04 -4.87181136e-02 -2.37710260e+00] [ 2.67412641e-04 9.99946646e-01 1.03263422e-02 -8.57278412e-02] [ 4.87179513e-02 -1.03271079e-02 9.98759186e-01 -2.73588968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.133133365 meters Centerline goodness : 0.123701 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98819336e-01 3.21795533e-04 -4.85780928e-02 -2.37723290e+00] [ 1.78479212e-04 9.99947003e-01 1.02936723e-02 -8.51348522e-02] [ 4.85788307e-02 -1.02901891e-02 9.98766344e-01 -2.73921656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16313336499996 meters Centerline goodness : 0.128253 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98834233e-01 3.67340685e-04 -4.82704867e-02 -2.37798379e+00] [ 1.23794093e-04 9.99948264e-01 1.01712556e-02 -8.41951175e-02] [ 4.82717257e-02 -1.01653739e-02 9.98782512e-01 -2.73899678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.193133365 meters Centerline goodness : 0.123325 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98849249e-01 3.31827170e-04 -4.79590220e-02 -2.37894202e+00] [ 1.47219175e-04 9.99950140e-01 9.98478215e-03 -8.31752790e-02] [ 4.79599440e-02 -9.98035264e-03 9.98799397e-01 -2.73625750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22313336499997 meters Centerline goodness : 0.075826 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98868048e-01 2.03586957e-04 -4.75665935e-02 -2.38031695e+00] [ 2.53839433e-04 9.99953788e-01 9.61030869e-03 -8.13755118e-02] [ 4.75663519e-02 -9.61150456e-03 9.98821837e-01 -2.73043953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.253133365 meters Centerline goodness : 0.122842 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98870013e-01 1.18687569e-04 -4.75256091e-02 -2.38048129e+00] [ 3.30049076e-04 9.99955444e-01 9.43403807e-03 -8.05513983e-02] [ 4.75246112e-02 -9.43906351e-03 9.98825468e-01 -2.72988355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28313336499997 meters Centerline goodness : 0.103397 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98869669e-01 2.95606580e-05 -4.75329806e-02 -2.38060345e+00] [ 4.14358408e-04 9.99956395e-01 9.32929955e-03 -8.02022336e-02] [ 4.75311837e-02 -9.33845004e-03 9.98826101e-01 -2.72825440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.313133365 meters Centerline goodness : 0.158925 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98863254e-01 -5.59864816e-05 -4.76675558e-02 -2.38043004e+00] [ 5.00915855e-04 9.99956423e-01 9.32211420e-03 -8.05089599e-02] [ 4.76649567e-02 -9.33539477e-03 9.98819755e-01 -2.72629558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34313336499997 meters Centerline goodness : 0.100055 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98858293e-01 -2.89352759e-04 -4.77705614e-02 -2.38044478e+00] [ 7.42313355e-04 9.99954935e-01 9.46453463e-03 -8.19379721e-02] [ 4.77656700e-02 -9.48918963e-03 9.98813494e-01 -2.72180086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.373133365 meters Centerline goodness : 0.126784 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98862534e-01 -2.22030200e-04 -4.76821599e-02 -2.38101476e+00] [ 6.85887164e-04 9.99952603e-01 9.71196180e-03 -8.30344043e-02] [ 4.76777435e-02 -9.73361936e-03 9.98815343e-01 -2.71614384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.403133365 meters Centerline goodness : 0.126183 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.08, Z:-0.27 [[ 9.98867874e-01 -1.74707626e-04 -4.75703615e-02 -2.38145098e+00] [ 6.48411875e-04 9.99950360e-01 9.94272111e-03 -8.42586264e-02] [ 4.75662630e-02 -9.96230989e-03 9.98818403e-01 -2.71324279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.433133365 meters Centerline goodness : 0.131148 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98867263e-01 -1.68692925e-04 -4.75832130e-02 -2.38141634e+00] [ 6.51508714e-04 9.99948463e-01 1.01314406e-02 -8.56144505e-02] [ 4.75790516e-02 -1.01509652e-02 9.98815895e-01 -2.71281169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.463133365 meters Centerline goodness : 0.436247 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98858792e-01 -1.86973404e-04 -4.77606354e-02 -2.38084502e+00] [ 6.78312660e-04 9.99947016e-01 1.02715356e-02 -8.69079311e-02] [ 4.77561844e-02 -1.02922103e-02 9.98805996e-01 -2.71472742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.493133365 meters Centerline goodness : 0.161927 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98848711e-01 -1.31759124e-04 -4.79711885e-02 -2.38014600e+00] [ 6.35311914e-04 9.99944862e-01 1.04818880e-02 -8.82714587e-02] [ 4.79671623e-02 -1.05002970e-02 9.98793720e-01 -2.71762347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.523133365 meters Centerline goodness : 0.203958 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.09, Z:-0.27 [[ 9.98834685e-01 1.89735814e-04 -4.82621597e-02 -2.37929688e+00] [ 3.48595246e-04 9.99937825e-01 1.11456479e-02 -9.11844885e-02] [ 4.82612738e-02 -1.11494837e-02 9.98772516e-01 -2.71953144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.553133365 meters Centerline goodness : 0.094901 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99887045 0.00688834 -0.04701459 -2.3969084 ] [-0.00640983 0.99992619 0.01032107 -0.09859131] [ 0.04708221 -0.01000806 0.99884088 -0.27488928] [ 0. 0. 0. 1. ]] SLAMing on 311.583133365 meters Centerline goodness : 0.091200 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99886685 0.00687067 -0.04709369 -2.39676513] [-0.00638879 0.99992577 0.0103752 -0.09938778] [ 0.04716148 -0.01006257 0.99883659 -0.27471992] [ 0. 0. 0. 1. ]] SLAMing on 311.613133365 meters Centerline goodness : 0.167985 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885906 0.00688628 -0.04725633 -2.39654335] [-0.00640091 0.99992528 0.01041474 -0.10008425] [ 0.04732452 -0.01010037 0.9988285 -0.27440246] [ 0. 0. 0. 1. ]] SLAMing on 311.643133365 meters Centerline goodness : 0.167985 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885906 0.00688628 -0.04725633 -2.39654335] [-0.00640091 0.99992528 0.01041474 -0.10008425] [ 0.04732452 -0.01010037 0.9988285 -0.27440246] [ 0. 0. 0. 1. ]] SLAMing on 311.673133365 meters Centerline goodness : 0.103936 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885962 0.00725393 -0.04718951 -2.39657481] [-0.00674506 0.99991747 0.01093393 -0.10152395] [ 0.04726493 -0.01060317 0.99882611 -0.27446618] [ 0. 0. 0. 1. ]] SLAMing on 311.703133365 meters Centerline goodness : 0.217289 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885222 0.0074242 -0.04731948 -2.39607852] [-0.00690303 0.99991381 0.01116785 -0.10233441] [ 0.04739831 -0.01082838 0.99881737 -0.27464172] [ 0. 0. 0. 1. ]] SLAMing on 311.73313336499996 meters Centerline goodness : 0.124285 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99883465 0.00747561 -0.04768072 -2.3950465 ] [-0.00695207 0.99991382 0.01113657 -0.10233873] [ 0.04775987 -0.01079211 0.99880054 -0.2747674 ] [ 0. 0. 0. 1. ]] SLAMing on 311.763133365 meters Centerline goodness : 0.130357 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.28 [[ 0.99881317 0.00750233 -0.04812451 -2.39373297] [-0.00697804 0.99991456 0.01105304 -0.10230057] [ 0.04820332 -0.0107041 0.99878019 -0.2750036 ] [ 0. 0. 0. 1. ]] SLAMing on 311.79313336499996 meters Centerline goodness : 0.109015 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.28 [[ 0.99881115 0.0074556 -0.04817361 -2.39340461] [-0.00693459 0.99991575 0.01097332 -0.10225718] [ 0.04825137 -0.01062621 0.9987787 -0.27535392] [ 0. 0. 0. 1. ]] SLAMing on 311.823133365 meters Centerline goodness : 0.108209 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.28 [[ 0.99881675 0.00743226 -0.04806096 -2.39386339] [-0.00691774 0.99991706 0.01086323 -0.1018923 ] [ 0.04813771 -0.0105179 0.99878533 -0.27508404] [ 0. 0. 0. 1. ]] SLAMing on 311.85313336499996 meters Centerline goodness : 0.155151 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.27 [[ 0.9988239 0.00729555 -0.04793322 -2.39425283] [-0.00679123 0.99991995 0.01067564 -0.10129753] [ 0.04800727 -0.01033756 0.99879349 -0.27499191] [ 0. 0. 0. 1. ]] SLAMing on 311.883133365 meters Centerline goodness : 0.133744 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.10, Z:-0.27 [[ 0.99883296 0.00729348 -0.04774435 -2.39487054] [-0.00679215 0.99992018 0.010654 -0.10112628] [ 0.04781825 -0.01031728 0.99880277 -0.27475354] [ 0. 0. 0. 1. ]] SLAMing on 311.91313336499996 meters Centerline goodness : 0.124003 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.9988429 0.00735545 -0.04752642 -2.39554837] [-0.00685277 0.99991894 0.01073111 -0.10116353] [ 0.0476015 -0.01039301 0.99881234 -0.27455192] [ 0. 0. 0. 1. ]] SLAMing on 311.943133365 meters Centerline goodness : 0.109484 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99885856 0.00740476 -0.04718838 -2.39640937] [-0.00689619 0.99991647 0.010931 -0.1018177 ] [ 0.04726538 -0.0105931 0.9988262 -0.2745433 ] [ 0. 0. 0. 1. ]] SLAMing on 311.97313336499997 meters Centerline goodness : 0.124630 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.10, Z:-0.27 [[ 0.99886478 0.00744407 -0.04705032 -2.39655754] [-0.0069277 0.99991408 0.01112842 -0.10275172] [ 0.04712912 -0.01078984 0.99883053 -0.27484068] [ 0. 0. 0. 1. ]] SLAMing on 312.003133365 meters Centerline goodness : 0.112137 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.28 [[ 0.99886497 0.00363934 -0.04749246 -2.39467523] [-0.00326868 0.99996361 0.00788004 -0.10583454] [ 0.04751941 -0.00771586 0.99884051 -0.27600956] [ 0. 0. 0. 1. ]] SLAMing on 312.03313336499997 meters Centerline goodness : 0.107766 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.28 [[ 9.98877636e-01 1.38914622e-04 -4.73650556e-02 -2.39482430e+00] [ 8.60211706e-05 9.99988730e-01 4.74691051e-03 -1.07306213e-01] [ 4.73651812e-02 -4.74565715e-03 9.98866367e-01 -2.76209123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.063133365 meters Centerline goodness : 0.126994 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.28 [[ 9.98873939e-01 3.07988810e-04 -4.74421579e-02 -2.39483885e+00] [-5.51037890e-05 9.99985785e-01 5.33160177e-03 -1.10228764e-01] [ 4.74431256e-02 -5.32298382e-03 9.98859758e-01 -2.75871793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09313336499997 meters Centerline goodness : 0.127716 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.28 [[ 9.98875902e-01 5.01035711e-04 -4.73991740e-02 -2.39515297e+00] [-2.16590635e-04 9.99981940e-01 6.00600122e-03 -1.13681073e-01] [ 4.74013272e-02 -5.98898366e-03 9.98857971e-01 -2.75544318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.123133365 meters Centerline goodness : 0.123732 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.28 [[ 0.9988925 -0.00311964 -0.04694713 -2.39620344] [ 0.00328065 0.999989 0.00335285 -0.11992595] [ 0.04693615 -0.00350315 0.99889175 -0.27534679] [ 0. 0. 0. 1. ]] SLAMing on 312.153133365 meters Centerline goodness : 0.107024 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99889559 -0.00295201 -0.0468922 -2.39660397] [ 0.00313804 0.99998749 0.003894 -0.12299119] [ 0.04688012 -0.00403684 0.99889237 -0.27487915] [ 0. 0. 0. 1. ]] SLAMing on 312.183133365 meters Centerline goodness : 0.129365 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.27 [[ 0.99889776 -0.00277919 -0.04685652 -2.3968955 ] [ 0.00298503 0.9999862 0.00432367 -0.1251641 ] [ 0.04684386 -0.00445878 0.99889227 -0.27452566] [ 0. 0. 0. 1. ]] SLAMing on 312.213133365 meters Centerline goodness : 0.154056 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.27 [[ 0.99889644 -0.00259939 -0.04689501 -2.39673099] [ 0.00281953 0.99998531 0.00462869 -0.126429 ] [ 0.04688229 -0.0047558 0.9988891 -0.27460449] [ 0. 0. 0. 1. ]] SLAMing on 312.243133365 meters Centerline goodness : 0.120210 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.27 [[ 0.99889305 -0.00242642 -0.04697645 -2.39636881] [ 0.00265765 0.99998466 0.00486023 -0.12732753] [ 0.04696394 -0.0049797 0.99888417 -0.27480606] [ 0. 0. 0. 1. ]] SLAMing on 312.273133365 meters Centerline goodness : 0.107483 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.13, Z:-0.28 [[ 9.98884849e-01 -2.35917964e-03 -4.71539192e-02 -2.39576985e+00] [ 2.59353761e-03 9.99984585e-01 4.90949968e-03 -1.27688906e-01] [ 4.71416099e-02 -5.02632031e-03 9.98875570e-01 -2.75048436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.303133365 meters Centerline goodness : 0.128628 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99890797 0.00671354 -0.04623639 -2.37751849] [-0.00655942 0.99997242 0.00348415 -0.13069876] [ 0.04625851 -0.00317706 0.99892445 -0.27239007] [ 0. 0. 0. 1. ]] SLAMing on 312.333133365 meters Centerline goodness : 0.106456 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99889368 0.00682714 -0.04652748 -2.37707187] [-0.00667623 0.99997194 0.0033979 -0.13015437] [ 0.04654937 -0.00308351 0.99891123 -0.2718772 ] [ 0. 0. 0. 1. ]] SLAMing on 312.363133365 meters Centerline goodness : 0.105818 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.99876807 0.00657381 -0.04918466 -2.41982973] [-0.00638511 0.99997164 0.00399279 -0.13325835] [ 0.04920952 -0.00367382 0.99878172 -0.27259136] [ 0. 0. 0. 1. ]] SLAMing on 312.393133365 meters Centerline goodness : 0.120874 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.9987637 0.00662313 -0.04926661 -2.41954591] [-0.00643109 0.9999711 0.00405535 -0.13349915] [ 0.04929204 -0.0037335 0.99877743 -0.27271827] [ 0. 0. 0. 1. ]] SLAMing on 312.423133365 meters Centerline goodness : 0.085342 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.99877061 0.00656442 -0.04913433 -2.4200076 ] [-0.00637408 0.99997157 0.00402973 -0.13366884] [ 0.04915938 -0.00371159 0.99878405 -0.27251253] [ 0. 0. 0. 1. ]] SLAMing on 312.453133365 meters Centerline goodness : 0.122634 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.13, Z:-0.27 [[ 0.99880825 0.00636278 -0.04839004 -2.42241902] [-0.00616914 0.99997236 0.00414983 -0.13466177] [ 0.04841511 -0.00384636 0.9988199 -0.27173605] [ 0. 0. 0. 1. ]] SLAMing on 312.48313336499996 meters Centerline goodness : 0.108103 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99880534 0.00649852 -0.04843201 -2.42231867] [-0.00629049 0.99997033 0.00444666 -0.13581315] [ 0.04845947 -0.00413669 0.99881658 -0.27180731] [ 0. 0. 0. 1. ]] SLAMing on 312.513133365 meters Centerline goodness : 0.109405 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99884033 0.00667871 -0.04768001 -2.37872542] [-0.00647913 0.9999696 0.00433914 -0.1338622 ] [ 0.04770754 -0.00402519 0.99885324 -0.27115404] [ 0. 0. 0. 1. ]] SLAMing on 312.54313336499996 meters Centerline goodness : 0.087270 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99867663 0.00551275 -0.05113308 -2.41903122] [-0.00528435 0.99997545 0.004601 -0.13859796] [ 0.05115719 -0.00432471 0.99868125 -0.27309231] [ 0. 0. 0. 1. ]] SLAMing on 312.573133365 meters Centerline goodness : 0.085842 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99867555 0.00556255 -0.05114879 -2.4188615 ] [-0.00532653 0.99997453 0.0047496 -0.13918844] [ 0.05117391 -0.00447087 0.99867975 -0.2733074 ] [ 0. 0. 0. 1. ]] SLAMing on 312.60313336499996 meters Centerline goodness : 0.087749 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99867936 0.00557148 -0.05107346 -2.41897297] [-0.00533096 0.99997406 0.00484441 -0.13966312] [ 0.05109913 -0.00456574 0.99868315 -0.27345729] [ 0. 0. 0. 1. ]] SLAMing on 312.633133365 meters Centerline goodness : 0.107094 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.14, Z:-0.27 [[ 0.99868053 0.00562618 -0.05104452 -2.41882629] [-0.00538051 0.99997328 0.00494894 -0.13986123] [ 0.051071 -0.00466777 0.99868412 -0.27379898] [ 0. 0. 0. 1. ]] SLAMing on 312.66313336499996 meters Centerline goodness : 0.128414 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 0.99858035 0.01365393 -0.05148636 -2.4012098 ] [-0.01341526 0.99989762 0.00497839 -0.14648551] [ 0.05154906 -0.00428062 0.99866129 -0.27297693] [ 0. 0. 0. 1. ]] SLAMing on 312.693133365 meters Centerline goodness : 0.120701 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 0.99857962 0.01366331 -0.05149812 -2.40104999] [-0.01342388 0.99989743 0.00499232 -0.14639953] [ 0.05156105 -0.00429392 0.99866061 -0.27317311] [ 0. 0. 0. 1. ]] SLAMing on 312.72313336499997 meters Centerline goodness : 0.123419 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 0.99856546 0.01370887 -0.05175988 -2.39976176] [-0.01347284 0.9998972 0.00490638 -0.14580304] [ 0.05182182 -0.00420199 0.99864751 -0.27410477] [ 0. 0. 0. 1. ]] SLAMing on 312.753133365 meters Centerline goodness : 0.110724 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.14, Z:-0.27 [[ 0.99847369 0.00742241 -0.05472841 -2.38314692] [-0.00717254 0.99996295 0.00476056 -0.13671184] [ 0.05476171 -0.00436075 0.99848993 -0.27143631] [ 0. 0. 0. 1. ]] SLAMing on 312.78313336499997 meters Centerline goodness : 0.104547 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99846958 0.0071832 -0.05483519 -2.38266695] [-0.00696384 0.99996697 0.00419035 -0.13450553] [ 0.05486348 -0.00380207 0.99848663 -0.27168117] [ 0. 0. 0. 1. ]] SLAMing on 312.813133365 meters Centerline goodness : 0.112230 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99847026 0.00698139 -0.05484879 -2.38273303] [-0.00679217 0.99997032 0.00363544 -0.13208538] [ 0.05487255 -0.00325734 0.99848805 -0.27151359] [ 0. 0. 0. 1. ]] SLAMing on 312.84313336499997 meters Centerline goodness : 0.085639 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.13, Z:-0.27 [[ 0.99848767 0.00692705 -0.05453795 -2.38359102] [-0.00675294 0.9999715 0.00337608 -0.13022412] [ 0.05455979 -0.00300268 0.99850599 -0.27141483] [ 0. 0. 0. 1. ]] SLAMing on 312.873133365 meters Centerline goodness : 0.120970 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.12, Z:-0.27 [[ 9.98562413e-01 5.63707165e-04 -5.35984044e-02 -2.36895136e+00] [-2.77037827e-04 9.99985620e-01 5.35574708e-03 -1.18457974e-01] [ 5.36006527e-02 -5.33319894e-03 9.98548210e-01 -2.69508559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.903133365 meters Centerline goodness : 0.112601 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.12, Z:-0.27 [[ 9.98569351e-01 3.59477705e-04 -5.34707538e-02 -2.36934589e+00] [-9.47984986e-05 9.99987732e-01 4.95243475e-03 -1.16627194e-01] [ 5.34718781e-02 -4.94028061e-03 9.98557135e-01 -2.69440162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.933133365 meters Centerline goodness : 0.105233 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.12, Z:-0.27 [[ 9.98455433e-01 -1.90803432e-03 -5.55257412e-02 -2.41426742e+00] [ 2.16132533e-03 9.99987530e-01 4.50199279e-03 -1.18416184e-01] [ 5.55164588e-02 -4.61504835e-03 9.98447106e-01 -2.70745529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.963133365 meters Centerline goodness : 0.112305 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.12, Z:-0.27 [[ 9.98440795e-01 -2.13712748e-03 -5.57800331e-02 -2.41371173e+00] [ 2.37303251e-03 9.99988518e-01 4.16330935e-03 -1.17338598e-01] [ 5.57704951e-02 -4.28918573e-03 9.98434402e-01 -2.70741247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.993133365 meters Centerline goodness : 0.131841 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.12, Z:-0.27 [[ 9.98432459e-01 -2.28827291e-03 -5.59230673e-02 -2.41324224e+00] [ 2.51015591e-03 9.99989253e-01 3.89772646e-03 -1.16265124e-01] [ 5.59135473e-02 -4.03199223e-03 9.98427473e-01 -2.70973896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.023133365 meters Centerline goodness : 0.119860 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 9.98456932e-01 -2.23311947e-03 -5.54866489e-02 -2.41430930e+00] [ 2.44702541e-03 9.99989834e-01 3.78744659e-03 -1.14500682e-01] [ 5.54776270e-02 -3.91737954e-03 9.98452246e-01 -2.71016295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.053133365 meters Centerline goodness : 0.118987 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 9.98469728e-01 -2.25785751e-03 -5.52548997e-02 -2.41492344e+00] [ 2.46513997e-03 9.99990177e-01 3.68351601e-03 -1.13668692e-01] [ 5.52460401e-02 -3.81409029e-03 9.98465487e-01 -2.70952541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.083133365 meters Centerline goodness : 0.185995 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 9.98470059e-01 -2.35615227e-03 -5.52448111e-02 -2.41477905e+00] [ 2.55412926e-03 9.99990567e-01 3.51329925e-03 -1.12913291e-01] [ 5.52360121e-02 -3.64902650e-03 9.98466658e-01 -2.71225324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.113133365 meters Centerline goodness : 0.127031 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.11, Z:-0.27 [[ 0.99842578 -0.00269136 -0.05602429 -2.41204941] [ 0.00286546 0.99999131 0.00302745 -0.11133753] [ 0.05601565 -0.00318322 0.99842482 -0.27255084] [ 0. 0. 0. 1. ]] SLAMing on 313.143133365 meters Centerline goodness : 0.124679 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98382512e-01 5.78253686e-03 -5.65590048e-02 -2.39255187e+00] [-5.69153191e-03 9.99982237e-01 1.76997840e-03 -1.13341919e-01] [ 5.65682350e-02 -1.44520811e-03 9.98397689e-01 -2.70426505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.173133365 meters Centerline goodness : 0.139844 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98384650e-01 5.77188315e-03 -5.65223428e-02 -2.39255776e+00] [-5.68728772e-03 9.99982454e-01 1.65741727e-03 -1.12461960e-01] [ 5.65309175e-02 -1.33328114e-03 9.98399959e-01 -2.70554505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.203133365 meters Centerline goodness : 0.097818 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98402956e-01 5.77479168e-03 -5.61977641e-02 -2.39361229e+00] [-5.69683409e-03 9.99982576e-01 1.54730454e-03 -1.11572989e-01] [ 5.62057203e-02 -1.22468409e-03 9.98418458e-01 -2.70159235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23313336499996 meters Centerline goodness : 0.109185 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.27 [[ 9.98435592e-01 5.53932342e-03 -5.56388759e-02 -2.39542354e+00] [-5.47808350e-03 9.99984210e-01 1.25312399e-03 -1.10604743e-01] [ 5.56449388e-02 -9.46369184e-04 9.98450172e-01 -2.69580819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.263133365 meters Centerline goodness : 0.158106 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.27 [[ 9.98458047e-01 5.49469240e-03 -5.52389035e-02 -2.39670153e+00] [-5.43709047e-03 9.99984507e-01 1.19300955e-03 -1.10516296e-01] [ 5.52446029e-02 -8.90831067e-04 9.98472453e-01 -2.69128282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29313336499996 meters Centerline goodness : 0.112297 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.11, Z:-0.27 [[ 9.98452324e-01 5.42890994e-03 -5.53487366e-02 -2.39643347e+00] [-5.36331283e-03 9.99984728e-01 1.33363227e-03 -1.11909126e-01] [ 5.53551314e-02 -1.03471565e-03 9.98466193e-01 -2.69152689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.323133365 meters Centerline goodness : 0.111915 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.11, Z:-0.27 [[ 9.98420522e-01 5.33848693e-03 -5.59281872e-02 -2.39476787e+00] [-5.26697852e-03 9.99985113e-01 1.42590013e-03 -1.13126860e-01] [ 5.59349667e-02 -1.12907539e-03 9.98433776e-01 -2.69565829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35313336499996 meters Centerline goodness : 0.128425 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98387857e-01 5.49970854e-03 -5.64928350e-02 -2.39308457e+00] [-5.40429574e-03 9.99983701e-01 1.84157257e-03 -1.15113733e-01] [ 5.65020423e-02 -1.53329971e-03 9.98401306e-01 -2.70131782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.383133365 meters Centerline goodness : 0.124668 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98358405e-01 5.52863238e-03 -5.70081456e-02 -2.39182221e+00] [-5.41802727e-03 9.99983129e-01 2.09454357e-03 -1.16765106e-01] [ 5.70187637e-02 -1.78223349e-03 9.98371516e-01 -2.70251330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41313336499996 meters Centerline goodness : 0.109153 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98364283e-01 5.33485702e-03 -5.69236046e-02 -2.39281403e+00] [-5.20476968e-03 9.99983495e-01 2.43331065e-03 -1.19552090e-01] [ 5.69356464e-02 -2.13305619e-03 9.98375572e-01 -2.69342775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.443133365 meters Centerline goodness : 0.113852 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.12, Z:-0.27 [[ 9.98391908e-01 5.21895151e-03 -5.64478548e-02 -2.39443696e+00] [-5.07827432e-03 9.99983633e-01 2.63531887e-03 -1.20984871e-01] [ 5.64606846e-02 -2.34442335e-03 9.98402071e-01 -2.68774685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47313336499997 meters Centerline goodness : 0.113128 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99842049 0.00508473 -0.05595248 -2.39603982] [-0.00493782 0.99998399 0.00276341 -0.12197156] [ 0.05596563 -0.00248276 0.99842961 -0.26825037] [ 0. 0. 0. 1. ]] SLAMing on 313.503133365 meters Centerline goodness : 0.131599 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99843686 0.00509306 -0.05565867 -2.39679985] [-0.00493225 0.99998326 0.00302605 -0.12327146] [ 0.05567315 -0.0027468 0.99844527 -0.2682125 ] [ 0. 0. 0. 1. ]] SLAMing on 313.53313336499997 meters Centerline goodness : 0.133553 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99843103 0.00523796 -0.05574976 -2.39635266] [-0.0050578 0.99998152 0.00337213 -0.12473102] [ 0.05576639 -0.00308487 0.99843908 -0.26850958] [ 0. 0. 0. 1. ]] SLAMing on 313.563133365 meters Centerline goodness : 0.133553 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.12, Z:-0.27 [[ 0.99843103 0.00523796 -0.05574976 -2.39635266] [-0.0050578 0.99998152 0.00337213 -0.12473102] [ 0.05576639 -0.00308487 0.99843908 -0.26850958] [ 0. 0. 0. 1. ]] SLAMing on 313.59313336499997 meters Centerline goodness : 0.156885 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.9983822 0.00563425 -0.05657946 -2.39382774] [-0.00542341 0.99997777 0.00387934 -0.1268929 ] [ 0.05660006 -0.00356621 0.99839056 -0.2690814 ] [ 0. 0. 0. 1. ]] SLAMing on 313.623133365 meters Centerline goodness : 0.157314 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99835963 0.00577325 -0.05696242 -2.39291735] [-0.00555908 0.99997687 0.00391757 -0.12712669] [ 0.05698372 -0.00359449 0.99836864 -0.26889264] [ 0. 0. 0. 1. ]] SLAMing on 313.653133365 meters Centerline goodness : 0.126533 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99836172 0.0057991 -0.05692309 -2.39317144] [-0.00558492 0.99997672 0.00392083 -0.12735515] [ 0.0569445 -0.00359649 0.99837087 -0.26851864] [ 0. 0. 0. 1. ]] SLAMing on 313.683133365 meters Centerline goodness : 0.107013 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99836749 0.00586111 -0.05681545 -2.3935768 ] [-0.00564404 0.99997615 0.00398026 -0.12762953] [ 0.05683742 -0.0036531 0.99837676 -0.26821606] [ 0. 0. 0. 1. ]] SLAMing on 313.713133365 meters Centerline goodness : 0.132354 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99836759 0.00610461 -0.0567881 -2.39348732] [-0.00586314 0.99997305 0.0044179 -0.12972182] [ 0.05681354 -0.00407773 0.99837648 -0.26841999] [ 0. 0. 0. 1. ]] SLAMing on 313.743133365 meters Centerline goodness : 0.122157 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99835038 0.00619627 -0.05708006 -2.39252479] [-0.00594147 0.99997162 0.00463256 -0.13089652] [ 0.05710714 -0.00428578 0.99835886 -0.26879309] [ 0. 0. 0. 1. ]] SLAMing on 313.773133365 meters Centerline goodness : 0.128742 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99832391 0.00644685 -0.05751359 -2.3911473 ] [-0.006173 0.99996876 0.00493792 -0.13191847] [ 0.05754363 -0.00457461 0.99833251 -0.26919919] [ 0. 0. 0. 1. ]] SLAMing on 313.803133365 meters Centerline goodness : 0.122145 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.13, Z:-0.27 [[ 0.99831281 0.0065431 -0.05769507 -2.39064645] [-0.00625949 0.99996743 0.00509515 -0.13275945] [ 0.05772653 -0.00472542 0.99832125 -0.26923228] [ 0. 0. 0. 1. ]] SLAMing on 313.833133365 meters Centerline goodness : 0.103441 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.14, Z:-0.27 [[ 0.99822428 0.01469999 -0.05772516 -2.37351483] [-0.01444592 0.99988405 0.00481617 -0.13985113] [ 0.05778926 -0.00397372 0.9983209 -0.26734363] [ 0. 0. 0. 1. ]] SLAMing on 313.863133365 meters Centerline goodness : 0.117589 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.27 [[ 0.99842582 0.01294152 -0.05457463 -2.4121062 ] [-0.01274089 0.99991074 0.00402256 -0.14312398] [ 0.05462182 -0.0033209 0.99850159 -0.27010486] [ 0. 0. 0. 1. ]] SLAMing on 313.893133365 meters Centerline goodness : 0.103597 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.27 [[ 0.99841851 0.01300484 -0.05469325 -2.41175791] [-0.01279384 0.99990931 0.0042062 -0.14394187] [ 0.05474299 -0.00349982 0.99849434 -0.2702227 ] [ 0. 0. 0. 1. ]] SLAMing on 313.923133365 meters Centerline goodness : 0.109092 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.14, Z:-0.27 [[ 0.99839494 0.01315593 -0.05508594 -2.41067697] [-0.01293337 0.9999067 0.00439484 -0.14482429] [ 0.05513862 -0.00367533 0.99847194 -0.27039281] [ 0. 0. 0. 1. ]] SLAMing on 313.953133365 meters Centerline goodness : 0.108464 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 0.99836676 0.01328191 -0.05556449 -2.40922867] [-0.01304888 0.99990449 0.00455456 -0.1454388 ] [ 0.05561967 -0.00382207 0.99844471 -0.27084181] [ 0. 0. 0. 1. ]] SLAMing on 313.98313336499996 meters Centerline goodness : 0.115383 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 0.99836314 0.01334545 -0.05561414 -2.40915189] [-0.01309872 0.99990269 0.00479865 -0.14652922] [ 0.05567276 -0.00406233 0.9984408 -0.27087558] [ 0. 0. 0. 1. ]] SLAMing on 314.013133365 meters Centerline goodness : 0.102768 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.14, Z:-0.27 [[ 0.99864144 0.00403469 -0.05195185 -2.39541979] [-0.00374625 0.99997703 0.00564823 -0.14478529] [ 0.05197344 -0.00544593 0.99863362 -0.26903874] [ 0. 0. 0. 1. ]] SLAMing on 314.04313336499996 meters Centerline goodness : 0.103442 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 9.98720044e-01 2.16310917e-03 -5.05331008e-02 -2.40066715e+00] [-1.95471932e-03 9.99989383e-01 4.17288549e-03 -1.46436593e-01] [ 5.05415907e-02 -4.06876635e-03 9.98713669e-01 -2.66950351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.073133365 meters Centerline goodness : 0.105799 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 9.98786358e-01 1.21907273e-04 -4.92523773e-02 -2.40529602e+00] [ 5.36835036e-06 9.99996661e-01 2.58401132e-03 -1.49005085e-01] [ 4.92525279e-02 -2.58113966e-03 9.98783023e-01 -2.65160094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10313336499996 meters Centerline goodness : 0.118687 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98785830e-01 -4.00708059e-04 -4.92616066e-02 -2.40589245e+00] [ 5.32045347e-04 9.99996339e-01 2.65303488e-03 -1.50995690e-01] [ 4.92603632e-02 -2.67602305e-03 9.98782386e-01 -2.64882475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.133133365 meters Centerline goodness : 0.105312 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 9.98773288e-01 -4.25781254e-04 -4.95150237e-02 -2.40504339e+00] [ 5.62080806e-04 9.99996092e-01 2.73879915e-03 -1.51799345e-01] [ 4.95136640e-02 -2.76327087e-03 9.98769624e-01 -2.65257713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16313336499996 meters Centerline goodness : 0.105312 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.27 [[ 9.98773288e-01 -4.25781254e-04 -4.95150237e-02 -2.40504339e+00] [ 5.62080806e-04 9.99996092e-01 2.73879915e-03 -1.51799345e-01] [ 4.95136640e-02 -2.76327087e-03 9.98769624e-01 -2.65257713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.193133365 meters Centerline goodness : 0.144810 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 9.98748544e-01 -3.21947276e-04 -5.00124210e-02 -2.40305338e+00] [ 4.69888647e-04 9.99995549e-01 2.94636324e-03 -1.52428104e-01] [ 5.00112498e-02 -2.96617627e-03 9.98744250e-01 -2.66397656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22313336499997 meters Centerline goodness : 0.127614 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.15, Z:-0.27 [[ 9.98740414e-01 -3.36690846e-04 -5.01744131e-02 -2.40253157e+00] [ 4.83511660e-04 9.99995637e-01 2.91410002e-03 -1.52336752e-01] [ 5.01732131e-02 -2.93468938e-03 9.98736220e-01 -2.66576120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.253133365 meters Centerline goodness : 0.117184 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.15, Z:-0.26 [[ 9.98700083e-01 6.53563050e-03 -5.05512560e-02 -2.38142617e+00] [-6.55930119e-03 9.99978442e-01 -3.02367151e-04 -1.54453207e-01] [ 5.05481900e-02 6.33555012e-04 9.98721422e-01 -2.64827879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28313336499997 meters Centerline goodness : 0.131623 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.16, Z:-0.27 [[ 9.98589369e-01 4.90762642e-03 -5.28695336e-02 -2.42595803e+00] [-4.90423699e-03 9.99987955e-01 1.93843035e-04 -1.57275412e-01] [ 5.28698481e-02 6.57151281e-05 9.98601409e-01 -2.65779336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.313133365 meters Centerline goodness : 0.153680 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98596241e-01 -1.74515591e-03 -5.29386541e-02 -2.40734405e+00] [ 1.81624369e-03 9.99997512e-01 1.29475439e-03 -1.51915810e-01] [ 5.29362628e-02 -1.38908637e-03 9.98596927e-01 -2.63413625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34313336499997 meters Centerline goodness : 0.105153 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98598821e-01 -1.62450530e-03 -5.28938084e-02 -2.40727149e+00] [ 1.70202725e-03 9.99997542e-01 1.42060289e-03 -1.51893866e-01] [ 5.28913706e-02 -1.50863907e-03 9.98599132e-01 -2.63677854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.373133365 meters Centerline goodness : 0.120983 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98598917e-01 -1.65080357e-03 -5.28911960e-02 -2.40712989e+00] [ 1.72126191e-03 9.99997691e-01 1.28661347e-03 -1.51335045e-01] [ 5.28889499e-02 -1.37585041e-03 9.98599452e-01 -2.63790611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.403133365 meters Centerline goodness : 0.147647 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.15, Z:-0.26 [[ 9.98594203e-01 -1.68631741e-03 -5.29790037e-02 -2.40675086e+00] [ 1.74797286e-03 9.99997848e-01 1.11745747e-03 -1.50667791e-01] [ 5.29770053e-02 -1.20849241e-03 9.98595001e-01 -2.64009768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.433133365 meters Centerline goodness : 0.147872 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.15, Z:-0.26 [[ 9.98537925e-01 6.98547016e-03 -5.36023753e-02 -2.38926159e+00] [-6.94107229e-03 9.99975396e-01 1.01440221e-03 -1.54618925e-01] [ 5.36081425e-02 -6.40861114e-04 9.98561844e-01 -2.62550416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.463133365 meters Centerline goodness : 0.102563 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.15, Z:-0.26 [[ 9.98530015e-01 7.05964049e-03 -5.37398479e-02 -2.38903494e+00] [-7.01591037e-03 9.99974886e-01 1.00234948e-03 -1.54380930e-01] [ 5.37455745e-02 -6.23842080e-04 9.98554467e-01 -2.62344023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.493133365 meters Centerline goodness : 0.140874 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.15, Z:-0.26 [[ 9.98525727e-01 7.06486544e-03 -5.38187712e-02 -2.38896877e+00] [-7.02025903e-03 9.99974840e-01 1.01783138e-03 -1.54511647e-01] [ 5.38246080e-02 -6.38509103e-04 9.98550201e-01 -2.62196394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.523133365 meters Centerline goodness : 0.121091 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.16, Z:-0.26 [[ 9.98521652e-01 7.08763106e-03 -5.38913412e-02 -2.38887818e+00] [-7.03827652e-03 9.99974620e-01 1.10555186e-03 -1.55098995e-01] [ 5.38978092e-02 -7.24615306e-04 9.98546194e-01 -2.62086955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.553133365 meters Centerline goodness : 0.119965 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.16, Z:-0.26 [[ 9.98536403e-01 7.12959571e-03 -5.36117665e-02 -2.39009020e+00] [-7.07001171e-03 9.99974161e-01 1.30097234e-03 -1.56340887e-01] [ 5.36196567e-02 -9.20032425e-04 9.98561008e-01 -2.61254029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.583133365 meters Centerline goodness : 0.128764 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98630350e-01 1.29900908e-04 -5.23202433e-02 -2.37185608e+00] [-4.29032055e-06 9.99997118e-01 2.40090798e-03 -1.52724398e-01] [ 5.23204044e-02 -2.39739511e-03 9.98627472e-01 -2.58854324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.613133365 meters Centerline goodness : 0.119989 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98656017e-01 1.09047507e-04 -5.18280611e-02 -2.37335123e+00] [ 2.37341998e-05 9.99996719e-01 2.56134317e-03 -1.53373100e-01] [ 5.18281704e-02 -2.55913087e-03 9.98652738e-01 -2.58423624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.643133365 meters Centerline goodness : 0.149705 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98673867e-01 6.47611726e-05 -5.14830340e-02 -2.37425357e+00] [ 7.21366020e-05 9.99996467e-01 2.65722263e-03 -1.53763509e-01] [ 5.14830242e-02 -2.65741261e-03 9.98670334e-01 -2.58376946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.673133365 meters Centerline goodness : 0.120386 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98678426e-01 1.41640335e-04 -5.13943793e-02 -2.37445522e+00] [ 1.82110283e-06 9.99996104e-01 2.79132624e-03 -1.54358065e-01] [ 5.13945745e-02 -2.78773089e-03 9.98674535e-01 -2.58386559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.703133365 meters Centerline goodness : 0.143367 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.15, Z:-0.26 [[ 9.98684079e-01 2.17703655e-04 -5.12841362e-02 -2.37467259e+00] [-6.73471866e-05 9.99995695e-01 2.93354176e-03 -1.54993221e-01] [ 5.12845540e-02 -2.92622761e-03 9.98679794e-01 -2.58472374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73313336499996 meters Centerline goodness : 0.129614 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98666128e-01 4.38950438e-04 -5.16311112e-02 -2.37382529e+00] [-2.70895085e-04 9.99994643e-01 3.26187712e-03 -1.56143587e-01] [ 5.16322665e-02 -3.24353958e-03 9.98660898e-01 -2.58493078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.763133365 meters Centerline goodness : 0.118540 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98643738e-01 6.35002549e-04 -5.20603549e-02 -2.37277013e+00] [-4.53596336e-04 9.99993785e-01 3.49627779e-03 -1.56944318e-01] [ 5.20622515e-02 -3.46792154e-03 9.98637820e-01 -2.58595783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79313336499996 meters Centerline goodness : 0.133197 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98631198e-01 6.46206563e-04 -5.23002231e-02 -2.37199561e+00] [-4.60010179e-04 9.99993514e-01 3.57210439e-03 -1.57512631e-01] [ 5.23021922e-02 -3.54315625e-03 9.98625018e-01 -2.58906357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.823133365 meters Centerline goodness : 0.110550 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.16, Z:-0.26 [[ 9.98632781e-01 7.04209797e-04 -5.22692397e-02 -2.37185064e+00] [-5.08982367e-04 9.99992846e-01 3.74825200e-03 -1.58629095e-01] [ 5.22715053e-02 -3.71652320e-03 9.98625995e-01 -2.59184127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85313336499996 meters Centerline goodness : 0.108541 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.16, Z:-0.26 [[ 9.98668656e-01 9.04453044e-03 -5.07849579e-02 -2.35346771e+00] [-8.94777403e-03 9.99957695e-01 2.13225231e-03 -1.61547703e-01] [ 5.08020946e-02 -1.67500122e-03 9.98707335e-01 -2.57522647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.883133365 meters Centerline goodness : 0.115889 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.16, Z:-0.26 [[ 9.98615084e-01 7.61460546e-03 -5.20570053e-02 -2.39750919e+00] [-7.54330771e-03 9.99970323e-01 1.56594897e-03 -1.63683988e-01] [ 5.20673844e-02 -1.17109826e-03 9.98642887e-01 -2.58427721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91313336499996 meters Centerline goodness : 0.105685 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.16, Z:-0.26 [[ 9.98608263e-01 7.57048784e-03 -5.21941018e-02 -2.39703743e+00] [-7.50205134e-03 9.99970724e-01 1.50698520e-03 -1.63664635e-01] [ 5.22039823e-02 -1.11332505e-03 9.98635822e-01 -2.58653037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.943133365 meters Centerline goodness : 0.100669 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.16, Z:-0.26 [[ 9.98579041e-01 7.72226752e-03 -5.27282203e-02 -2.39534204e+00] [-7.64593575e-03 9.99969409e-01 1.64921367e-03 -1.64040989e-01] [ 5.27393429e-02 -1.24371362e-03 9.98607538e-01 -2.59228992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97313336499997 meters Centerline goodness : 0.117992 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.17, Z:-0.26 [[ 9.98435055e-01 7.10115236e-03 -5.54708437e-02 -2.43557930e+00] [-7.03633240e-03 9.99974315e-01 1.36376205e-03 -1.66368270e-01] [ 5.54791032e-02 -9.71316540e-04 9.98459376e-01 -2.60917922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.003133365 meters Centerline goodness : 0.103286 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98407042e-01 7.29262752e-03 -5.59481623e-02 -2.43397229e+00] [-7.20981858e-03 9.99972595e-01 1.68180710e-03 -1.67399570e-01] [ 5.59588938e-02 -1.27575195e-03 9.98432258e-01 -2.61696215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03313336499997 meters Centerline goodness : 0.100710 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98393712e-01 7.31335640e-03 -5.61828242e-02 -2.43333256e+00] [-7.22805127e-03 9.99972396e-01 1.72140832e-03 -1.67711334e-01] [ 5.61938626e-02 -1.31255091e-03 9.98419014e-01 -2.61800535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.063133365 meters Centerline goodness : 0.099562 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98378176e-01 7.38090494e-03 -5.64494393e-02 -2.43235806e+00] [-7.28927106e-03 9.99971760e-01 1.82902357e-03 -1.68135135e-01] [ 5.64613450e-02 -1.41458196e-03 9.98403784e-01 -2.62296923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09313336499997 meters Centerline goodness : 0.103364 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98354219e-01 -1.40835449e-03 -5.73312370e-02 -2.45070874e+00] [ 1.60370200e-03 9.99993064e-01 3.36148212e-03 -1.65537479e-01] [ 5.73261052e-02 -3.44789207e-03 9.98349553e-01 -2.64728926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.123133365 meters Centerline goodness : 0.129640 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98348767e-01 -1.17860648e-03 -5.74312728e-02 -2.45023767e+00] [ 1.38770012e-03 9.99992553e-01 3.60101733e-03 -1.66059087e-01] [ 5.74266010e-02 -3.67476859e-03 9.98342968e-01 -2.64933334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.153133365 meters Centerline goodness : 0.103742 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98359476e-01 -1.24116581e-03 -5.72434771e-02 -2.45086570e+00] [ 1.44513756e-03 9.99992754e-01 3.52197250e-03 -1.66039405e-01] [ 5.72386910e-02 -3.59891932e-03 9.98354035e-01 -2.64573653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.183133365 meters Centerline goodness : 0.102944 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98369951e-01 -1.17613615e-03 -5.70618828e-02 -2.45143170e+00] [ 1.38596233e-03 9.99992423e-01 3.63773326e-03 -1.66601431e-01] [ 5.70571720e-02 -3.71088919e-03 9.98364016e-01 -2.64387935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.213133365 meters Centerline goodness : 0.103489 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98377610e-01 -1.07073000e-03 -5.69297862e-02 -2.45187338e+00] [ 1.29067220e-03 9.99991845e-01 3.82676587e-03 -1.67406197e-01] [ 5.69252245e-02 -3.89403506e-03 9.98370851e-01 -2.64230704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.243133365 meters Centerline goodness : 0.141713 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.17, Z:-0.26 [[ 9.98384128e-01 -9.33974332e-04 -5.68177810e-02 -2.45209820e+00] [ 1.16873453e-03 9.99990917e-01 4.09871961e-03 -1.68586003e-01] [ 5.68134369e-02 -4.15850150e-03 9.98376152e-01 -2.64291783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.273133365 meters Centerline goodness : 0.109013 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:-0.26 [[ 9.98363078e-01 7.63848518e-03 -5.66817241e-02 -2.43387271e+00] [-7.49316691e-03 9.99968073e-01 2.77585272e-03 -1.73138146e-01] [ 5.67011178e-02 -2.34658325e-03 9.98388440e-01 -2.61907480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.303133365 meters Centerline goodness : 0.256165 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:-0.26 [[ 0.99834506 0.00746741 -0.05702093 -2.43325174] [-0.00730463 0.99996863 0.00306273 -0.17563561] [ 0.05704201 -0.00264115 0.99836829 -0.26190273] [ 0. 0. 0. 1. ]] SLAMing on 315.333133365 meters Centerline goodness : 0.252083 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:-0.26 [[ 0.99834533 0.00755318 -0.05700492 -2.4335476 ] [-0.00737078 0.99996702 0.00340936 -0.17780178] [ 0.05702879 -0.00298355 0.99836808 -0.2615311 ] [ 0. 0. 0. 1. ]] SLAMing on 315.363133365 meters Centerline goodness : 0.107200 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:-0.26 [[ 0.99835089 0.00769028 -0.05688897 -2.43422805] [-0.00748395 0.99996463 0.00383901 -0.18015269] [ 0.05691648 -0.00340692 0.99837313 -0.26097029] [ 0. 0. 0. 1. ]] SLAMing on 315.393133365 meters Centerline goodness : 0.218600 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.18, Z:-0.26 [[ 9.98415604e-01 4.34172544e-03 -5.61019759e-02 -2.43646920e+00] [-4.28100598e-03 9.99990114e-01 1.20244155e-03 -1.83923953e-01] [ 5.61066419e-02 -9.60363513e-04 9.98424320e-01 -2.60447964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.423133365 meters Centerline goodness : 0.106612 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.19, Z:-0.26 [[ 9.98406421e-01 4.44584367e-03 -5.62570342e-02 -2.43620462e+00] [-4.36068324e-03 9.99989153e-01 1.63644072e-03 -1.86441189e-01] [ 5.62636994e-02 -1.38851381e-03 9.98414978e-01 -2.60308899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.453133365 meters Centerline goodness : 0.106612 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.19, Z:-0.26 [[ 9.98406421e-01 4.44584367e-03 -5.62570342e-02 -2.43620462e+00] [-4.36068324e-03 9.99989153e-01 1.63644072e-03 -1.86441189e-01] [ 5.62636994e-02 -1.38851381e-03 9.98414978e-01 -2.60308899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48313336499996 meters Centerline goodness : 0.103560 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.19, Z:-0.26 [[ 9.98382620e-01 4.48348865e-03 -5.66748833e-02 -2.43514090e+00] [-4.37813765e-03 9.99988450e-01 1.98289478e-03 -1.88684925e-01] [ 5.66831190e-02 -1.73155724e-03 9.98390718e-01 -2.60391881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.513133365 meters Centerline goodness : 0.173825 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.19, Z:-0.26 [[ 9.98366769e-01 4.50240381e-03 -5.69519430e-02 -2.43438663e+00] [-4.38088136e-03 9.99987854e-01 2.25844374e-03 -1.90608202e-01] [ 5.69614197e-02 -2.00525547e-03 9.98374366e-01 -2.60550813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54313336499996 meters Centerline goodness : 0.109124 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.19, Z:-0.26 [[ 9.98357682e-01 4.59235828e-03 -5.71038434e-02 -2.43408526e+00] [-4.45179882e-03 9.99986741e-01 2.58843947e-03 -1.92523694e-01] [ 5.71149732e-02 -2.32997360e-03 9.98364889e-01 -2.60463945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.573133365 meters Centerline goodness : 0.262891 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.19, Z:-0.26 [[ 0.99835872 0.004682 -0.05707842 -2.43422874] [-0.00452616 0.99998567 0.00285927 -0.19398469] [ 0.05709099 -0.00259623 0.9983656 -0.26033585] [ 0. 0. 0. 1. ]] SLAMing on 315.60313336499996 meters Centerline goodness : 0.116757 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.20, Z:-0.26 [[ 0.99837321 0.00482446 -0.05681253 -2.43506426] [-0.0046491 0.99998401 0.00321842 -0.19591663] [ 0.05682714 -0.00294905 0.99837968 -0.25999706] [ 0. 0. 0. 1. ]] SLAMing on 315.633133365 meters Centerline goodness : 0.105252 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.9983697 0.00482843 -0.05687384 -2.43462398] [-0.00465113 0.9999839 0.00324949 -0.19631159] [ 0.05688861 -0.00297966 0.99837609 -0.2603937 ] [ 0. 0. 0. 1. ]] SLAMing on 315.66313336499996 meters Centerline goodness : 0.111265 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99835004 0.00476555 -0.05722319 -2.43329466] [-0.00459087 0.99998439 0.00318361 -0.19635138] [ 0.05723747 -0.00291565 0.99835633 -0.2610807 ] [ 0. 0. 0. 1. ]] SLAMing on 315.693133365 meters Centerline goodness : 0.134066 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99832928 0.00468062 -0.05759111 -2.43189351] [-0.00451205 0.99998515 0.00305672 -0.19608441] [ 0.05760457 -0.00279175 0.99833557 -0.26181289] [ 0. 0. 0. 1. ]] SLAMing on 315.72313336499997 meters Centerline goodness : 0.235455 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99830898 0.00469379 -0.05794085 -2.43067353] [-0.00452445 0.9999851 0.0030536 -0.19607497] [ 0.05795432 -0.00278628 0.99831535 -0.2623672 ] [ 0. 0. 0. 1. ]] SLAMing on 315.753133365 meters Centerline goodness : 0.248522 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.9983094 0.00474967 -0.05792918 -2.4306802 ] [-0.00457561 0.99998461 0.00313689 -0.19636836] [ 0.05794319 -0.00286653 0.99831577 -0.26240556] [ 0. 0. 0. 1. ]] SLAMing on 315.78313336499997 meters Centerline goodness : 0.127727 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99833142 0.00494703 -0.05753175 -2.43227007] [-0.00475399 0.9999826 0.0034918 -0.19782817] [ 0.05754803 -0.00321247 0.99833757 -0.26151373] [ 0. 0. 0. 1. ]] SLAMing on 315.813133365 meters Centerline goodness : 0.261697 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99833397 0.00498189 -0.05748446 -2.43244803] [-0.00477945 0.99998189 0.00365869 -0.19892405] [ 0.05750164 -0.00337785 0.9983397 -0.26142813] [ 0. 0. 0. 1. ]] SLAMing on 315.84313336499997 meters Centerline goodness : 0.251767 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.9983261 0.00490079 -0.05762803 -2.43186259] [-0.00469522 0.99998212 0.00370201 -0.19991394] [ 0.05764514 -0.00342524 0.99833126 -0.26174989] [ 0. 0. 0. 1. ]] SLAMing on 315.873133365 meters Centerline goodness : 0.099467 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99831692 0.00487975 -0.05778858 -2.43123098] [-0.00466555 0.99998174 0.0038409 -0.20113451] [ 0.05780627 -0.00356482 0.99832145 -0.26211186] [ 0. 0. 0. 1. ]] SLAMing on 315.903133365 meters Centerline goodness : 0.096024 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.20, Z:-0.26 [[ 0.99832509 0.00508596 -0.05762941 -2.43209433] [-0.00483566 0.99997826 0.00448181 -0.20476139] [ 0.05765096 -0.00419563 0.99832798 -0.26142339] [ 0. 0. 0. 1. ]] SLAMing on 315.933133365 meters Centerline goodness : 0.174691 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833541 0.00523377 -0.05743702 -2.43316401] [-0.00496248 0.99997585 0.004865 -0.20680512] [ 0.05746109 -0.00457187 0.99833728 -0.26057803] [ 0. 0. 0. 1. ]] SLAMing on 315.963133365 meters Centerline goodness : 0.267930 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833719 0.00538595 -0.05739212 -2.43375801] [-0.00509193 0.99997316 0.00526791 -0.20894401] [ 0.05741895 -0.00496691 0.99833782 -0.25989781] [ 0. 0. 0. 1. ]] SLAMing on 315.993133365 meters Centerline goodness : 0.261483 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833452 0.00555574 -0.05742234 -2.43401685] [-0.0052388 0.99997021 0.00566862 -0.21105971] [ 0.05745212 -0.00535835 0.99833388 -0.25941548] [ 0. 0. 0. 1. ]] SLAMing on 316.023133365 meters Centerline goodness : 0.097322 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833304 0.00569049 -0.05743475 -2.43400503] [-0.00535369 0.99996757 0.00601618 -0.21301994] [ 0.05746712 -0.00569866 0.99833114 -0.25937036] [ 0. 0. 0. 1. ]] SLAMing on 316.053133365 meters Centerline goodness : 0.134923 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.21, Z:-0.26 [[ 0.99833271 0.00580624 -0.05742893 -2.43400808] [-0.00545394 0.99996535 0.00628935 -0.21454243] [ 0.05746346 -0.00596565 0.99832979 -0.25937052] [ 0. 0. 0. 1. ]] SLAMing on 316.083133365 meters Centerline goodness : 0.238348 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99834428 0.00616942 -0.05718955 -2.43469367] [-0.00578644 0.99995973 0.00685992 -0.21688179] [ 0.05722957 -0.00651764 0.99833977 -0.25915662] [ 0. 0. 0. 1. ]] SLAMing on 316.113133365 meters Centerline goodness : 0.233405 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99834449 0.00630742 -0.05717073 -2.43475106] [-0.00591356 0.99995762 0.00705576 -0.21766378] [ 0.05721281 -0.00670599 0.99833948 -0.25910858] [ 0. 0. 0. 1. ]] SLAMing on 316.143133365 meters Centerline goodness : 0.111208 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833022 0.0064541 -0.05740309 -2.43412107] [-0.00604838 0.99995551 0.0072389 -0.21857393] [ 0.05744726 -0.00687962 0.99832484 -0.2591947 ] [ 0. 0. 0. 1. ]] SLAMing on 316.173133365 meters Centerline goodness : 0.136736 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833253 0.00651778 -0.05735569 -2.43431281] [-0.00610399 0.99995409 0.00738678 -0.21941001] [ 0.0574012 -0.00702437 0.99832648 -0.25910256] [ 0. 0. 0. 1. ]] SLAMing on 316.203133365 meters Centerline goodness : 0.093889 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833594 0.00661843 -0.05728476 -2.43463366] [-0.00619186 0.99995179 0.00762071 -0.22056846] [ 0.05733243 -0.00725333 0.99832879 -0.25890544] [ 0. 0. 0. 1. ]] SLAMing on 316.23313336499996 meters Centerline goodness : 0.108876 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99833347 0.00671672 -0.05731645 -2.43462947] [-0.0062728 0.99994895 0.00792151 -0.22218377] [ 0.05736673 -0.00754877 0.99832463 -0.25885399] [ 0. 0. 0. 1. ]] SLAMing on 316.263133365 meters Centerline goodness : 0.143484 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.9983206 0.00679595 -0.05753084 -2.43409527] [-0.00633067 0.9999458 0.00826575 -0.224256 ] [ 0.05758389 -0.00788766 0.99830951 -0.25888155] [ 0. 0. 0. 1. ]] SLAMing on 316.29313336499996 meters Centerline goodness : 0.142976 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.22, Z:-0.26 [[ 0.99834924 0.00318576 -0.05734671 -2.43367767] [-0.00290491 0.99998338 0.00497999 -0.22493076] [ 0.05736162 -0.00480519 0.9983419 -0.25991493] [ 0. 0. 0. 1. ]] SLAMing on 316.323133365 meters Centerline goodness : 0.220118 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99828048 -0.00461087 -0.05843656 -2.41022284] [ 0.00493258 0.99997346 0.00536231 -0.22560511] [ 0.05841029 -0.00564133 0.99827672 -0.25932124] [ 0. 0. 0. 1. ]] SLAMing on 316.35313336499996 meters Centerline goodness : 0.239240 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99826205 -0.00453973 -0.05875594 -2.40953385] [ 0.00488676 0.99997145 0.00576399 -0.22792444] [ 0.0587281 -0.0060411 0.99825574 -0.25927577] [ 0. 0. 0. 1. ]] SLAMing on 316.383133365 meters Centerline goodness : 0.101110 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99824205 -0.00456942 -0.05909254 -2.40892968] [ 0.00493541 0.99996952 0.00604906 -0.23002186] [ 0.0590631 -0.00633007 0.99823418 -0.2590543 ] [ 0. 0. 0. 1. ]] SLAMing on 316.41313336499996 meters Centerline goodness : 0.147017 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.23, Z:-0.26 [[ 0.99823033 -0.00458296 -0.05928915 -2.40875774] [ 0.00496756 0.99996756 0.0063411 -0.23205369] [ 0.05925816 -0.0066244 0.99822071 -0.25863922] [ 0. 0. 0. 1. ]] SLAMing on 316.443133365 meters Centerline goodness : 0.252141 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.24, Z:-0.26 [[ 0.99826475 0.00270182 -0.05882344 -2.38974276] [-0.00248218 0.99998967 0.00380663 -0.23651002] [ 0.05883312 -0.00365401 0.99826114 -0.25670779] [ 0. 0. 0. 1. ]] SLAMing on 316.47313336499997 meters Centerline goodness : 0.146300 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.24, Z:-0.26 [[ 0.99826254 0.002726 -0.05885977 -2.389809 ] [-0.00249322 0.99998878 0.00402792 -0.23796008] [ 0.05887009 -0.00387417 0.99825813 -0.25654344] [ 0. 0. 0. 1. ]] SLAMing on 316.503133365 meters Centerline goodness : 0.251353 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.25 [[ 0.99835182 -0.0047267 -0.05719523 -2.3707356 ] [ 0.00500701 0.99997614 0.00475876 -0.2362194 ] [ 0.05717137 -0.0050373 0.99835167 -0.25463694] [ 0. 0. 0. 1. ]] SLAMing on 316.53313336499997 meters Centerline goodness : 0.253883 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.24, Z:-0.26 [[ 9.98457818e-01 1.49841739e-03 -5.54954109e-02 -2.39005048e+00] [-1.27634001e-03 9.99991037e-01 4.03695176e-03 -2.41775116e-01] [ 5.55009626e-02 -3.95989503e-03 9.98450781e-01 -2.56954423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.563133365 meters Centerline goodness : 0.175950 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98502597e-01 9.93108427e-03 -5.37953320e-02 -2.37231391e+00] [-9.82020099e-03 9.99949077e-01 2.32515270e-03 -2.44088283e-01] [ 5.38156839e-02 -1.79339003e-03 9.98549276e-01 -2.55227746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59313336499997 meters Centerline goodness : 0.252729 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98499832e-01 9.75887867e-03 -5.38781061e-02 -2.37203312e+00] [-9.66431383e-03 9.99951268e-01 2.01542656e-03 -2.42794619e-01] [ 5.38951488e-02 -1.49170815e-03 9.98545486e-01 -2.55338083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.623133365 meters Centerline goodness : 0.098883 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98492875e-01 9.59998350e-03 -5.40353541e-02 -2.37142312e+00] [-9.51991017e-03 9.99953172e-01 1.73907410e-03 -2.41808820e-01] [ 5.40495189e-02 -1.22204138e-03 9.98537509e-01 -2.55693143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.653133365 meters Centerline goodness : 0.253185 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98488145e-01 9.47885519e-03 -5.41440336e-02 -2.37100804e+00] [-9.41114254e-03 9.99954581e-01 1.50543688e-03 -2.40868729e-01] [ 5.41558443e-02 -9.93603660e-04 9.98532001e-01 -2.55899751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.683133365 meters Centerline goodness : 0.254249 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.24, Z:-0.26 [[ 9.98492857e-01 9.42739298e-03 -5.40660622e-02 -2.37126972e+00] [-9.36867698e-03 9.99955216e-01 1.33935671e-03 -2.39820787e-01] [ 5.40762676e-02 -8.30810631e-04 9.98536463e-01 -2.55793446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.713133365 meters Centerline goodness : 0.143403 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.23, Z:-0.26 [[ 9.98565176e-01 7.38321432e-04 -5.35447906e-02 -2.38999848e+00] [-5.86473574e-04 9.99995762e-01 2.85156061e-03 -2.34537512e-01] [ 5.35466690e-02 -2.81606652e-03 9.98561377e-01 -2.58163790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.743133365 meters Centerline goodness : 0.135311 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.23, Z:-0.26 [[ 9.98581215e-01 7.30276809e-04 -5.32449352e-02 -2.39071611e+00] [-5.87789639e-04 9.99996205e-01 2.69168033e-03 -2.33287045e-01] [ 5.32466988e-02 -2.65656460e-03 9.98577855e-01 -2.58176898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.773133365 meters Centerline goodness : 0.101260 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.23, Z:-0.26 [[ 9.98604040e-01 6.75710066e-04 -5.28158524e-02 -2.39144594e+00] [-5.57851415e-04 9.99997322e-01 2.24621157e-03 -2.30527871e-01] [ 5.28172287e-02 -2.21361255e-03 9.98601743e-01 -2.58503185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.803133365 meters Centerline goodness : 0.089116 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.23, Z:-0.26 [[ 9.98592716e-01 9.10773412e-03 -5.22459208e-02 -2.37117111e+00] [-9.10962979e-03 9.99958486e-01 2.01854449e-04 -2.30924890e-01] [ 5.22455903e-02 2.74370613e-04 9.98634229e-01 -2.57644100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.833133365 meters Centerline goodness : 0.109816 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.23, Z:-0.26 [[ 9.98586755e-01 8.97743269e-03 -5.23822360e-02 -2.37040146e+00] [-8.99740941e-03 9.99959512e-01 -1.45558110e-04 -2.29251905e-01] [ 5.23788084e-02 6.16656824e-04 9.98627098e-01 -2.58224828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.863133365 meters Centerline goodness : 0.252672 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98535420e-01 3.22544639e-03 -5.40056696e-02 -2.35225667e+00] [-3.19951328e-03 9.99994721e-01 5.66644593e-04 -2.22424514e-01] [ 5.40072122e-02 -3.93022839e-04 9.98540468e-01 -2.55840047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.893133365 meters Centerline goodness : 0.249446 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98542901e-01 3.19745102e-03 -5.38688259e-02 -2.35241697e+00] [-3.18285484e-03 9.99994871e-01 3.56746499e-04 -2.20914486e-01] [ 5.38696902e-02 -1.84770031e-04 9.98547957e-01 -2.56101726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.923133365 meters Centerline goodness : 0.237147 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98554930e-01 3.17151706e-03 -5.36469326e-02 -2.35295035e+00] [-3.16562586e-03 9.99994970e-01 1.94788507e-04 -2.19804915e-01] [ 5.36472805e-02 -2.46809071e-05 9.98559947e-01 -2.56110198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.953133365 meters Centerline goodness : 0.242040 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98561734e-01 2.96771050e-03 -5.35318245e-02 -2.35317514e+00] [-2.98773034e-03 9.99995494e-01 -2.93957147e-04 -2.17312399e-01] [ 5.35307109e-02 4.53473015e-04 9.98566101e-01 -2.56191390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98313336499996 meters Centerline goodness : 0.222672 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98556210e-01 2.89091543e-03 -5.36389569e-02 -2.35288834e+00] [-2.92057777e-03 9.99995622e-01 -4.74623136e-04 -2.16411491e-01] [ 5.36373500e-02 6.30594625e-04 9.98560282e-01 -2.56254521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.013133365 meters Centerline goodness : 0.103662 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98551131e-01 2.80989185e-03 -5.37377181e-02 -2.35244275e+00] [-2.84911224e-03 9.99995728e-01 -6.53254389e-04 -2.15447258e-01] [ 5.37356530e-02 8.05412700e-04 9.98554871e-01 -2.56573696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04313336499996 meters Centerline goodness : 0.112021 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.21, Z:-0.26 [[ 9.98547772e-01 2.75650193e-03 -5.38028703e-02 -2.35216196e+00] [-2.80326211e-03 9.99995756e-01 -7.93654833e-04 -2.14596246e-01] [ 5.38004542e-02 9.43325813e-04 9.98551261e-01 -2.56781875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.073133365 meters Centerline goodness : 0.249622 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.21, Z:-0.26 [[ 9.98547309e-01 2.64548857e-03 -5.38170324e-02 -2.35222125e+00] [-2.69768823e-03 9.99995959e-01 -8.97326371e-04 -2.14218076e-01] [ 5.38144410e-02 1.04120441e-03 9.98550410e-01 -2.56688760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10313336499996 meters Centerline goodness : 0.083107 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.21, Z:-0.26 [[ 9.98543210e-01 2.53563913e-03 -5.38983123e-02 -2.35216380e+00] [-2.59016881e-03 9.99996202e-01 -9.41884288e-04 -2.14480699e-01] [ 5.38957193e-02 1.08011789e-03 9.98545985e-01 -2.56530402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.133133365 meters Centerline goodness : 0.106564 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98535088e-01 2.43552096e-03 -5.40531771e-02 -2.35186906e+00] [-2.48858912e-03 9.99996485e-01 -9.14491222e-04 -2.15256818e-01] [ 5.40507598e-02 1.04766772e-03 9.98537640e-01 -2.56501446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16313336499996 meters Centerline goodness : 0.100054 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98525096e-01 2.39655174e-03 -5.42391887e-02 -2.35155534e+00] [-2.44174902e-03 9.99996725e-01 -7.67042856e-04 -2.16421205e-01] [ 5.42371728e-02 8.98350027e-04 9.98527677e-01 -2.56346334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.193133365 meters Centerline goodness : 0.175260 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98515347e-01 2.36096291e-03 -5.44199274e-02 -2.35114097e+00] [-2.39667959e-03 9.99996953e-01 -5.91063501e-04 -2.17716812e-01] [ 5.44183661e-02 7.20613106e-04 9.98517963e-01 -2.56407312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22313336499997 meters Centerline goodness : 0.099345 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98501029e-01 2.25709876e-03 -5.46863878e-02 -2.35049929e+00] [-2.28293552e-03 9.99997310e-01 -4.09988356e-04 -2.19353279e-01] [ 5.46853153e-02 5.34219293e-04 9.98503496e-01 -2.56458586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.253133365 meters Centerline goodness : 0.098525 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98522671e-01 -1.70179951e-03 -5.43100224e-02 -2.35148385e+00] [ 1.49772020e-03 9.99991665e-01 -3.79815251e-03 -2.21874408e-01] [ 5.43160335e-02 3.71120017e-03 9.98516898e-01 -2.56365844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28313336499997 meters Centerline goodness : 0.253427 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.22, Z:-0.26 [[ 9.98527517e-01 -1.72377430e-03 -5.42201722e-02 -2.35208350e+00] [ 1.53441946e-03 9.99992579e-01 -3.53376700e-03 -2.23752590e-01] [ 5.42258612e-02 3.44536710e-03 9.98522752e-01 -2.55878602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.313133365 meters Centerline goodness : 0.112178 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.22, Z:-0.25 [[ 9.98547385e-01 -8.84449869e-03 -5.31497317e-02 -2.33289223e+00] [ 8.72662898e-03 9.99958922e-01 -2.44936000e-03 -2.21842930e-01] [ 5.31692118e-02 1.98198403e-03 9.98583550e-01 -2.53438441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34313336499997 meters Centerline goodness : 0.099881 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.22, Z:-0.25 [[ 9.98562328e-01 -8.70291925e-03 -5.28917324e-02 -2.33375511e+00] [ 8.60119659e-03 9.99960697e-01 -2.15054981e-03 -2.23051328e-01] [ 5.29083697e-02 1.69252584e-03 9.98597937e-01 -2.53154770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.373133365 meters Centerline goodness : 0.099881 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.22, Z:-0.25 [[ 9.98562328e-01 -8.70291925e-03 -5.28917324e-02 -2.33375511e+00] [ 8.60119659e-03 9.99960697e-01 -2.15054981e-03 -2.23051328e-01] [ 5.29083697e-02 1.69252584e-03 9.98597937e-01 -2.53154770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.403133365 meters Centerline goodness : 0.101775 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.23, Z:-0.26 [[ 9.98757439e-01 -3.02314415e-03 -4.97437334e-02 -2.35090066e+00] [ 2.90446254e-03 9.99992761e-01 -2.45797180e-03 -2.27755339e-01] [ 4.97508041e-02 2.31043881e-03 9.98758990e-01 -2.56324253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.433133365 meters Centerline goodness : 0.139731 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.23, Z:-0.26 [[ 9.98761071e-01 -2.99642400e-03 -4.96723780e-02 -2.35106378e+00] [ 2.88034167e-03 9.99992952e-01 -2.40837571e-03 -2.27932843e-01] [ 4.96792444e-02 2.26231848e-03 9.98762662e-01 -2.56352820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.463133365 meters Centerline goodness : 0.105369 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99875748 0.00476713 -0.04960621 -2.33063716] [-0.00501842 0.99997519 -0.00494238 -0.22953183] [ 0.04958142 0.00518518 0.99875663 -0.25574035] [ 0. 0. 0. 1. ]] SLAMing on 317.493133365 meters Centerline goodness : 0.218517 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99875163 0.00468902 -0.04973125 -2.33018573] [-0.0049501 0.9999746 -0.00512796 -0.22860679] [ 0.04970594 0.00536773 0.99874947 -0.25592808] [ 0. 0. 0. 1. ]] SLAMing on 317.523133365 meters Centerline goodness : 0.101592 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99875694 0.00465602 -0.04962762 -2.33035544] [-0.00492391 0.99997395 -0.00527707 -0.22774251] [ 0.04960175 0.00551487 0.99875385 -0.25605316] [ 0. 0. 0. 1. ]] SLAMing on 317.553133365 meters Centerline goodness : 0.213669 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99876499 0.00464057 -0.04946671 -2.33075416] [-0.00491213 0.99997352 -0.00536967 -0.22709021] [ 0.04944048 0.00560603 0.99876134 -0.25601447] [ 0. 0. 0. 1. ]] SLAMing on 317.583133365 meters Centerline goodness : 0.238637 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99877655 0.00464967 -0.04923196 -2.33127184] [-0.00492114 0.99997334 -0.00539432 -0.22678766] [ 0.04920557 0.00563 0.9987728 -0.25609612] [ 0. 0. 0. 1. ]] SLAMing on 317.613133365 meters Centerline goodness : 0.229295 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99877681 0.00465008 -0.04922653 -2.33112301] [-0.0049223 0.99997325 -0.00541026 -0.22658319] [ 0.04920005 0.00564595 0.99877299 -0.25636054] [ 0. 0. 0. 1. ]] SLAMing on 317.643133365 meters Centerline goodness : 0.111354 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.23, Z:-0.26 [[ 0.99874348 0.00446083 -0.04991545 -2.32898579] [-0.00474226 0.99997351 -0.00552122 -0.22682769] [ 0.0498895 0.005751 0.99873819 -0.25717969] [ 0. 0. 0. 1. ]] SLAMing on 317.673133365 meters Centerline goodness : 0.083722 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98689351e-01 -2.31830477e-03 -5.11292947e-02 -2.30894512e+00] [ 2.06783722e-03 9.99985605e-01 -4.95106342e-03 -2.23046655e-01] [ 5.11400368e-02 4.83884726e-03 9.98679770e-01 -2.55154412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.703133365 meters Centerline goodness : 0.085192 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98681679e-01 -2.29318162e-03 -5.12800687e-02 -2.30825526e+00] [ 2.04700489e-03 9.99986131e-01 -4.85263652e-03 -2.23481159e-01] [ 5.12904854e-02 4.74126863e-03 9.98672522e-01 -2.55655900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73313336499996 meters Centerline goodness : 0.083963 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98679540e-01 -2.20062890e-03 -5.13257634e-02 -2.30795109e+00] [ 1.96136610e-03 9.99986977e-01 -4.71155289e-03 -2.23894877e-01] [ 5.13354634e-02 4.60466286e-03 9.98670850e-01 -2.55994512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.763133365 meters Centerline goodness : 0.250799 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98672958e-01 -2.15685731e-03 -5.14555228e-02 -2.30743467e+00] [ 1.92137782e-03 9.99987457e-01 -4.62539640e-03 -2.24207308e-01] [ 5.14648537e-02 4.52039280e-03 9.98664576e-01 -2.56286372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79313336499996 meters Centerline goodness : 0.245142 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.22, Z:-0.26 [[ 9.98657028e-01 -2.16804876e-03 -5.17633116e-02 -2.30641305e+00] [ 1.93052028e-03 9.99987380e-01 -4.63829973e-03 -2.24215882e-01] [ 5.17727144e-02 4.53214050e-03 9.98648610e-01 -2.56669158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.823133365 meters Centerline goodness : 0.232025 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98624012e-01 -2.19956241e-03 -5.23950879e-02 -2.30456064e+00] [ 1.95480826e-03 9.99986940e-01 -4.72210713e-03 -2.23975904e-01] [ 5.24047902e-02 4.61318721e-03 9.98615269e-01 -2.57131826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85313336499996 meters Centerline goodness : 0.238109 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98620433e-01 -2.21468456e-03 -5.24626096e-02 -2.30431528e+00] [ 1.96423429e-03 9.99986431e-01 -4.82496026e-03 -2.23394728e-01] [ 5.24725835e-02 4.71525505e-03 9.98611233e-01 -2.57222093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.883133365 meters Centerline goodness : 0.244367 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98623911e-01 -2.19728949e-03 -5.23971085e-02 -2.30451407e+00] [ 1.94150833e-03 9.99985953e-01 -4.93198942e-03 -2.22594749e-01] [ 5.24072095e-02 4.82347314e-03 9.98614149e-01 -2.57106899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91313336499996 meters Centerline goodness : 0.223855 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.22, Z:-0.26 [[ 9.98632557e-01 -2.22658508e-03 -5.22308183e-02 -2.30488445e+00] [ 1.96071713e-03 9.99984863e-01 -5.14093835e-03 -2.21431594e-01] [ 5.22414744e-02 5.03149855e-03 9.98621806e-01 -2.57064594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.943133365 meters Centerline goodness : 0.145359 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.26 [[ 0.99865888 0.00662799 -0.05134706 -2.28601558] [-0.00698547 0.99995258 -0.00678571 -0.22276011] [ 0.05129965 0.00713529 0.99865782 -0.25530192] [ 0. 0. 0. 1. ]] SLAMing on 317.97313336499997 meters Centerline goodness : 0.247330 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.26 [[ 0.99866662 0.00666016 -0.05119195 -2.28629925] [-0.00702761 0.9999508 -0.00700116 -0.22116083] [ 0.0511428 0.00735158 0.99866429 -0.25536162] [ 0. 0. 0. 1. ]] SLAMing on 318.003133365 meters Centerline goodness : 0.255118 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.22, Z:-0.26 [[ 0.99870168 0.00715522 -0.05043577 -2.28822234] [-0.00751956 0.99994696 -0.00703774 -0.21865495] [ 0.05038274 0.00740786 0.99870251 -0.25505317] [ 0. 0. 0. 1. ]] SLAMing on 318.03313336499997 meters Centerline goodness : 0.098927 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98694935e-01 1.23027004e-03 -5.10579334e-02 -2.27139528e+00] [-1.55135180e-03 9.99979269e-01 -6.24942362e-03 -2.11793090e-01] [ 5.10491864e-02 6.32047653e-03 9.98676140e-01 -2.52305609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.063133365 meters Centerline goodness : 0.246954 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98707196e-01 1.15253317e-03 -5.08193622e-02 -2.27193674e+00] [-1.48660661e-03 9.99977532e-01 -6.53643464e-03 -2.10255949e-01] [ 5.08106869e-02 6.60353272e-03 9.98686471e-01 -2.52272465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09313336499997 meters Centerline goodness : 0.219131 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98741880e-01 1.18501182e-03 -5.01323548e-02 -2.27374106e+00] [-1.53116160e-03 9.99975250e-01 -6.86687725e-03 -2.07788938e-01] [ 5.01229767e-02 6.93499863e-03 9.98718976e-01 -2.51968330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.123133365 meters Centerline goodness : 0.202341 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98752422e-01 1.19093516e-03 -4.99217434e-02 -2.27429799e+00] [-1.54313616e-03 9.99974189e-01 -7.01711380e-03 -2.06609423e-01] [ 4.99120979e-02 7.08539545e-03 9.98728481e-01 -2.51896680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.153133365 meters Centerline goodness : 0.143123 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.21, Z:-0.25 [[ 9.98756662e-01 1.18819941e-03 -4.98369094e-02 -2.27468540e+00] [-1.54600406e-03 9.99973304e-01 -7.14157769e-03 -2.05702672e-01] [ 4.98270933e-02 7.20974636e-03 9.98731836e-01 -2.51632879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.183133365 meters Centerline goodness : 0.090544 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.20, Z:-0.25 [[ 9.98761519e-01 1.14562672e-03 -4.97404917e-02 -2.27503450e+00] [-1.51069228e-03 9.99972196e-01 -7.30242973e-03 -2.04761890e-01] [ 4.97307428e-02 7.36852839e-03 9.98735479e-01 -2.51443596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.213133365 meters Centerline goodness : 0.145929 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.20, Z:-0.25 [[ 9.98765431e-01 1.14895033e-03 -4.96617842e-02 -2.27529799e+00] [-1.51723440e-03 9.99971625e-01 -7.37878324e-03 -2.04131486e-01] [ 4.96518972e-02 7.44502219e-03 9.98738835e-01 -2.51353677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.243133365 meters Centerline goodness : 0.243773 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.20, Z:-0.25 [[ 0.9987533 -0.00516469 -0.04965047 -2.25734011] [ 0.00486076 0.99996872 -0.00624025 -0.19822824] [ 0.04968114 0.00599113 0.99874716 -0.24873232] [ 0. 0. 0. 1. ]] SLAMing on 318.273133365 meters Centerline goodness : 0.218076 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.20, Z:-0.25 [[ 0.99877203 -0.00505427 -0.04928365 -2.25802309] [ 0.0047498 0.99996892 -0.00629315 -0.19716528] [ 0.04931392 0.00605134 0.998765 -0.24898746] [ 0. 0. 0. 1. ]] SLAMing on 318.303133365 meters Centerline goodness : 0.144107 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.99881226 0.00351484 -0.04859742 -2.2391452 ] [-0.00391081 0.99995991 -0.00805528 -0.19945945] [ 0.04856716 0.00823576 0.99878596 -0.24734661] [ 0. 0. 0. 1. ]] SLAMing on 318.333133365 meters Centerline goodness : 0.105471 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.9988066 0.00348358 -0.04871593 -2.23872411] [-0.00388349 0.99995952 -0.00811677 -0.19927168] [ 0.04868568 0.00829627 0.99877969 -0.24752172] [ 0. 0. 0. 1. ]] SLAMing on 318.363133365 meters Centerline goodness : 0.156362 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.99879889 0.0035064 -0.04887206 -2.23827323] [-0.00390653 0.99995961 -0.00809411 -0.1993096 ] [ 0.04884171 0.00827531 0.99877225 -0.24767107] [ 0. 0. 0. 1. ]] SLAMing on 318.393133365 meters Centerline goodness : 0.191443 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.20, Z:-0.25 [[ 0.99879056 0.00358013 -0.04903665 -2.23769522] [-0.00397917 0.99995974 -0.00804236 -0.19918636] [ 0.04900588 0.00822776 0.9987646 -0.24798234] [ 0. 0. 0. 1. ]] SLAMing on 318.423133365 meters Centerline goodness : 0.101521 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.19, Z:-0.25 [[ 0.99873533 -0.00259697 -0.05020954 -2.21874895] [ 0.00224724 0.99997283 -0.00702061 -0.19423792] [ 0.05022641 0.0068989 0.99871403 -0.24568945] [ 0. 0. 0. 1. ]] SLAMing on 318.453133365 meters Centerline goodness : 0.104834 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.19, Z:-0.25 [[ 0.99870416 -0.00276315 -0.05081702 -2.21672723] [ 0.00240164 0.99997138 -0.00717366 -0.19440727] [ 0.05083539 0.00704232 0.99868222 -0.24655381] [ 0. 0. 0. 1. ]] SLAMing on 318.48313336499996 meters Centerline goodness : 0.166036 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.19, Z:-0.25 [[ 0.99869192 -0.00277571 -0.0510563 -2.21606242] [ 0.00241371 0.99997152 -0.00715054 -0.19473027] [ 0.05107469 0.00701795 0.99867018 -0.24671376] [ 0. 0. 0. 1. ]] SLAMing on 318.513133365 meters Centerline goodness : 0.150483 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.20, Z:-0.25 [[ 0.99870941 0.00600067 -0.05043316 -2.19715895] [-0.0064333 0.99994385 -0.00842036 -0.19783434] [ 0.0503798 0.00873394 0.99869194 -0.2450555 ] [ 0. 0. 0. 1. ]] SLAMing on 318.54313336499996 meters Centerline goodness : 0.265654 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.20, Z:-0.25 [[ 9.98677015e-01 -1.78251666e-03 -5.13910711e-02 -2.21785400e+00] [ 1.48508132e-03 9.99981930e-01 -5.82528952e-03 -1.96428849e-01] [ 5.14005262e-02 5.74126283e-03 9.98661616e-01 -2.45635675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.573133365 meters Centerline goodness : 0.109373 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.20, Z:-0.25 [[ 9.98680780e-01 -1.69474929e-03 -5.13208296e-02 -2.21812876e+00] [ 1.40629753e-03 9.99983015e-01 -5.65614764e-03 -1.97150883e-01] [ 5.13295437e-02 5.57651358e-03 9.98666201e-01 -2.45466300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60313336499996 meters Centerline goodness : 0.261775 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.20, Z:-0.25 [[ 9.98668365e-01 -1.71618562e-03 -5.15611392e-02 -2.21745956e+00] [ 1.43998116e-03 9.99984418e-01 -5.39350479e-03 -1.99565621e-01] [ 5.15695921e-02 5.31207554e-03 9.98655275e-01 -2.45618723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.633133365 meters Centerline goodness : 0.192318 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.20, Z:-0.24 [[ 9.98747829e-01 -3.11804134e-04 -5.00267689e-02 -2.17427038e+00] [-1.13276988e-05 9.99979142e-01 -6.45876502e-03 -1.98622827e-01] [ 5.00277393e-02 6.45124422e-03 9.98726993e-01 -2.43902155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66313336499996 meters Centerline goodness : 0.138014 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.20, Z:-0.24 [[ 9.98747279e-01 -1.50553046e-04 -5.00384938e-02 -2.17431178e+00] [-1.53861597e-04 9.99981507e-01 -6.07970166e-03 -2.00481032e-01] [ 5.00384837e-02 6.07978449e-03 9.98728785e-01 -2.43841593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.693133365 meters Centerline goodness : 0.144448 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.20, Z:-0.24 [[ 9.98763147e-01 2.07558753e-04 -4.97205406e-02 -2.17550138e+00] [-4.65903399e-04 9.99986452e-01 -5.18440069e-03 -2.04952634e-01] [ 4.97187909e-02 5.20115332e-03 9.98749713e-01 -2.43217363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72313336499997 meters Centerline goodness : 0.105438 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.21, Z:-0.24 [[ 9.98761781e-01 3.55089715e-04 -4.97471442e-02 -2.17564182e+00] [-5.91039267e-04 9.99988647e-01 -4.72834676e-03 -2.07578339e-01] [ 4.97449004e-02 4.75189455e-03 9.98750652e-01 -2.42901740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.753133365 meters Centerline goodness : 0.103704 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.21, Z:-0.24 [[ 9.98747587e-01 4.79587297e-04 -5.00302672e-02 -2.17514650e+00] [-6.94550460e-04 9.99990602e-01 -4.27936563e-03 -2.10412455e-01] [ 5.00277447e-02 4.30875464e-03 9.98738534e-01 -2.42619755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78313336499997 meters Centerline goodness : 0.221469 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.21, Z:-0.24 [[ 9.98737648e-01 6.52336680e-04 -5.02263435e-02 -2.17479606e+00] [-8.43743380e-04 9.99992463e-01 -3.78977449e-03 -2.13156416e-01] [ 5.02234927e-02 3.82736861e-03 9.98730670e-01 -2.42466352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.813133365 meters Centerline goodness : 0.240748 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.22, Z:-0.24 [[ 9.98735424e-01 8.94667249e-04 -5.02668054e-02 -2.17484380e+00] [-1.05716264e-03 9.99994301e-01 -3.20616412e-03 -2.16081055e-01] [ 5.02636505e-02 3.25524988e-03 9.98730679e-01 -2.42278280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84313336499997 meters Centerline goodness : 0.097805 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.22, Z:-0.24 [[ 0.99885422 0.00214314 -0.04780842 -2.13258336] [-0.00234945 0.99998817 -0.00425972 -0.21697755] [ 0.04779873 0.00436717 0.99884744 -0.24085101] [ 0. 0. 0. 1. ]] SLAMing on 318.873133365 meters Centerline goodness : 0.099471 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.22, Z:-0.24 [[ 0.9988612 0.00258225 -0.04764077 -2.13325265] [-0.00274171 0.99999086 -0.00328215 -0.22236836] [ 0.04763186 0.00340903 0.99885914 -0.24039919] [ 0. 0. 0. 1. ]] SLAMing on 318.903133365 meters Centerline goodness : 0.098272 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.22, Z:-0.24 [[ 0.99885824 0.00278783 -0.04769116 -2.1331833 ] [-0.00292546 0.99999175 -0.00281633 -0.22478106] [ 0.04768292 0.00295264 0.99885816 -0.24028313] [ 0. 0. 0. 1. ]] SLAMing on 318.933133365 meters Centerline goodness : 0.089890 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.23, Z:-0.24 [[ 0.99885068 0.00298487 -0.04783726 -2.1327773 ] [-0.00310203 0.99999237 -0.00237512 -0.22700402] [ 0.04782981 0.00252078 0.99885232 -0.24034522] [ 0. 0. 0. 1. ]] SLAMing on 318.963133365 meters Centerline goodness : 0.219836 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.23, Z:-0.24 [[ 9.98841863e-01 3.15727951e-03 -4.80100440e-02 -2.13225757e+00] [-3.25583029e-03 9.99992750e-01 -1.97464886e-03 -2.28987084e-01] [ 4.80034614e-02 2.12867450e-03 9.98844901e-01 -2.40479731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.993133365 meters Centerline goodness : 0.140878 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.23, Z:-0.24 [[ 9.98823425e-01 -3.16532325e-03 -4.83916002e-02 -2.11326014e+00] [ 3.12565849e-03 9.99994714e-01 -8.95312458e-04 -2.26328547e-01] [ 4.83941784e-02 7.43003440e-04 9.98828039e-01 -2.38521468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.023133365 meters Centerline goodness : 0.099362 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.23, Z:-0.24 [[ 0.99883388 0.00580654 -0.04792879 -2.09502086] [-0.00592578 0.99997969 -0.00234603 -0.23155576] [ 0.0479142 0.00262731 0.998848 -0.23637622] [ 0. 0. 0. 1. ]] SLAMing on 319.053133365 meters Centerline goodness : 0.106597 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98839545e-01 6.13194337e-03 -4.77698877e-02 -2.09578747e+00] [-6.21534549e-03 9.99979408e-01 -1.59757021e-03 -2.35582912e-01] [ 4.77591078e-02 1.89262266e-03 9.98857090e-01 -2.35787990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.083133365 meters Centerline goodness : 0.259694 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98837619e-01 6.28327751e-03 -4.77904988e-02 -2.09587557e+00] [-6.34700464e-03 9.99979159e-01 -1.18183409e-03 -2.37844580e-01] [ 4.77820770e-02 1.48378687e-03 9.98856682e-01 -2.35567043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.113133365 meters Centerline goodness : 0.237231 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98833224e-01 6.46471183e-03 -4.78580988e-02 -2.09595768e+00] [-6.50603941e-03 9.99978585e-01 -7.07820244e-04 -2.40285685e-01] [ 4.78524981e-02 1.01836105e-03 9.98853894e-01 -2.35234205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.143133365 meters Centerline goodness : 0.265196 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.24, Z:-0.24 [[ 9.98826068e-01 6.63100069e-03 -4.79845291e-02 -2.09575912e+00] [-6.65040363e-03 9.99977856e-01 -2.44717641e-04 -2.42719354e-01] [ 4.79818438e-02 5.63546845e-04 9.98848049e-01 -2.35090006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.173133365 meters Centerline goodness : 0.257361 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.24, Z:-0.23 [[ 9.98831185e-01 -1.98291759e-05 -4.83349065e-02 -2.07611876e+00] [ 5.08204942e-05 9.99999794e-01 6.39949983e-04 -2.40809793e-01] [ 4.83348839e-02 -6.41658404e-04 9.98830980e-01 -2.33230708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.203133365 meters Centerline goodness : 0.180765 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.24, Z:-0.23 [[ 9.98821932e-01 1.35314224e-04 -4.85255679e-02 -2.07566840e+00] [-8.44199585e-05 9.99999444e-01 1.05086133e-03 -2.43014069e-01] [ 4.85256832e-02 -1.04552682e-03 9.98821388e-01 -2.33200245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23313336499996 meters Centerline goodness : 0.111395 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.25, Z:-0.23 [[ 9.98820581e-01 4.71526034e-04 -4.85512569e-02 -2.07567976e+00] [-3.81035190e-04 9.99998173e-01 1.87305929e-03 -2.47279826e-01] [ 4.85520514e-02 -1.85235043e-03 9.98818936e-01 -2.33025795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.263133365 meters Centerline goodness : 0.111395 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.25, Z:-0.23 [[ 9.98820581e-01 4.71526034e-04 -4.85512569e-02 -2.07567976e+00] [-3.81035190e-04 9.99998173e-01 1.87305929e-03 -2.47279826e-01] [ 4.85520514e-02 -1.85235043e-03 9.98818936e-01 -2.33025795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29313336499996 meters Centerline goodness : 0.095755 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.25, Z:-0.23 [[ 9.98837354e-01 9.29327322e-03 -4.73030200e-02 -2.05743091e+00] [-9.28301545e-03 9.99956817e-01 4.36532840e-04 -2.52106637e-01] [ 4.73050342e-02 3.08935893e-06 9.98880490e-01 -2.31420116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.323133365 meters Centerline goodness : 0.201707 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.25, Z:-0.23 [[ 9.98841811e-01 9.46577592e-03 -4.71745243e-02 -2.05796210e+00] [-9.43708183e-03 9.99955125e-01 8.30940698e-04 -2.54044929e-01] [ 4.71802728e-02 -3.84788465e-04 9.98886317e-01 -2.31105390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35313336499996 meters Centerline goodness : 0.253971 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98837007e-01 9.58537145e-03 -4.72520322e-02 -2.05797068e+00] [-9.54014308e-03 9.99953792e-01 1.18260675e-03 -2.56067882e-01] [ 4.72611845e-02 -7.30440237e-04 9.98882299e-01 -2.30789887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.383133365 meters Centerline goodness : 0.100192 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98866158e-01 6.15448509e-03 -4.72072155e-02 -2.05768840e+00] [-6.24528552e-03 9.99978921e-01 -1.77619019e-03 -2.59215739e-01] [ 4.71952889e-02 2.06899881e-03 9.98883539e-01 -2.31282175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41313336499996 meters Centerline goodness : 0.251465 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98858091e-01 6.30836688e-03 -4.73573519e-02 -2.05727931e+00] [-6.38101075e-03 9.99978685e-01 -1.38292775e-03 -2.61268814e-01] [ 4.73476185e-02 1.68353634e-03 9.98877054e-01 -2.31356627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.443133365 meters Centerline goodness : 0.203624 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.26, Z:-0.23 [[ 9.98856233e-01 6.47272604e-03 -4.73743479e-02 -2.05724094e+00] [-6.52553321e-03 9.99978248e-01 -9.60103456e-04 -2.63462650e-01] [ 4.73671029e-02 1.26814820e-03 9.98876744e-01 -2.31370346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47313336499997 meters Centerline goodness : 0.221573 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98848360e-01 6.58424249e-03 -4.75247496e-02 -2.05698903e+00] [-6.61910492e-03 9.99977927e-01 -5.76224579e-04 -2.65582469e-01] [ 4.75199066e-02 8.90132279e-04 9.98869895e-01 -2.31179981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.503133365 meters Centerline goodness : 0.102676 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98844582e-01 6.72553178e-03 -4.75843324e-02 -2.05704186e+00] [-6.74201982e-03 9.99977255e-01 -1.86009981e-04 -2.67708614e-01] [ 4.75819991e-02 5.06609574e-04 9.98867207e-01 -2.30920388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53313336499997 meters Centerline goodness : 0.092672 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98839832e-01 6.79378956e-03 -4.76742546e-02 -2.05700532e+00] [-6.79672134e-03 9.99976897e-01 1.00612058e-04 -2.69546471e-01] [ 4.76738367e-02 2.23533292e-04 9.98862931e-01 -2.30643279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.563133365 meters Centerline goodness : 0.259446 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98836238e-01 7.03099054e-03 -4.77151462e-02 -2.05700556e+00] [-7.00794136e-03 9.99975233e-01 6.50330534e-04 -2.72304857e-01] [ 4.77185369e-02 -3.15188758e-04 9.98860772e-01 -2.30479548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59313336499997 meters Centerline goodness : 0.260951 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98834110e-01 7.13365386e-03 -4.77444457e-02 -2.05670171e+00] [-7.10076520e-03 9.99974421e-01 8.58422529e-04 -2.73217200e-01] [ 4.77493481e-02 -5.18399605e-04 9.98859215e-01 -2.30806456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.623133365 meters Centerline goodness : 0.104280 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98830514e-01 7.16298266e-03 -4.78152296e-02 -2.05610368e+00] [-7.12718867e-03 9.99974179e-01 9.19041540e-04 -2.73567800e-01] [ 4.78205780e-02 -5.77178571e-04 9.98855775e-01 -2.31422475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.653133365 meters Centerline goodness : 0.106557 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.27, Z:-0.23 [[ 9.98824500e-01 7.17695242e-03 -4.79385924e-02 -2.05562956e+00] [-7.13622922e-03 9.99974016e-01 1.02058369e-03 -2.74324877e-01] [ 4.79446715e-02 -6.77283206e-04 9.98849763e-01 -2.31688019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.683133365 meters Centerline goodness : 0.099723 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98821125e-01 7.12882932e-03 -4.80160326e-02 -2.05544799e+00] [-7.08628477e-03 9.99974334e-01 1.05621852e-03 -2.75028923e-01] [ 4.80223298e-02 -7.14718090e-04 9.98846007e-01 -2.31678250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.713133365 meters Centerline goodness : 0.258771 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98821877e-01 7.10978571e-03 -4.80032197e-02 -2.05574271e+00] [-7.06248287e-03 9.99974393e-01 1.15494878e-03 -2.75941824e-01] [ 4.80102019e-02 -8.14566193e-04 9.98846513e-01 -2.31280088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.743133365 meters Centerline goodness : 0.260417 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98835222e-01 7.33828243e-03 -4.76901267e-02 -2.05715492e+00] [-7.26118988e-03 9.99972036e-01 1.78957400e-03 -2.78933606e-01] [ 4.77019254e-02 -1.44120248e-03 9.98860575e-01 -2.30320488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.773133365 meters Centerline goodness : 0.102835 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.28, Z:-0.23 [[ 9.98838252e-01 7.45761828e-03 -4.76080807e-02 -2.05733048e+00] [-7.36402912e-03 9.99970593e-01 2.14091814e-03 -2.80712523e-01] [ 4.76226468e-02 -1.78784364e-03 9.98863798e-01 -2.30381755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.803133365 meters Centerline goodness : 0.261495 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.28, Z:-0.23 [[ 9.98830445e-01 8.67482906e-04 -4.83424256e-02 -2.03816254e+00] [-7.33988087e-04 9.99995869e-01 2.77912565e-03 -2.78556028e-01] [ 4.83446367e-02 -2.74039255e-03 9.98826955e-01 -2.28633802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.833133365 meters Centerline goodness : 0.263162 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.28, Z:-0.23 [[ 9.98812860e-01 8.98299669e-04 -4.87038342e-02 -2.03744579e+00] [-7.36434145e-04 9.99994147e-01 3.34130810e-03 -2.82838216e-01] [ 4.87065507e-02 -3.30147433e-03 9.98807675e-01 -2.28409579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.863133365 meters Centerline goodness : 0.103565 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98812198e-01 1.05540211e-03 -4.87142594e-02 -2.03769349e+00] [-8.72981545e-04 9.99992528e-01 3.76582968e-03 -2.85020869e-01] [ 4.87178698e-02 -3.71882997e-03 9.98805657e-01 -2.28031438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.893133365 meters Centerline goodness : 0.103897 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98815585e-01 1.26641102e-03 -4.86397233e-02 -2.03810858e+00] [-1.06032336e-03 9.99990353e-01 4.26259227e-03 -2.87343296e-01] [ 4.86446522e-02 -4.20596975e-03 9.98807293e-01 -2.27718706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.923133365 meters Centerline goodness : 0.259530 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98816264e-01 1.43505268e-03 -4.86211008e-02 -2.03833629e+00] [-1.20616460e-03 9.99988055e-01 4.73660008e-03 -2.89842597e-01] [ 4.86273172e-02 -4.67234814e-03 9.98806064e-01 -2.27438063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.953133365 meters Centerline goodness : 0.259085 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98808797e-01 1.53179963e-03 -4.87713067e-02 -2.03822241e+00] [-1.28198042e-03 9.99985901e-01 5.15312643e-03 -2.92386527e-01] [ 4.87785126e-02 -5.08446415e-03 9.98796678e-01 -2.27091927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98313336499996 meters Centerline goodness : 0.264319 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.29, Z:-0.23 [[ 9.98796315e-01 1.62176152e-03 -4.90233650e-02 -2.03774600e+00] [-1.35110001e-03 9.99983665e-01 5.55370517e-03 -2.94878631e-01] [ 4.90315710e-02 -5.48078479e-03 9.98782191e-01 -2.26912859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.013133365 meters Centerline goodness : 0.261644 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.30, Z:-0.23 [[ 9.98743637e-01 7.91338463e-04 -5.01050970e-02 -2.03427679e+00] [-5.19835661e-04 9.99985114e-01 5.43146588e-03 -3.01896888e-01] [ 5.01086493e-02 -5.39859557e-03 9.98729182e-01 -2.27867079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04313336499996 meters Centerline goodness : 0.125110 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.31, Z:-0.23 [[ 9.98729001e-01 9.36173787e-04 -5.03935150e-02 -2.03370758e+00] [-6.35085270e-04 9.99981856e-01 5.99042801e-03 -3.05012200e-01] [ 5.03982087e-02 -5.95081000e-03 9.98711474e-01 -2.27740016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.073133365 meters Centerline goodness : 0.126763 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.31, Z:-0.23 [[ 9.98713843e-01 1.04631824e-03 -5.06908702e-02 -2.03334575e+00] [-7.13416139e-04 9.99978065e-01 6.58494734e-03 -3.08679112e-01] [ 5.06966482e-02 -6.54031438e-03 9.98692683e-01 -2.27249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10313336499996 meters Centerline goodness : 0.262126 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.31, Z:-0.23 [[ 9.98683901e-01 1.02019690e-03 -5.12779151e-02 -2.03250632e+00] [-6.56732626e-04 9.99974547e-01 7.10447441e-03 -3.12644871e-01] [ 5.12838579e-02 -7.06144834e-03 9.98659152e-01 -2.26535825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.133133365 meters Centerline goodness : 0.105600 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.32, Z:-0.23 [[ 9.98671320e-01 -6.05467451e-04 -5.15289133e-02 -2.03157610e+00] [ 9.29271497e-04 9.99979973e-01 6.26020318e-03 -3.19492079e-01] [ 5.15240910e-02 -6.29976972e-03 9.98651882e-01 -2.26759225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16313336499996 meters Centerline goodness : 0.260273 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.32, Z:-0.23 [[ 9.98651927e-01 -5.71871649e-04 -5.19037736e-02 -2.03126799e+00] [ 9.32762755e-04 9.99975558e-01 6.92912339e-03 -3.24265756e-01] [ 5.18985424e-02 -6.96819634e-03 9.98628052e-01 -2.25999779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.193133365 meters Centerline goodness : 0.191158 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.34, Z:-0.23 [[ 0.99869391 -0.00264097 -0.05102452 -2.03305594] [ 0.00296936 0.99997536 0.00636116 -0.33539122] [ 0.05100647 -0.00650436 0.99867714 -0.22584978] [ 0. 0. 0. 1. ]] SLAMing on 320.22313336499997 meters Centerline goodness : 0.262262 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.34, Z:-0.23 [[ 0.9986779 -0.00249727 -0.05134401 -2.03267113] [ 0.00286823 0.99997031 0.00715259 -0.34058972] [ 0.05132462 -0.0072904 0.99865541 -0.22534591] [ 0. 0. 0. 1. ]] SLAMing on 320.253133365 meters Centerline goodness : 0.258898 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.35, Z:-0.22 [[ 0.99865444 -0.00238575 -0.05180369 -2.03194769] [ 0.00279742 0.99996507 0.00787557 -0.34565426] [ 0.05178309 -0.00800989 0.99862623 -0.22481488] [ 0. 0. 0. 1. ]] SLAMing on 320.28313336499997 meters Centerline goodness : 0.263577 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.35, Z:-0.22 [[ 0.99864356 -0.00584458 -0.05173851 -2.03179017] [ 0.00613507 0.99996629 0.00545757 -0.35272996] [ 0.05170487 -0.00576758 0.99864575 -0.22497341] [ 0. 0. 0. 1. ]] SLAMing on 320.313133365 meters Centerline goodness : 0.199228 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.36, Z:-0.22 [[ 0.99865253 0.00326916 -0.0517923 -2.01442587] [-0.00306535 0.99998724 0.00401416 -0.36033624] [ 0.05180476 -0.00384999 0.99864981 -0.22259657] [ 0. 0. 0. 1. ]] SLAMing on 320.34313336499997 meters Centerline goodness : 0.237853 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.36, Z:-0.22 [[ 0.99864731 0.00348942 -0.05187855 -2.01428468] [-0.00325656 0.99998424 0.00457233 -0.36312452] [ 0.05189369 -0.0043972 0.99864293 -0.2225165 ] [ 0. 0. 0. 1. ]] SLAMing on 320.373133365 meters Centerline goodness : 0.103046 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.37, Z:-0.22 [[ 0.99865001 0.00373513 -0.05180927 -2.01462341] [-0.00347305 0.99998072 0.00514757 -0.36583918] [ 0.0518275 -0.00496068 0.99864373 -0.22229912] [ 0. 0. 0. 1. ]] SLAMing on 320.403133365 meters Centerline goodness : 0.105997 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.37, Z:-0.22 [[ 0.99865625 0.00400783 -0.05166856 -2.0153984 ] [-0.00371291 0.99997627 0.00580252 -0.36894034] [ 0.05169059 -0.00560288 0.99864743 -0.221711 ] [ 0. 0. 0. 1. ]] SLAMing on 320.433133365 meters Centerline goodness : 0.259055 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.37, Z:-0.22 [[ 0.99877445 -0.00343255 -0.04937414 -1.99685285] [ 0.00376519 0.99997083 0.00664571 -0.3733064 ] [ 0.04934989 -0.00682347 0.99875824 -0.22005654] [ 0. 0. 0. 1. ]] SLAMing on 320.463133365 meters Centerline goodness : 0.126707 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.38, Z:-0.22 [[ 0.99879617 0.00364251 -0.04891777 -1.97783172] [-0.00347857 0.99998805 0.00343603 -0.3797828 ] [ 0.0489297 -0.00326173 0.9987969 -0.21922009] [ 0. 0. 0. 1. ]] SLAMing on 320.493133365 meters Centerline goodness : 0.257251 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.38, Z:-0.22 [[ 0.99877698 0.00365459 -0.04930702 -1.97713918] [-0.00346639 0.99998638 0.00390186 -0.38302055] [ 0.04932061 -0.00372617 0.99877605 -0.21896455] [ 0. 0. 0. 1. ]] SLAMing on 320.523133365 meters Centerline goodness : 0.125848 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99876746 0.00375739 -0.04949179 -1.97698018] [-0.00354244 0.99998391 0.00443011 -0.38611841] [ 0.04950763 -0.00424933 0.99876471 -0.21863518] [ 0. 0. 0. 1. ]] SLAMing on 320.553133365 meters Centerline goodness : 0.223673 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99877035 0.00396005 -0.04941759 -1.97751669] [-0.0037187 0.99998071 0.00497491 -0.38875086] [ 0.04943634 -0.00478503 0.99876581 -0.2182311 ] [ 0. 0. 0. 1. ]] SLAMing on 320.583133365 meters Centerline goodness : 0.200153 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99877106 0.00421857 -0.0493819 -1.97795328] [-0.00393559 0.99997528 0.00582632 -0.39308182] [ 0.04940526 -0.00562481 0.99876298 -0.21783877] [ 0. 0. 0. 1. ]] SLAMing on 320.613133365 meters Centerline goodness : 0.127878 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.39, Z:-0.22 [[ 0.99874978 0.00413274 -0.04981763 -1.97662646] [-0.00384129 0.99997495 0.00594462 -0.39439139] [ 0.04984095 -0.00574582 0.99874064 -0.21829277] [ 0. 0. 0. 1. ]] SLAMing on 320.643133365 meters Centerline goodness : 0.127264 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99872054 0.00403977 -0.0504079 -1.97489248] [-0.00373945 0.9999747 0.00605063 -0.39561197] [ 0.05043107 -0.00585439 0.99871039 -0.21878425] [ 0. 0. 0. 1. ]] SLAMing on 320.673133365 meters Centerline goodness : 0.126913 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99869778 0.00397876 -0.05086176 -1.97344354] [-0.00367084 0.99997438 0.00614603 -0.39661553] [ 0.05088491 -0.00595132 0.99868679 -0.21937467] [ 0. 0. 0. 1. ]] SLAMing on 320.703133365 meters Centerline goodness : 0.185186 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.9986802 0.00393251 -0.05120935 -1.97237134] [-0.00361733 0.99997395 0.00624585 -0.39750723] [ 0.05123258 -0.00605236 0.99866841 -0.21973141] [ 0. 0. 0. 1. ]] SLAMing on 320.73313336499996 meters Centerline goodness : 0.127448 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99867206 0.00391661 -0.05136908 -1.97205354] [-0.00359064 0.99997284 0.00643638 -0.39888589] [ 0.0513929 -0.00624339 0.998659 -0.21972971] [ 0. 0. 0. 1. ]] SLAMing on 320.763133365 meters Centerline goodness : 0.190184 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99867453 0.00388775 -0.05132317 -1.97232758] [-0.00355852 0.99997251 0.00650459 -0.39951576] [ 0.05134705 -0.00631333 0.99866091 -0.21950984] [ 0. 0. 0. 1. ]] SLAMing on 320.79313336499996 meters Centerline goodness : 0.228445 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99867366 0.00386592 -0.05134173 -1.97242287] [-0.00353435 0.99997232 0.0065473 -0.39983855] [ 0.05136562 -0.00635716 0.99865968 -0.21939026] [ 0. 0. 0. 1. ]] SLAMing on 320.823133365 meters Centerline goodness : 0.126812 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99866667 0.00383987 -0.05147948 -1.97183186] [-0.00350763 0.99997245 0.00654253 -0.39985349] [ 0.05150319 -0.00635323 0.99865262 -0.21980403] [ 0. 0. 0. 1. ]] SLAMing on 320.85313336499996 meters Centerline goodness : 0.231742 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99864112 0.00357599 -0.05199164 -1.96979259] [-0.00326212 0.99997595 0.0061207 -0.3981511 ] [ 0.05201228 -0.00594278 0.99862876 -0.22096707] [ 0. 0. 0. 1. ]] SLAMing on 320.883133365 meters Centerline goodness : 0.206718 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.40, Z:-0.22 [[ 0.99864044 0.00343548 -0.05201411 -1.96956701] [-0.00313887 0.99997835 0.005783 -0.39659128] [ 0.05203285 -0.00561187 0.99862961 -0.22118207] [ 0. 0. 0. 1. ]] SLAMing on 320.91313336499996 meters Centerline goodness : 0.133152 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99864127 0.00329903 -0.05200707 -1.96949908] [-0.00302217 0.99998085 0.0054013 -0.39456041] [ 0.0520239 -0.00523679 0.99863211 -0.22129324] [ 0. 0. 0. 1. ]] SLAMing on 320.943133365 meters Centerline goodness : 0.104243 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99864488 0.00321135 -0.05194323 -1.96969085] [-0.00295195 0.99998279 0.00506991 -0.39261103] [ 0.05195862 -0.0049097 0.99863717 -0.22123289] [ 0. 0. 0. 1. ]] SLAMing on 320.97313336499997 meters Centerline goodness : 0.187733 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99865055 0.00305851 -0.05184333 -1.96974522] [-0.00282246 0.99998532 0.00462575 -0.39015149] [ 0.05185671 -0.00447318 0.99864452 -0.22144434] [ 0. 0. 0. 1. ]] SLAMing on 321.003133365 meters Centerline goodness : 0.134288 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.39, Z:-0.22 [[ 0.99865667 0.00289617 -0.05173456 -1.96994764] [-0.00268296 0.99998762 0.00419025 -0.38777294] [ 0.05174606 -0.00404582 0.99865208 -0.22151474] [ 0. 0. 0. 1. ]] SLAMing on 321.03313336499997 meters Centerline goodness : 0.131860 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99868662 0.00264672 -0.05116663 -1.97143396] [-0.00247184 0.99999089 0.00348082 -0.38376399] [ 0.05117538 -0.00334977 0.99868406 -0.22137535] [ 0. 0. 0. 1. ]] SLAMing on 321.063133365 meters Centerline goodness : 0.224515 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99870335 0.00252156 -0.05084538 -1.97235043] [-0.00236355 0.99999219 0.00316745 -0.3819303 ] [ 0.05085297 -0.00304317 0.99870151 -0.22120687] [ 0. 0. 0. 1. ]] SLAMing on 321.09313336499997 meters Centerline goodness : 0.218454 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99871677 0.00239456 -0.05058739 -1.97304063] [-0.00225414 0.99999345 0.00283266 -0.38005448] [ 0.05059385 -0.00271499 0.99871562 -0.22113772] [ 0. 0. 0. 1. ]] SLAMing on 321.123133365 meters Centerline goodness : 0.132254 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 0.99872094 0.00219299 -0.05051409 -1.9732045 ] [-0.0020738 0.99999494 0.00241194 -0.37802953] [ 0.05051912 -0.0023041 0.99872044 -0.22117056] [ 0. 0. 0. 1. ]] SLAMing on 321.153133365 meters Centerline goodness : 0.155686 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 9.98723751e-01 1.99947015e-03 -5.04665283e-02 -1.97297142e+00] [-1.90245490e-03 9.99996249e-01 1.97033075e-03 -3.75792310e-01] [ 5.04702787e-02 -1.87180582e-03 9.98723809e-01 -2.21679978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.183133365 meters Centerline goodness : 0.155686 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.38, Z:-0.22 [[ 9.98723751e-01 1.99947015e-03 -5.04665283e-02 -1.97297142e+00] [-1.90245490e-03 9.99996249e-01 1.97033075e-03 -3.75792310e-01] [ 5.04702787e-02 -1.87180582e-03 9.98723809e-01 -2.21679978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.213133365 meters Centerline goodness : 0.202200 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.37, Z:-0.22 [[ 0.99861945 -0.00351179 -0.05241047 -1.9547678 ] [ 0.00363067 0.99999105 0.00217323 -0.36672892] [ 0.05240237 -0.00236051 0.99862326 -0.21989039] [ 0. 0. 0. 1. ]] SLAMing on 321.243133365 meters Centerline goodness : 0.243290 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:-0.22 [[ 9.98644787e-01 5.49779973e-03 -5.17529078e-02 -1.93746307e+00] [-5.49143853e-03 9.99984887e-01 2.65109482e-04 -3.69095096e-01] [ 5.17535831e-02 1.94477092e-05 9.98659885e-01 -2.18467981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.273133365 meters Centerline goodness : 0.242233 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:-0.22 [[ 9.98638837e-01 5.31667739e-03 -5.18864763e-02 -1.93685599e+00] [-5.32805084e-03 9.99985803e-01 -8.08802775e-05 -3.67445919e-01] [ 5.18853096e-02 3.57223970e-04 9.98652986e-01 -2.18807372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.303133365 meters Centerline goodness : 0.242685 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.37, Z:-0.22 [[ 9.98631633e-01 5.14655295e-03 -5.20420448e-02 -1.93622750e+00] [-5.17622980e-03 9.99986508e-01 -4.35480644e-04 -3.65721171e-01] [ 5.20391014e-02 7.04266330e-04 9.98644800e-01 -2.19098158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.333133365 meters Centerline goodness : 0.243266 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.36, Z:-0.22 [[ 9.98641387e-01 5.01779001e-03 -5.18671587e-02 -1.93588099e+00] [-5.08608900e-03 9.99986364e-01 -1.18489982e-03 -3.60850486e-01] [ 5.18605059e-02 1.44709099e-03 9.98653290e-01 -2.19916903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.363133365 meters Centerline goodness : 0.195511 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.36, Z:-0.22 [[ 9.98662524e-01 5.05405649e-03 -5.14550316e-02 -1.93658696e+00] [-5.14059489e-03 9.99985586e-01 -1.54962154e-03 -3.58223752e-01] [ 5.14464580e-02 1.81205843e-03 9.98674110e-01 -2.20165065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.393133365 meters Centerline goodness : 0.092119 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.9986796 0.00503172 -0.05112479 -1.93693698] [-0.00514332 0.99998467 -0.00205166 -0.35484656] [ 0.05111368 0.0023119 0.99869017 -0.22061273] [ 0. 0. 0. 1. ]] SLAMing on 321.423133365 meters Centerline goodness : 0.140059 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.99869854 0.00510447 -0.05074623 -1.93729378] [-0.00523474 0.99998334 -0.00243439 -0.35184922] [ 0.05073296 0.00269687 0.99870861 -0.22124158] [ 0. 0. 0. 1. ]] SLAMing on 321.453133365 meters Centerline goodness : 0.137898 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.99870354 0.00512353 -0.05064574 -1.93683093] [-0.00527897 0.99998176 -0.0029358 -0.34830291] [ 0.05062977 0.00319935 0.99871237 -0.2220503 ] [ 0. 0. 0. 1. ]] SLAMing on 321.48313336499996 meters Centerline goodness : 0.135085 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.35, Z:-0.22 [[ 0.99869991 0.00511835 -0.05071783 -1.9360782 ] [-0.00529916 0.99998007 -0.00343114 -0.34509664] [ 0.05069926 0.00369544 0.99870713 -0.2227195 ] [ 0. 0. 0. 1. ]] SLAMing on 321.513133365 meters Centerline goodness : 0.134880 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.34, Z:-0.22 [[ 0.99869954 0.00638511 -0.05058114 -1.93636382] [-0.00655288 0.99997356 -0.00315173 -0.33745641] [ 0.05055968 0.00347908 0.99871498 -0.22274201] [ 0. 0. 0. 1. ]] SLAMing on 321.54313336499996 meters Centerline goodness : 0.124075 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.34, Z:-0.22 [[ 0.99870923 0.00632264 -0.05039749 -1.93649891] [-0.00650982 0.99997251 -0.00355086 -0.33503249] [ 0.05037366 0.00387435 0.99872293 -0.22307995] [ 0. 0. 0. 1. ]] SLAMing on 321.573133365 meters Centerline goodness : 0.130371 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.22 [[ 0.99872007 0.00631201 -0.05018337 -1.93655549] [-0.00651282 0.99997142 -0.00383904 -0.33309995] [ 0.0501577 0.00416096 0.99873264 -0.22361131] [ 0. 0. 0. 1. ]] SLAMing on 321.60313336499996 meters Centerline goodness : 0.257562 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.22 [[ 0.99872948 0.00648741 -0.04997343 -1.93627261] [-0.00670427 0.99996882 -0.00417322 -0.33003613] [ 0.0499448 0.00450295 0.99874183 -0.22460678] [ 0. 0. 0. 1. ]] SLAMing on 321.633133365 meters Centerline goodness : 0.126969 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.22 [[ 0.99873359 0.00647056 -0.04989342 -1.93614131] [-0.00669941 0.99996779 -0.00442099 -0.32842124] [ 0.04986321 0.00474965 0.99874476 -0.22498554] [ 0. 0. 0. 1. ]] SLAMing on 321.66313336499996 meters Centerline goodness : 0.127790 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.33, Z:-0.23 [[ 0.99873878 0.00643531 -0.04979388 -1.93608406] [-0.00667761 0.99996665 -0.0047011 -0.32669128] [ 0.04976197 0.00502767 0.99874845 -0.22531761] [ 0. 0. 0. 1. ]] SLAMing on 321.693133365 meters Centerline goodness : 0.130652 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99873994 0.00640839 -0.04977404 -1.93575258] [-0.00666425 0.99996541 -0.00497612 -0.32494325] [ 0.04974043 0.00530156 0.99874811 -0.22574868] [ 0. 0. 0. 1. ]] SLAMing on 321.72313336499997 meters Centerline goodness : 0.127486 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99874325 0.0063404 -0.04971634 -1.93530869] [-0.0066101 0.99996431 -0.00526226 -0.32333734] [ 0.0496812 0.00558428 0.99874952 -0.22650074] [ 0. 0. 0. 1. ]] SLAMing on 321.753133365 meters Centerline goodness : 0.259209 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99875236 0.00629853 -0.04953837 -1.93523095] [-0.00657989 0.99996312 -0.00551859 -0.32187116] [ 0.04950178 0.00583766 0.99875697 -0.22714403] [ 0. 0. 0. 1. ]] SLAMing on 321.78313336499997 meters Centerline goodness : 0.241548 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99878756 0.00662937 -0.04877971 -1.93666464] [-0.00691023 0.99996049 -0.00559136 -0.31969253] [ 0.04874072 0.00592166 0.99879391 -0.22756898] [ 0. 0. 0. 1. ]] SLAMing on 321.813133365 meters Centerline goodness : 0.187872 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99878108 0.00656789 -0.04892048 -1.93593313] [-0.00686535 0.99995894 -0.00591495 -0.31770623] [ 0.04887962 0.0062436 0.99878516 -0.22810887] [ 0. 0. 0. 1. ]] SLAMing on 321.84313336499997 meters Centerline goodness : 0.098763 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.32, Z:-0.23 [[ 0.99877553 0.0064763 -0.04904594 -1.93518418] [-0.0067903 0.99995749 -0.00623821 -0.31593225] [ 0.04900346 0.00656361 0.99877704 -0.22872028] [ 0. 0. 0. 1. ]] SLAMing on 321.873133365 meters Centerline goodness : 0.099479 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.31, Z:-0.23 [[ 0.99877347 0.00636297 -0.04910261 -1.93467534] [-0.00669196 0.99995623 -0.00653837 -0.31439737] [ 0.04905886 0.00685895 0.99877234 -0.22924375] [ 0. 0. 0. 1. ]] SLAMing on 321.903133365 meters Centerline goodness : 0.262022 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.31, Z:-0.23 [[ 0.99878058 0.00630124 -0.04896568 -1.93470851] [-0.00664052 0.99995504 -0.00676928 -0.31305341] [ 0.04892082 0.00708619 0.99877752 -0.22966697] [ 0. 0. 0. 1. ]] SLAMing on 321.933133365 meters Centerline goodness : 0.229851 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.31, Z:-0.23 [[ 9.98754783e-01 5.13180279e-04 -4.98860796e-02 -1.91706200e+00] [-8.19381797e-04 9.99980951e-01 -6.11775846e-03 -3.06825323e-01] [ 4.98819898e-02 6.15101626e-03 9.98736177e-01 -2.27252425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.963133365 meters Centerline goodness : 0.128484 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.30, Z:-0.23 [[ 9.98755280e-01 2.55102067e-04 -4.98780975e-02 -1.91655324e+00] [-5.96252891e-04 9.99976532e-01 -6.82493239e-03 -3.03174173e-01] [ 4.98751859e-02 6.84617723e-03 9.98731994e-01 -2.27964856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.993133365 meters Centerline goodness : 0.235444 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.30, Z:-0.23 [[ 9.98747545e-01 8.27433773e-05 -5.00333338e-02 -1.91573575e+00] [-4.45445995e-04 9.99973705e-01 -7.23811236e-03 -3.01111191e-01] [ 5.00314193e-02 7.25133410e-03 9.98721320e-01 -2.28585975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.023133365 meters Centerline goodness : 0.107692 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.30, Z:-0.23 [[ 9.98743246e-01 -8.70236725e-05 -5.01190591e-02 -1.91530748e+00] [-2.96585440e-04 9.99970721e-01 -7.64646897e-03 -2.99086200e-01] [ 5.01182571e-02 7.65172383e-03 9.98713979e-01 -2.28941082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.053133365 meters Centerline goodness : 0.241339 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99866277 -0.00592167 -0.05135759 -1.89771216] [ 0.00556598 0.99995954 -0.00706601 -0.29241542] [ 0.05139736 0.0067707 0.99865533 -0.22620847] [ 0. 0. 0. 1. ]] SLAMing on 322.083133365 meters Centerline goodness : 0.244639 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99868905 -0.00602122 -0.05083225 -1.89921438] [ 0.00565367 0.99995685 -0.00737145 -0.29024952] [ 0.05087444 0.0070744 0.99868 -0.22603329] [ 0. 0. 0. 1. ]] SLAMing on 322.113133365 meters Centerline goodness : 0.238258 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99869984 -0.0060921 -0.05061137 -1.89983342] [ 0.00571726 0.99995517 -0.00754765 -0.28920655] [ 0.05065508 0.00724848 0.9986899 -0.22596919] [ 0. 0. 0. 1. ]] SLAMing on 322.143133365 meters Centerline goodness : 0.108100 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.29, Z:-0.23 [[ 0.99869928 -0.00621832 -0.05060719 -1.89966594] [ 0.00583107 0.99995261 -0.00779614 -0.28806085] [ 0.05065327 0.0074909 0.99868821 -0.22627257] [ 0. 0. 0. 1. ]] SLAMing on 322.173133365 meters Centerline goodness : 0.107669 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.29, Z:-0.23 [[ 9.98746521e-01 1.54178466e-03 -5.00300935e-02 -1.87895674e+00] [-2.07096864e-03 9.99942443e-01 -1.05272000e-02 -2.88008212e-01] [ 5.00109832e-02 1.06176152e-02 9.98692229e-01 -2.26264232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.203133365 meters Centerline goodness : 0.125213 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.29, Z:-0.23 [[ 9.98728253e-01 1.33492967e-03 -5.03993510e-02 -1.87762876e+00] [-1.88428480e-03 9.99939317e-01 -1.08541041e-02 -2.86815908e-01] [ 5.03818032e-02 1.09352671e-02 9.98670163e-01 -2.26890885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23313336499996 meters Centerline goodness : 0.240852 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.29, Z:-0.23 [[ 9.98711666e-01 1.20921894e-03 -5.07301254e-02 -1.87648704e+00] [-1.77379559e-03 9.99936981e-01 -1.10854766e-02 -2.85697895e-01] [ 5.07135237e-02 1.11611797e-02 9.98650873e-01 -2.27426939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.263133365 meters Centerline goodness : 0.254348 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98712497e-01 1.15864489e-03 -5.07149449e-02 -1.87604479e+00] [-1.73756448e-03 9.99933821e-01 -1.13725679e-02 -2.83561195e-01] [ 5.06984119e-02 1.14460461e-02 9.98648416e-01 -2.28135441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29313336499996 meters Centerline goodness : 0.244937 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98721260e-01 1.10072825e-03 -5.05433763e-02 -1.87642267e+00] [-1.68832160e-03 9.99931474e-01 -1.15843044e-02 -2.82324029e-01] [ 5.05271616e-02 1.16548245e-02 9.98654681e-01 -2.28124716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.323133365 meters Centerline goodness : 0.235572 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98733613e-01 9.42280681e-04 -5.03019213e-02 -1.87716764e+00] [-1.55476315e-03 9.99925118e-01 -1.21383851e-02 -2.79218121e-01] [ 5.02867168e-02 1.22012208e-02 9.98660291e-01 -2.27817362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35313336499996 meters Centerline goodness : 0.106910 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.28, Z:-0.23 [[ 9.98738940e-01 8.58057958e-04 -5.01975492e-02 -1.87721143e+00] [-1.48631477e-03 9.99921021e-01 -1.24796979e-02 -2.77127573e-01] [ 5.01828764e-02 1.25385696e-02 9.98661336e-01 -2.28100913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.383133365 meters Centerline goodness : 0.128191 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98742966e-01 7.25309900e-04 -5.01194699e-02 -1.87693360e+00] [-1.37433001e-03 9.99915638e-01 -1.29162124e-02 -2.74607833e-01] [ 5.01058735e-02 1.29688570e-02 9.98659707e-01 -2.28709796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41313336499996 meters Centerline goodness : 0.239728 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98751981e-01 5.98395529e-04 -4.99411934e-02 -1.87698978e+00] [-1.26863319e-03 9.99909546e-01 -1.33899186e-02 -2.71901617e-01] [ 4.99286636e-02 1.34365648e-02 9.98662399e-01 -2.29193807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.443133365 meters Centerline goodness : 0.256245 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98755340e-01 4.01547642e-04 -4.98759362e-02 -1.87674673e+00] [-1.09754045e-03 9.99902400e-01 -1.39278776e-02 -2.69113290e-01] [ 4.98654757e-02 1.39652830e-02 9.98658303e-01 -2.29701221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47313336499997 meters Centerline goodness : 0.219324 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.27, Z:-0.23 [[ 9.98752788e-01 2.30107627e-04 -4.99281017e-02 -1.87615579e+00] [-9.52344128e-04 9.99895252e-01 -1.44422240e-02 -2.66393968e-01] [ 4.99195485e-02 1.44717603e-02 9.98648390e-01 -2.30358411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.503133365 meters Centerline goodness : 0.129431 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98768112e-01 7.79257477e-05 -4.96210829e-02 -1.87668100e+00] [-8.30157598e-04 9.99885053e-01 -1.51390922e-02 -2.61939333e-01] [ 4.96141993e-02 1.51616358e-02 9.98653371e-01 -2.30592959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53313336499997 meters Centerline goodness : 0.113471 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98773518e-01 -4.11173713e-05 -4.95121992e-02 -1.87696076e+00] [-7.24653956e-04 9.99880406e-01 -1.54482662e-02 -2.60180824e-01] [ 4.95069130e-02 1.54651984e-02 9.98654041e-01 -2.30554277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.563133365 meters Centerline goodness : 0.098321 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98777530e-01 -1.65768109e-04 -4.94309493e-02 -1.87700602e+00] [-6.12918349e-04 9.99875971e-01 -1.57374405e-02 -2.58642749e-01] [ 4.94274272e-02 1.57484991e-02 9.98653551e-01 -2.30773068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59313336499997 meters Centerline goodness : 0.102137 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98779978e-01 -3.01900519e-04 -4.93808157e-02 -1.87691454e+00] [-4.88369038e-04 9.99872021e-01 -1.59907261e-02 -2.57512646e-01] [ 4.93793236e-02 1.59953331e-02 9.98652007e-01 -2.31089057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.623133365 meters Centerline goodness : 0.245422 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98774831e-01 -4.25428384e-04 -4.94838984e-02 -1.87645769e+00] [-3.77765955e-04 9.99868360e-01 -1.62209433e-02 -2.56520279e-01] [ 4.94842852e-02 1.62197632e-02 9.98643192e-01 -2.31380935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.653133365 meters Centerline goodness : 0.238017 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.26, Z:-0.23 [[ 9.98773223e-01 -5.43907728e-04 -4.95151774e-02 -1.87620503e+00] [-2.72549559e-04 9.99864145e-01 -1.64807859e-02 -2.55246126e-01] [ 4.95174146e-02 1.64740630e-02 9.98637387e-01 -2.31674387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.683133365 meters Centerline goodness : 0.141131 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.25, Z:-0.23 [[ 9.98768546e-01 -7.77139477e-04 -4.96063259e-02 -1.87548260e+00] [-7.18899579e-05 9.99853589e-01 -1.71112677e-02 -2.51807514e-01] [ 4.96123609e-02 1.70937622e-02 9.98622259e-01 -2.32376477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.713133365 meters Centerline goodness : 0.235027 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98764255e-01 -9.24282273e-04 -4.96901309e-02 -1.87476903e+00] [ 5.56401465e-05 9.99847216e-01 -1.74797219e-02 -2.49764471e-01] [ 4.96986953e-02 1.74553566e-02 9.98611711e-01 -2.33109878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.743133365 meters Centerline goodness : 0.225884 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98762459e-01 -1.05096508e-03 -4.97236937e-02 -1.87423752e+00] [ 1.65718619e-04 9.99841481e-01 -1.78040866e-02 -2.47945561e-01] [ 4.97345230e-02 1.77738132e-02 9.98604310e-01 -2.33765182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.773133365 meters Centerline goodness : 0.145756 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98758888e-01 -1.12808838e-03 -4.97936806e-02 -1.87361036e+00] [ 2.31881925e-04 9.99837951e-01 -1.80005059e-02 -2.46826137e-01] [ 4.98059178e-02 1.79666190e-02 9.98597302e-01 -2.34453399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.803133365 meters Centerline goodness : 0.241741 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98750576e-01 -1.29088056e-03 -4.99561869e-02 -1.87294706e+00] [ 3.83235932e-04 9.99834763e-01 -1.81741283e-02 -2.46449803e-01] [ 4.99713929e-02 1.81322761e-02 9.98586041e-01 -2.34891484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.833133365 meters Centerline goodness : 0.243857 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98748589e-01 -1.32789888e-03 -4.99949268e-02 -1.87286391e+00] [ 4.19681246e-04 9.99834782e-01 -1.81723125e-02 -2.46652805e-01] [ 5.00107977e-02 1.81285895e-02 9.98584135e-01 -2.34929222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.863133365 meters Centerline goodness : 0.174911 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.23 [[ 9.98748666e-01 -1.36512358e-03 -4.99923939e-02 -1.87287402e+00] [ 4.57327878e-04 9.99834887e-01 -1.81656148e-02 -2.46882120e-01] [ 5.00089378e-02 1.81200206e-02 9.98584384e-01 -2.34938109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.893133365 meters Centerline goodness : 0.239727 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.24 [[ 9.98750887e-01 -1.39101051e-03 -4.99472751e-02 -1.87298064e+00] [ 4.84260420e-04 9.99834946e-01 -1.81616594e-02 -2.47049665e-01] [ 4.99642941e-02 1.81147860e-02 9.98586713e-01 -2.35002188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.923133365 meters Centerline goodness : 0.097522 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.24 [[ 9.98747642e-01 -1.41392271e-03 -5.00114781e-02 -1.87256888e+00] [ 5.03013046e-04 9.99833841e-01 -1.82219105e-02 -2.46690931e-01] [ 5.00289326e-02 1.81739337e-02 9.98582402e-01 -2.35359892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.953133365 meters Centerline goodness : 0.101115 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.25, Z:-0.24 [[ 9.98750605e-01 -1.44050238e-03 -4.99515198e-02 -1.87238132e+00] [ 5.21937907e-04 9.99830619e-01 -1.83972899e-02 -2.45481251e-01] [ 4.99695603e-02 1.83482328e-02 9.98582188e-01 -2.35805801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98313336499996 meters Centerline goodness : 0.175536 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99872928 0.00226798 -0.05034558 -1.87122966] [-0.00304209 0.99987825 -0.01530453 -0.24231181] [ 0.05030474 0.01543824 0.99861459 -0.23609548] [ 0. 0. 0. 1. ]] SLAMing on 323.013133365 meters Centerline goodness : 0.249271 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99873725 0.00222222 -0.05018926 -1.87123091] [-0.00301822 0.99987078 -0.01578964 -0.2392436 ] [ 0.05014769 0.01592118 0.9986149 -0.23656485] [ 0. 0. 0. 1. ]] SLAMing on 323.04313336499996 meters Centerline goodness : 0.212924 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99874486 0.00217257 -0.05003982 -1.87111782] [-0.00299262 0.99986236 -0.01631878 -0.23570476] [ 0.04999748 0.01644805 0.9986139 -0.23722152] [ 0. 0. 0. 1. ]] SLAMing on 323.073133365 meters Centerline goodness : 0.212924 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.24, Z:-0.24 [[ 0.99874486 0.00217257 -0.05003982 -1.87111782] [-0.00299262 0.99986236 -0.01631878 -0.23570476] [ 0.04999748 0.01644805 0.9986139 -0.23722152] [ 0. 0. 0. 1. ]] SLAMing on 323.10313336499996 meters Centerline goodness : 0.145294 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.23, Z:-0.24 [[ 0.99872237 0.00577513 -0.05020228 -1.87041132] [-0.00647139 0.99988497 -0.01371765 -0.22873855] [ 0.05011728 0.014025 0.99864486 -0.23750582] [ 0. 0. 0. 1. ]] SLAMing on 323.133133365 meters Centerline goodness : 0.241504 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.22, Z:-0.24 [[ 0.99873725 0.0056072 -0.04992467 -1.8707404 ] [-0.00633435 0.99987598 -0.01441879 -0.22431526] [ 0.04983763 0.01471682 0.9986489 -0.237924 ] [ 0. 0. 0. 1. ]] SLAMing on 323.16313336499996 meters Centerline goodness : 0.147833 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.22, Z:-0.24 [[ 0.99875135 0.00534236 -0.04967087 -1.87102269] [-0.00610648 0.99986515 -0.01524451 -0.21961049] [ 0.04958273 0.01552879 0.99864929 -0.23834948] [ 0. 0. 0. 1. ]] SLAMing on 323.193133365 meters Centerline goodness : 0.122537 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.21, Z:-0.24 [[ 0.99875684 0.00498853 -0.04959734 -1.87097323] [-0.00579729 0.99985236 -0.01617588 -0.21463624] [ 0.04950932 0.0164433 0.9986383 -0.23863259] [ 0. 0. 0. 1. ]] SLAMing on 323.22313336499997 meters Centerline goodness : 0.251427 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.21, Z:-0.24 [[ 0.99876238 0.00455535 -0.04952739 -1.87089411] [-0.00541193 0.99983785 -0.01717485 -0.20959389] [ 0.04944112 0.01742163 0.99862509 -0.2389359 ] [ 0. 0. 0. 1. ]] SLAMing on 323.253133365 meters Centerline goodness : 0.102180 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.20, Z:-0.24 [[ 0.9987648 0.00412156 -0.04951657 -1.87067682] [-0.00502462 0.99982307 -0.01812696 -0.20475058] [ 0.0494331 0.01835337 0.99860879 -0.23921724] [ 0. 0. 0. 1. ]] SLAMing on 323.28313336499997 meters Centerline goodness : 0.247270 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.19, Z:-0.24 [[ 0.99890767 -0.00347149 -0.04659842 -1.89193198] [ 0.00265828 0.99984329 -0.01750203 -0.18978553] [ 0.04665188 0.01735904 0.99876036 -0.24107321] [ 0. 0. 0. 1. ]] SLAMing on 323.313133365 meters Centerline goodness : 0.093180 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.19, Z:-0.24 [[ 0.99892641 -0.00371198 -0.04617622 -1.89315165] [ 0.00287849 0.99983198 -0.01810344 -0.18634011] [ 0.04623566 0.01795109 0.99876925 -0.24078762] [ 0. 0. 0. 1. ]] SLAMing on 323.34313336499997 meters Centerline goodness : 0.101856 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.18, Z:-0.24 [[ 0.99894011 -0.0039413 -0.04585984 -1.89412744] [ 0.00308774 0.99982096 -0.01866841 -0.18323054] [ 0.04592521 0.01850702 0.99877343 -0.24050271] [ 0. 0. 0. 1. ]] SLAMing on 323.373133365 meters Centerline goodness : 0.175463 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.18, Z:-0.24 [[ 0.99894368 -0.00424268 -0.04575511 -1.89423644] [ 0.00336411 0.99980882 -0.01926148 -0.18036502] [ 0.04582808 0.01908721 0.99876697 -0.24071645] [ 0. 0. 0. 1. ]] SLAMing on 323.403133365 meters Centerline goodness : 0.139106 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.18, Z:-0.24 [[ 0.99891504 -0.00504159 -0.04629613 -1.89212724] [ 0.00409533 0.99978123 -0.0205116 -0.17530434] [ 0.04638941 0.02029975 0.99871715 -0.24189734] [ 0. 0. 0. 1. ]] SLAMing on 323.433133365 meters Centerline goodness : 0.156554 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.17, Z:-0.24 [[ 0.99890727 -0.00528057 -0.04643679 -1.89146055] [ 0.00431052 0.99977091 -0.02096523 -0.17308042] [ 0.04653686 0.02074215 0.9987012 -0.24238022] [ 0. 0. 0. 1. ]] SLAMing on 323.463133365 meters Centerline goodness : 0.151390 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.17, Z:-0.24 [[ 0.99891001 -0.0054268 -0.0463609 -1.89154227] [ 0.00444167 0.99976271 -0.02132581 -0.17111286] [ 0.04646563 0.02109665 0.99869709 -0.24253196] [ 0. 0. 0. 1. ]] SLAMing on 323.493133365 meters Centerline goodness : 0.114612 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.16, Z:-0.24 [[ 0.99883871 -0.01188217 -0.04669093 -1.87344818] [ 0.01092865 0.99972756 -0.02062438 -0.16334968] [ 0.04692327 0.02009016 0.99869645 -0.23999678] [ 0. 0. 0. 1. ]] SLAMing on 323.523133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 323.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 323.583133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 323.613133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 323.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 323.673133365 meters Centerline goodness : 0.106159 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.13, Z:-0.24 [[ 9.98791596e-01 -2.35586822e-03 -4.90896889e-02 -1.86758853e+00] [ 1.30396927e-03 9.99769091e-01 -2.14491211e-02 -1.28349014e-01] [ 4.91288849e-02 2.13591905e-02 9.98564038e-01 -2.41622425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.703133365 meters Centerline goodness : 0.202480 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.12, Z:-0.24 [[ 9.98765531e-01 1.18267430e-03 -4.96589905e-02 -1.86617120e+00] [-2.10536334e-03 9.99826045e-01 -1.85323093e-02 -1.24829127e-01] [ 4.96284344e-02 1.86139820e-02 9.98594281e-01 -2.41728328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73313336499996 meters Centerline goodness : 0.168213 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.12, Z:-0.24 [[ 0.9987337 0.00478628 -0.05008084 -1.86503137] [-0.0055736 0.99986288 -0.01559327 -0.12104742] [ 0.04999934 0.01585265 0.99862343 -0.24190146] [ 0. 0. 0. 1. ]] SLAMing on 323.763133365 meters Centerline goodness : 0.154413 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.12, Z:-0.24 [[ 0.99873755 0.00472192 -0.05001016 -1.8647559 ] [-0.0055443 0.99985147 -0.01631841 -0.11504146] [ 0.04992567 0.01657508 0.99861539 -0.2424907 ] [ 0. 0. 0. 1. ]] SLAMing on 323.79313336499996 meters Centerline goodness : 0.148121 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.11, Z:-0.24 [[ 0.9987378 0.00455046 -0.05002101 -1.86438796] [-0.00541532 0.99983795 -0.01716817 -0.10908474] [ 0.04993478 0.01741738 0.9986006 -0.24294521] [ 0. 0. 0. 1. ]] SLAMing on 323.823133365 meters Centerline goodness : 0.152729 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.10, Z:-0.24 [[ 0.99873093 0.00705097 -0.04986786 -1.8637071 ] [-0.00788556 0.99983179 -0.01655904 -0.09783144] [ 0.04974272 0.01693126 0.99861854 -0.24324543] [ 0. 0. 0. 1. ]] SLAMing on 323.85313336499996 meters Centerline goodness : 0.158546 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:-0.24 [[ 0.99873642 0.00681912 -0.04979009 -1.86375502] [-0.00769415 0.99981893 -0.01740396 -0.09403661] [ 0.0496624 0.01776506 0.99860806 -0.24326444] [ 0. 0. 0. 1. ]] SLAMing on 323.883133365 meters Centerline goodness : 0.142344 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.09, Z:-0.24 [[ 0.99875456 0.0065488 -0.04946153 -1.86437342] [-0.00744989 0.99980923 -0.01805549 -0.09085614] [ 0.04933385 0.01840149 0.99861282 -0.24349895] [ 0. 0. 0. 1. ]] SLAMing on 323.91313336499996 meters Centerline goodness : 0.108734 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:-0.25 [[ 9.98793861e-01 -2.01078306e-03 -4.90589384e-02 -1.88308578e+00] [ 1.18385640e-03 9.99856838e-01 -1.68790177e-02 -8.26186464e-02] [ 4.90858550e-02 1.68005805e-02 9.98653253e-01 -2.46275716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.943133365 meters Centerline goodness : 0.146637 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:-0.25 [[ 9.98794816e-01 -2.28496250e-03 -4.90274800e-02 -1.88304722e+00] [ 1.42820408e-03 9.99845791e-01 -1.75029862e-02 -7.92921225e-02] [ 4.90599132e-02 1.74118706e-02 9.98644057e-01 -2.46477144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97313336499997 meters Centerline goodness : 0.123413 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.08, Z:-0.25 [[ 0.9988132 -0.00288004 -0.0486199 -1.88380114] [ 0.00198234 0.99982686 -0.01850179 -0.07529322] [ 0.04866477 0.01838345 0.99864598 -0.2469553 ] [ 0. 0. 0. 1. ]] SLAMing on 324.003133365 meters Centerline goodness : 0.158982 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.25 [[ 0.99881079 -0.00310333 -0.04865561 -1.88361671] [ 0.00218603 0.99981909 -0.01889474 -0.07385536] [ 0.04870544 0.01876591 0.99863688 -0.24723424] [ 0. 0. 0. 1. ]] SLAMing on 324.03313336499997 meters Centerline goodness : 0.164869 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.07, Z:-0.25 [[ 0.99881441 -0.00329603 -0.0485687 -1.88365351] [ 0.00236892 0.99981413 -0.01913375 -0.07293838] [ 0.04862274 0.01899601 0.99863656 -0.24765321] [ 0. 0. 0. 1. ]] SLAMing on 324.063133365 meters Centerline goodness : 0.115687 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.08, Z:-0.25 [[ 0.99878584 0.00438733 -0.04906729 -1.86712435] [-0.00535463 0.99979357 -0.01959976 -0.07556947] [ 0.04897117 0.0198387 0.99860315 -0.24757627] [ 0. 0. 0. 1. ]] SLAMing on 324.09313336499997 meters Centerline goodness : 0.189585 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:-0.25 [[ 0.99878424 0.00419405 -0.04911665 -1.86687515] [-0.00518214 0.99978641 -0.02000714 -0.07362928] [ 0.04902225 0.02023735 0.99859264 -0.24775576] [ 0. 0. 0. 1. ]] SLAMing on 324.123133365 meters Centerline goodness : 0.159062 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:-0.25 [[ 0.99878547 0.00404385 -0.04910431 -1.86680608] [-0.00505448 0.9997776 -0.02047467 -0.07086878] [ 0.0490106 0.020698 0.99858377 -0.24783423] [ 0. 0. 0. 1. ]] SLAMing on 324.153133365 meters Centerline goodness : 0.163346 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.07, Z:-0.25 [[ 0.99878695 0.00384456 -0.04909022 -1.86678032] [-0.0048845 0.99976582 -0.02108181 -0.06753696] [ 0.04899768 0.02129601 0.99857183 -0.24790332] [ 0. 0. 0. 1. ]] SLAMing on 324.183133365 meters Centerline goodness : 0.151668 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.06, Z:-0.25 [[ 0.99878555 0.00364222 -0.04913413 -1.86645361] [-0.00471898 0.99975085 -0.0218165 -0.06332956] [ 0.04904242 0.02202186 0.99855389 -0.24819704] [ 0. 0. 0. 1. ]] SLAMing on 324.213133365 meters Centerline goodness : 0.119640 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.05, Z:-0.25 [[ 0.99875995 0.00621977 -0.04939508 -1.86509521] [-0.00725555 0.99975696 -0.0208176 -0.05417596] [ 0.04925359 0.02115017 0.99856234 -0.24826516] [ 0. 0. 0. 1. ]] SLAMing on 324.243133365 meters Centerline goodness : 0.136482 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.05, Z:-0.25 [[ 0.998746 0.00609288 -0.04969201 -1.86423251] [-0.0071718 0.99974177 -0.02156268 -0.05061996] [ 0.0495478 0.02189202 0.9985318 -0.24826845] [ 0. 0. 0. 1. ]] SLAMing on 324.273133365 meters Centerline goodness : 0.189749 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.05, Z:-0.25 [[ 0.99874501 0.00595497 -0.04972871 -1.86409905] [-0.00706357 0.99972977 -0.02214703 -0.04780463] [ 0.04958339 0.0224705 0.99851718 -0.24825581] [ 0. 0. 0. 1. ]] SLAMing on 324.303133365 meters Centerline goodness : 0.120543 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.04, Z:-0.25 [[ 0.99874887 0.00568053 -0.04968327 -1.86432947] [-0.00682318 0.99971541 -0.02285928 -0.04462027] [ 0.04953928 0.02316968 0.99850339 -0.24800141] [ 0. 0. 0. 1. ]] SLAMing on 324.333133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.363133365 meters Centerline goodness : 0.152714 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:-0.25 [[ 0.9987768 0.00477924 -0.04921437 -1.86624062] [-0.00599204 0.99968125 -0.02452522 -0.03706754] [ 0.04908147 0.02479012 0.99848709 -0.24699322] [ 0. 0. 0. 1. ]] SLAMing on 324.393133365 meters Centerline goodness : 0.129214 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.04, Z:-0.25 [[ 0.99878491 0.00459791 -0.04906694 -1.86641339] [-0.00582317 0.99967404 -0.02485761 -0.03534999] [ 0.04893665 0.02511313 0.99848612 -0.24732641] [ 0. 0. 0. 1. ]] SLAMing on 324.423133365 meters Centerline goodness : 0.198684 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.03, Z:-0.25 [[ 0.99874402 -0.0041075 -0.049935 -1.8853681 ] [ 0.00292049 0.99971198 -0.0238208 -0.02956192] [ 0.05001847 0.02364505 0.99846836 -0.24946429] [ 0. 0. 0. 1. ]] SLAMing on 324.453133365 meters Centerline goodness : 0.136375 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.02, Z:-0.25 [[ 0.99859448 -0.01084328 -0.05187953 -1.86657818] [ 0.00962011 0.99967119 -0.02376888 -0.01875035] [ 0.05212021 0.02323639 0.99837045 -0.24677172] [ 0. 0. 0. 1. ]] SLAMing on 324.48313336499996 meters Centerline goodness : 0.147798 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.02, Z:-0.25 [[ 0.99859432 -0.01098084 -0.05185374 -1.86702848] [ 0.00973872 0.99966099 -0.02414666 -0.01666891] [ 0.05210131 0.02360773 0.99836272 -0.24622049] [ 0. 0. 0. 1. ]] SLAMing on 324.513133365 meters Centerline goodness : 0.165543 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.01, Z:-0.25 [[ 0.99859949 -0.01109725 -0.05172917 -1.86773664] [ 0.00984053 0.99965174 -0.02448589 -0.0146507 ] [ 0.05198288 0.02394255 0.99836092 -0.24562229] [ 0. 0. 0. 1. ]] SLAMing on 324.54313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.573133365 meters Centerline goodness : 0.161413 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.01, Z:-0.25 [[ 0.99861414 -0.01140549 -0.0513781 -1.86894186] [ 0.01011411 0.9996281 -0.02532523 -0.0101812 ] [ 0.05164784 0.02477049 0.99835811 -0.24505869] [ 0. 0. 0. 1. ]] SLAMing on 324.60313336499996 meters Centerline goodness : 0.147648 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.01, Z:-0.25 [[ 0.99862517 -0.00852093 -0.05172194 -1.86815573] [ 0.00735402 0.99971505 -0.02270981 -0.00839336] [ 0.05190071 0.02229822 0.99840328 -0.2450981 ] [ 0. 0. 0. 1. ]] SLAMing on 324.633133365 meters Centerline goodness : 0.122756 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.00, Z:-0.25 [[ 0.99858284 -0.00613602 -0.05286463 -1.86385444] [ 0.00503454 0.99976798 -0.02094391 -0.0034244 ] [ 0.05298087 0.02064808 0.99838203 -0.24686469] [ 0. 0. 0. 1. ]] SLAMing on 324.66313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.72313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.753133365 meters Centerline goodness : 0.162258 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 9.98545225e-01 -7.12269186e-03 -5.34481092e-02 -1.86273252e+00] [ 5.93719194e-03 9.99733550e-01 -2.23064832e-02 1.37854261e-03] [ 5.35927502e-02 2.19567006e-02 9.98321451e-01 -2.46542610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78313336499997 meters Centerline goodness : 0.129297 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 9.98542899e-01 -7.11895365e-03 -5.34920528e-02 -1.86273216e+00] [ 5.93322946e-03 9.99733884e-01 -2.22925646e-02 1.53218468e-03] [ 5.36365175e-02 2.19427014e-02 9.98319409e-01 -2.46422496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.813133365 meters Centerline goodness : 0.128124 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 0.99854254 -0.00715782 -0.05349362 -1.86285002] [ 0.00596843 0.99973215 -0.02236084 0.00192143] [ 0.05363935 0.02200897 0.9983178 -0.24623877] [ 0. 0. 0. 1. ]] SLAMing on 324.84313336499997 meters Centerline goodness : 0.137942 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.00, Z:-0.25 [[ 0.99854272 -0.00721519 -0.05348252 -1.86282846] [ 0.00601922 0.99972896 -0.02248926 0.00259136] [ 0.05363029 0.02213456 0.99831551 -0.24633574] [ 0. 0. 0. 1. ]] SLAMing on 324.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.903133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.933133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 324.963133365 meters Centerline goodness : 0.155416 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 0.99855022 -0.00343236 -0.05371857 -1.86233998] [ 0.00237854 0.99980372 -0.01966909 0.00812982] [ 0.05377554 0.0195128 0.99836238 -0.2463254 ] [ 0. 0. 0. 1. ]] SLAMing on 324.993133365 meters Centerline goodness : 0.155416 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 0.99855022 -0.00343236 -0.05371857 -1.86233998] [ 0.00237854 0.99980372 -0.01966909 0.00812982] [ 0.05377554 0.0195128 0.99836238 -0.2463254 ] [ 0. 0. 0. 1. ]] SLAMing on 325.023133365 meters Centerline goodness : 0.158263 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 9.98539333e-01 4.28519689e-04 -5.40279187e-02 -1.86163778e+00] [-1.30648415e-03 9.99867660e-01 -1.62159279e-02 9.44338492e-03] [ 5.40138198e-02 1.62628284e-02 9.98407746e-01 -2.46341297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.053133365 meters Centerline goodness : 0.063333 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.01, Z:-0.25 [[ 9.98536406e-01 4.39563853e-04 -5.40819050e-02 -1.86130708e+00] [-1.34387997e-03 9.99859876e-01 -1.66860027e-02 1.26050477e-02] [ 5.40669922e-02 1.67342608e-02 9.98397078e-01 -2.46687016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.083133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 325.113133365 meters Centerline goodness : 0.127788 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.02, Z:-0.25 [[ 0.99853991 0.00388143 -0.05387936 -1.86136575] [-0.00467729 0.9998817 -0.014653 0.02196514] [ 0.05381611 0.01488362 0.99843994 -0.24721987] [ 0. 0. 0. 1. ]] SLAMing on 325.143133365 meters Centerline goodness : 0.063008 Centerline is valid? [False, False] Translation: X:-1.86, Y:0.03, Z:-0.25 [[ 0.99856032 0.00379861 -0.05350562 -1.86227938] [-0.00461619 0.99987435 -0.01516501 0.02517735] [ 0.05344129 0.01539017 0.99845239 -0.24720224] [ 0. 0. 0. 1. ]] SLAMing on 325.173133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 325.203133365 meters Centerline goodness : 0.128882 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:-0.25 [[ 0.99860724 0.00591265 -0.0524272 -1.86645134] [-0.00664825 0.99988174 -0.01386758 0.03199407] [ 0.05233901 0.01419682 0.99852846 -0.24548422] [ 0. 0. 0. 1. ]] SLAMing on 325.23313336499996 meters Centerline goodness : 0.128711 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.03, Z:-0.25 [[ 0.99862112 0.00573372 -0.05218221 -1.86718731] [-0.00649216 0.99987558 -0.01437653 0.03468429] [ 0.05209329 0.01469548 0.99853409 -0.24529299] [ 0. 0. 0. 1. ]] SLAMing on 325.263133365 meters Centerline goodness : 0.116914 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-0.25 [[ 0.99862748 0.00551699 -0.05208378 -1.86754115] [-0.00630035 0.99986931 -0.01488824 0.03713438] [ 0.05199484 0.01519595 0.99853173 -0.24514254] [ 0. 0. 0. 1. ]] SLAMing on 325.29313336499996 meters Centerline goodness : 0.127339 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-0.25 [[ 0.99862645 0.00519808 -0.05213638 -1.86725631] [-0.00601845 0.99986035 -0.0155904 0.04062053] [ 0.05204806 0.01588276 0.99851827 -0.24539207] [ 0. 0. 0. 1. ]] SLAMing on 325.323133365 meters Centerline goodness : 0.129990 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-0.25 [[ 0.99862141 0.00507178 -0.05224525 -1.86684846] [-0.00590826 0.99985663 -0.01586882 0.04202576] [ 0.05215727 0.01615562 0.99850819 -0.24561495] [ 0. 0. 0. 1. ]] SLAMing on 325.35313336499996 meters Centerline goodness : 0.129276 Centerline is valid? [False, False] Translation: X:-1.85, Y:0.05, Z:-0.24 [[ 9.98593175e-01 -2.10986062e-03 -5.29831898e-02 -1.84783499e+00] [ 1.30982706e-03 9.99884678e-01 -1.51299487e-02 4.94989948e-02] [ 5.30090018e-02 1.50392647e-02 9.98480779e-01 -2.43242290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.383133365 meters Centerline goodness : 0.132914 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.05, Z:-0.24 [[ 0.99846056 -0.0028253 -0.0553943 -1.89240635] [ 0.001967 0.99987727 -0.01554273 0.05180635] [ 0.05543142 0.01540984 0.99834358 -0.24487691] [ 0. 0. 0. 1. ]] SLAMing on 325.41313336499996 meters Centerline goodness : 0.131727 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.05, Z:-0.24 [[ 0.99845613 -0.00299471 -0.05546514 -1.89229007] [ 0.00211118 0.99987006 -0.01598127 0.05402545] [ 0.05550579 0.0158395 0.99833272 -0.24485376] [ 0. 0. 0. 1. ]] SLAMing on 325.443133365 meters Centerline goodness : 0.130987 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99846503 -0.00313355 -0.05529697 -1.8927096 ] [ 0.00223165 0.9998636 -0.01636438 0.05618447] [ 0.05534071 0.01621586 0.99833584 -0.2448789 ] [ 0. 0. 0. 1. ]] SLAMing on 325.47313336499997 meters Centerline goodness : 0.135047 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99847417 -0.003277 -0.05512351 -1.89317548] [ 0.00235553 0.99985655 -0.0167731 0.05842943] [ 0.05517057 0.01661766 0.99833865 -0.24481074] [ 0. 0. 0. 1. ]] SLAMing on 325.503133365 meters Centerline goodness : 0.181151 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99848883 -0.00340708 -0.05484936 -1.89399768] [ 0.00247007 0.99985001 -0.017142 0.0604484 ] [ 0.05489954 0.01698061 0.99834748 -0.24459183] [ 0. 0. 0. 1. ]] SLAMing on 325.53313336499997 meters Centerline goodness : 0.127653 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.06, Z:-0.24 [[ 0.99849754 -0.00354812 -0.0546815 -1.89458715] [ 0.0025948 0.99984358 -0.01749505 0.06226067] [ 0.05473502 0.01732687 0.99835057 -0.24432258] [ 0. 0. 0. 1. ]] SLAMing on 325.563133365 meters Centerline goodness : 0.150650 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.07, Z:-0.24 [[ 0.99841262 -0.00873182 -0.05564175 -1.87216457] [ 0.00789957 0.99985388 -0.01515967 0.07081504] [ 0.05576599 0.01469606 0.9983357 -0.24338338] [ 0. 0. 0. 1. ]] SLAMing on 325.59313336499997 meters Centerline goodness : 0.132106 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.07, Z:-0.24 [[ 0.99840004 -0.00889474 -0.05584126 -1.87144293] [ 0.0080361 0.9998463 -0.01558225 0.07318122] [ 0.05597127 0.01510857 0.99831806 -0.24376762] [ 0. 0. 0. 1. ]] SLAMing on 325.623133365 meters Centerline goodness : 0.117446 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.07, Z:-0.25 [[ 9.98383880e-01 -7.42513564e-04 -5.68249674e-02 -1.89115663e+00] [-1.98276120e-04 9.99863045e-01 -1.65484926e-02 7.13445157e-02] [ 5.68294724e-02 1.65330153e-02 9.98246999e-01 -2.45776056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.653133365 meters Centerline goodness : 0.118873 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.07, Z:-0.25 [[ 9.98373283e-01 -9.21931372e-04 -5.70082328e-02 -1.89057281e+00] [-4.62977797e-05 9.99855822e-01 -1.69803705e-02 7.35017836e-02] [ 5.70156682e-02 1.69553876e-02 9.98229297e-01 -2.46015186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.683133365 meters Centerline goodness : 0.122419 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98370902e-01 -1.10378836e-03 -5.70466834e-02 -1.89042670e+00] [ 1.10903910e-04 9.99848515e-01 -1.74050068e-02 7.55645817e-02] [ 5.70572532e-02 1.73703256e-02 9.98219786e-01 -2.46105714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.713133365 meters Centerline goodness : 0.126095 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98371266e-01 -1.27347208e-03 -5.70367755e-02 -1.89060622e+00] [ 2.58903789e-04 9.99841679e-01 -1.77918255e-02 7.74016997e-02] [ 5.70504028e-02 1.77480803e-02 9.98213533e-01 -2.45911728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.743133365 meters Centerline goodness : 0.119729 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98391785e-01 -1.59168952e-03 -5.66684284e-02 -1.89175452e+00] [ 5.39994623e-04 9.99827431e-01 -1.85692224e-02 8.13978092e-02] [ 5.66882056e-02 1.85087585e-02 9.98220353e-01 -2.45524775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.773133365 meters Centerline goodness : 0.123080 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-0.25 [[ 9.98399477e-01 -1.70865880e-03 -5.65293341e-02 -1.89201623e+00] [ 6.39441944e-04 9.99820663e-01 -1.89270561e-02 8.35026070e-02] [ 5.65515361e-02 1.88606157e-02 9.98221519e-01 -2.45649507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.803133365 meters Centerline goodness : 0.128227 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98394589e-01 -1.86856721e-03 -5.66105408e-02 -1.89161420e+00] [ 7.73234520e-04 9.99812195e-01 -1.93642935e-02 8.58969549e-02] [ 5.66360925e-02 1.92894326e-02 9.98208531e-01 -2.45960387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.833133365 meters Centerline goodness : 0.125111 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98385592e-01 -2.04365492e-03 -5.67629611e-02 -1.89095317e+00] [ 9.20350554e-04 9.99803369e-01 -1.98084864e-02 8.82422978e-02] [ 5.67922814e-02 1.97242655e-02 9.98191159e-01 -2.46365539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.863133365 meters Centerline goodness : 0.126689 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98371631e-01 -2.23490648e-03 -5.70008113e-02 -1.89021625e+00] [ 1.07841510e-03 9.99793114e-01 -2.03117295e-02 9.08684812e-02] [ 5.70344134e-02 2.02171840e-02 9.98167492e-01 -2.46641137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.893133365 meters Centerline goodness : 0.128708 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.09, Z:-0.25 [[ 9.98361344e-01 -2.46755224e-03 -5.71711220e-02 -1.88970386e+00] [ 1.27143499e-03 9.99779745e-01 -2.09486391e-02 9.42855542e-02] [ 5.72102217e-02 2.08416221e-02 9.98144587e-01 -2.46817483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.923133365 meters Centerline goodness : 0.129695 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.25 [[ 9.98369975e-01 1.08586294e-03 -5.70632426e-02 -1.89019102e+00] [-2.13273323e-03 9.99830484e-01 -1.82880942e-02 1.00179545e-01] [ 5.70337111e-02 1.83799848e-02 9.98203051e-01 -2.46507058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.953133365 meters Centerline goodness : 0.132512 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.10, Z:-0.25 [[ 9.98380728e-01 8.27546414e-04 -5.68791410e-02 -1.89075638e+00] [-1.91441240e-03 9.99816575e-01 -1.90565083e-02 1.04584335e-01] [ 5.68529378e-02 1.91345407e-02 9.98199185e-01 -2.46356242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98313336499996 meters Centerline goodness : 0.125378 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.25 [[ 9.98378624e-01 5.77221705e-04 -5.69191559e-02 -1.89057580e+00] [-1.70811311e-03 9.99802071e-01 -1.98217304e-02 1.08940217e-01] [ 5.68964485e-02 1.98868163e-02 9.98182002e-01 -2.46514366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.013133365 meters Centerline goodness : 0.121675 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.11, Z:-0.25 [[ 9.98366799e-01 2.83229351e-04 -5.71284060e-02 -1.88976060e+00] [-1.46077644e-03 9.99787315e-01 -2.05715802e-02 1.12880948e-01] [ 5.71104292e-02 2.06214345e-02 9.98154875e-01 -2.46993596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04313336499996 meters Centerline goodness : 0.115012 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.12, Z:-0.25 [[ 9.98354488e-01 -5.12836120e-05 -5.73438146e-02 -1.88905544e+00] [-1.17368276e-03 9.99771845e-01 -2.13279039e-02 1.16584813e-01] [ 5.73318251e-02 2.13601120e-02 9.98126649e-01 -2.47275903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.073133365 meters Centerline goodness : 0.119374 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.12, Z:-0.25 [[ 9.98351871e-01 -3.41304868e-04 -5.73883704e-02 -1.88891398e+00] [-9.19084695e-04 9.99758985e-01 -2.19346276e-02 1.19412089e-01] [ 5.73820253e-02 2.19512213e-02 9.98110939e-01 -2.47347460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10313336499996 meters Centerline goodness : 0.118534 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.12, Z:-0.25 [[ 9.98374850e-01 -7.56786191e-04 -5.69832101e-02 -1.89029884e+00] [-5.39417030e-04 9.99741534e-01 -2.27282910e-02 1.23571678e-01] [ 5.69856823e-02 2.27220919e-02 9.98116395e-01 -2.46742659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.133133365 meters Centerline goodness : 0.125253 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.13, Z:-0.24 [[ 0.9984015 -0.00877891 -0.05583344 -1.87157871] [ 0.00757199 0.99973387 -0.02179131 0.12997355] [ 0.05600989 0.02133371 0.99820227 -0.24404308] [ 0. 0. 0. 1. ]] SLAMing on 326.16313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 326.193133365 meters Centerline goodness : 0.110709 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.13, Z:-0.24 [[ 0.99842678 -0.00950556 -0.05525939 -1.87346556] [ 0.00827708 0.99971443 -0.02241761 0.13164035] [ 0.0554567 0.02192496 0.99822034 -0.24325961] [ 0. 0. 0. 1. ]] SLAMing on 326.22313336499997 meters Centerline goodness : 0.446031 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.24 [[ 0.9982955 -0.01132135 -0.05725307 -1.91904783] [ 0.00998007 0.99967027 -0.02365916 0.13175125] [ 0.05750204 0.02304744 0.99807932 -0.24473488] [ 0. 0. 0. 1. ]] SLAMing on 326.253133365 meters Centerline goodness : 0.094404 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.13, Z:-0.24 [[ 0.99830099 -0.01141439 -0.05713889 -1.9195947 ] [ 0.01006683 0.99966566 -0.0238165 0.13260007] [ 0.05739164 0.02320083 0.99808212 -0.24432564] [ 0. 0. 0. 1. ]] SLAMing on 326.28313336499997 meters Centerline goodness : 0.101719 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.13, Z:-0.25 [[ 9.98354957e-01 -3.13113765e-03 -5.72501248e-02 -1.94023630e+00] [ 1.71758114e-03 9.99692853e-01 -2.47234447e-02 1.29451942e-01] [ 5.73099531e-02 2.45844418e-02 9.98053693e-01 -2.45995170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 326.34313336499997 meters Centerline goodness : 0.250027 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.13, Z:-0.25 [[ 0.99834791 -0.00339773 -0.05735776 -1.94016515] [ 0.00194349 0.99967572 -0.02539061 0.1331684 ] [ 0.05742543 0.02523719 0.99803076 -0.24572032] [ 0. 0. 0. 1. ]] SLAMing on 326.373133365 meters Centerline goodness : 0.096441 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.25 [[ 0.99834074 -0.00378809 -0.05745788 -1.93980527] [ 0.00227696 0.99965038 -0.02634247 0.13826138] [ 0.05753758 0.02616793 0.99800033 -0.24584314] [ 0. 0. 0. 1. ]] SLAMing on 326.403133365 meters Centerline goodness : 0.304322 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.25 [[ 0.99834732 -0.00401431 -0.05732814 -1.94009445] [ 0.00247653 0.99963587 -0.02687002 0.14087902] [ 0.05741513 0.02668364 0.99799373 -0.24588297] [ 0. 0. 0. 1. ]] SLAMing on 326.433133365 meters Centerline goodness : 0.105385 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.25 [[ 0.99836216 -0.00421124 -0.05705498 -1.94106719] [ 0.00265611 0.99962362 -0.02730507 0.14304478] [ 0.0571485 0.02710881 0.99799758 -0.24545093] [ 0. 0. 0. 1. ]] SLAMing on 326.463133365 meters Centerline goodness : 0.095751 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.24 [[ 0.99838024 -0.00429119 -0.05673172 -1.94236482] [ 0.00273239 0.99961736 -0.02752571 0.1444746 ] [ 0.05682813 0.02732611 0.99800994 -0.24472856] [ 0. 0. 0. 1. ]] SLAMing on 326.493133365 meters Centerline goodness : 0.251153 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.24 [[ 0.9983924 -0.0042817 -0.05651799 -1.94307669] [ 0.00272762 0.99961683 -0.02754561 0.14494367] [ 0.05661427 0.02734717 0.99802152 -0.24442362] [ 0. 0. 0. 1. ]] SLAMing on 326.523133365 meters Centerline goodness : 0.192446 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-0.24 [[ 0.99839097 -0.0043172 -0.05654059 -1.94284713] [ 0.00276301 0.99961695 -0.02753747 0.14483371] [ 0.05663781 0.02733694 0.99802047 -0.24466641] [ 0. 0. 0. 1. ]] SLAMing on 326.553133365 meters Centerline goodness : 0.445332 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99833757 -0.0048435 -0.05743371 -1.93976168] [ 0.00323478 0.99960073 -0.02806997 0.14563119] [ 0.05754674 0.02783752 0.99795463 -0.2459904 ] [ 0. 0. 0. 1. ]] SLAMing on 326.583133365 meters Centerline goodness : 0.098187 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99832413 -0.00494934 -0.05765796 -1.93893463] [ 0.00332383 0.99959525 -0.02825409 0.14633198] [ 0.05777447 0.0280151 0.9979365 -0.24642734] [ 0. 0. 0. 1. ]] SLAMing on 326.613133365 meters Centerline goodness : 0.148739 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99831905 -0.00500375 -0.05774119 -1.93873514] [ 0.00336403 0.99958927 -0.02846008 0.14757118] [ 0.05785988 0.028218 0.99792584 -0.24641509] [ 0. 0. 0. 1. ]] SLAMing on 326.643133365 meters Centerline goodness : 0.099233 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.15, Z:-0.25 [[ 0.99831932 -0.0050842 -0.05772934 -1.93883883] [ 0.00342766 0.99958054 -0.02875766 0.14933811] [ 0.05785134 0.02851145 0.99791799 -0.2463212 ] [ 0. 0. 0. 1. ]] SLAMing on 326.673133365 meters Centerline goodness : 0.446021 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.15, Z:-0.25 [[ 0.99835728 0.00337922 -0.05719551 -1.9598312 ] [-0.00510863 0.99953331 -0.03011764 0.15007448] [ 0.05706705 0.03036035 0.99790861 -0.24838653] [ 0. 0. 0. 1. ]] SLAMing on 326.703133365 meters Centerline goodness : 0.092766 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.15, Z:-0.25 [[ 0.99835679 0.00322067 -0.05721326 -1.95962136] [-0.00497896 0.99951881 -0.03061631 0.15261173] [ 0.05708712 0.03085086 0.99789242 -0.24860406] [ 0. 0. 0. 1. ]] SLAMing on 326.73313336499996 meters Centerline goodness : 0.089062 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.16, Z:-0.25 [[ 0.99834433 0.00307854 -0.05743794 -1.95891904] [-0.00487315 0.99950345 -0.03113049 0.15550094] [ 0.05731359 0.03135885 0.99786361 -0.24883257] [ 0. 0. 0. 1. ]] SLAMing on 326.763133365 meters Centerline goodness : 0.049428 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.16, Z:-0.25 [[ 9.98241494e-01 -2.26394698e-03 -5.92350691e-02 -1.98009795e+00] [ 6.00545675e-04 9.99605383e-01 -2.80841063e-02 1.59839910e-01] [ 5.92752749e-02 2.79991469e-02 9.97848931e-01 -2.49994179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79313336499996 meters Centerline goodness : 0.159941 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.16, Z:-0.25 [[ 9.98226492e-01 -2.29953913e-03 -5.94859961e-02 -1.97927436e+00] [ 6.08349713e-04 9.99595528e-01 -2.84325445e-02 1.62319670e-01] [ 5.95273174e-02 2.83459309e-02 9.97824136e-01 -2.50298346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.823133365 meters Centerline goodness : 0.044347 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.16, Z:-0.25 [[ 9.98213638e-01 -2.46930322e-03 -5.96945187e-02 -1.97848286e+00] [ 7.46534082e-04 9.99583045e-01 -2.88648467e-02 1.64641726e-01] [ 5.97409048e-02 2.87687196e-02 9.97799271e-01 -2.50713404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85313336499996 meters Centerline goodness : 0.043999 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98030144e-01 -2.54030712e-03 -6.26847589e-02 -2.02070194e+00] [ 6.77298622e-04 9.99557925e-01 -2.97236474e-02 1.68945513e-01] [ 6.27325547e-02 2.96226398e-02 9.97590660e-01 -2.53684706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.883133365 meters Centerline goodness : 0.043999 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98030144e-01 -2.54030712e-03 -6.26847589e-02 -2.02070194e+00] [ 6.77298622e-04 9.99557925e-01 -2.97236474e-02 1.68945513e-01] [ 6.27325547e-02 2.96226398e-02 9.97590660e-01 -2.53684706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91313336499996 meters Centerline goodness : 0.191887 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98018467e-01 -2.66521934e-03 -6.28652265e-02 -2.02000845e+00] [ 7.78015485e-04 9.99548838e-01 -3.00252330e-02 1.70479016e-01] [ 6.29168880e-02 2.99168268e-02 9.97570273e-01 -2.54067277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.943133365 meters Centerline goodness : 0.110138 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98010215e-01 -2.76507644e-03 -6.29917889e-02 -2.01951589e+00] [ 8.59986437e-04 9.99541978e-01 -3.02505257e-02 1.71818414e-01] [ 6.30465823e-02 3.01361615e-02 9.97555482e-01 -2.54364066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97313336499997 meters Centerline goodness : 0.124061 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.98002559e-01 -2.87601793e-03 -6.31080077e-02 -2.01897526e+00] [ 9.53282736e-04 9.99535033e-01 -3.04763553e-02 1.73075555e-01] [ 6.31663152e-02 3.03553208e-02 9.97541263e-01 -2.54706186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.003133365 meters Centerline goodness : 0.121778 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.17, Z:-0.25 [[ 9.97987680e-01 -3.01006801e-03 -6.33366413e-02 -2.01829753e+00] [ 1.06502953e-03 9.99527434e-01 -3.07209091e-02 1.74281101e-01] [ 6.33991826e-02 3.05916334e-02 9.97519271e-01 -2.54852184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03313336499997 meters Centerline goodness : 0.125125 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.18, Z:-0.25 [[ 9.97978298e-01 -3.39347100e-03 -6.34649598e-02 -2.01809960e+00] [ 1.39741666e-03 9.99503743e-01 -3.14692623e-02 1.77725396e-01] [ 6.35402549e-02 3.13169538e-02 9.97487787e-01 -2.54618413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.063133365 meters Centerline goodness : 0.114963 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.18, Z:-0.25 [[ 9.97972276e-01 -3.51364620e-03 -6.35530546e-02 -2.01810666e+00] [ 1.48486365e-03 9.99488629e-01 -3.19417640e-02 1.80307716e-01] [ 6.36327874e-02 3.17826273e-02 9.97467159e-01 -2.54284252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09313336499997 meters Centerline goodness : 0.125011 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.18, Z:-0.25 [[ 9.97972454e-01 -3.58499502e-03 -6.35462775e-02 -2.01804890e+00] [ 1.52965736e-03 9.99475006e-01 -3.23631390e-02 1.83296497e-01] [ 6.36289378e-02 3.22003172e-02 9.97454008e-01 -2.54303625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.123133365 meters Centerline goodness : 0.129751 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.19, Z:-0.25 [[ 9.97965543e-01 -3.73411734e-03 -6.36461483e-02 -2.01781544e+00] [ 1.64034853e-03 9.99456723e-01 -3.29175830e-02 1.86398234e-01] [ 6.37344889e-02 3.27462117e-02 9.97429497e-01 -2.54277528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.153133365 meters Centerline goodness : 0.120853 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.19, Z:-0.25 [[ 9.97961821e-01 -4.00525780e-03 -6.36880077e-02 -2.01774335e+00] [ 1.86642470e-03 9.99433380e-01 -3.36070765e-02 1.89799381e-01] [ 6.37865258e-02 3.34197104e-02 9.97403831e-01 -2.54206627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.183133365 meters Centerline goodness : 0.112437 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.19, Z:-0.25 [[ 0.99796996 -0.00436471 -0.06353665 -2.0183301 ] [ 0.00218094 0.9994058 -0.03439913 0.19336717] [ 0.06364904 0.03419073 0.99738648 -0.25384676] [ 0. 0. 0. 1. ]] SLAMing on 327.213133365 meters Centerline goodness : 0.175096 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.20, Z:-0.25 [[ 9.98050860e-01 -2.86001524e-03 -6.23402006e-02 -2.02358698e+00] [ 7.56389603e-04 9.99430297e-01 -3.37418001e-02 2.01003724e-01] [ 6.24011873e-02 3.36288792e-02 9.97484431e-01 -2.51075672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.243133365 meters Centerline goodness : 0.139278 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.20, Z:-0.25 [[ 9.98048379e-01 -3.11312109e-03 -6.23677896e-02 -2.02382450e+00] [ 9.68657357e-04 9.99408194e-01 -3.43849259e-02 2.04481801e-01] [ 6.24379244e-02 3.42574065e-02 9.97460744e-01 -2.50583900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.273133365 meters Centerline goodness : 0.127380 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.21, Z:-0.25 [[ 9.98046731e-01 -3.33842591e-03 -6.23825053e-02 -2.02376293e+00] [ 1.15694831e-03 9.99387594e-01 -3.49728333e-02 2.07834167e-01] [ 6.24610561e-02 3.48323486e-02 9.97439384e-01 -2.50493140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.303133365 meters Centerline goodness : 0.117366 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.21, Z:-0.25 [[ 0.99801894 -0.00985979 -0.06213683 -2.00210703] [ 0.00783737 0.99943422 -0.03270803 0.21417558] [ 0.06242417 0.03215624 0.99753155 -0.24955783] [ 0. 0. 0. 1. ]] SLAMing on 327.333133365 meters Centerline goodness : 0.118715 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.22, Z:-0.25 [[ 0.99800924 -0.01048607 -0.06219004 -2.00141565] [ 0.00838627 0.99938904 -0.03392964 0.22040624] [ 0.06250783 0.03334055 0.99748743 -0.25006343] [ 0. 0. 0. 1. ]] SLAMing on 327.363133365 meters Centerline goodness : 0.130169 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.22, Z:-0.25 [[ 0.99799591 -0.01078513 -0.06235252 -2.00111559] [ 0.00863835 0.999364 -0.03459727 0.22366302] [ 0.062686 0.03398931 0.99745436 -0.24982706] [ 0. 0. 0. 1. ]] SLAMing on 327.393133365 meters Centerline goodness : 0.128805 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.25 [[ 0.99798757 -0.01112193 -0.06242691 -2.00127848] [ 0.00892683 0.99933575 -0.03533219 0.22743812] [ 0.0627784 0.03470381 0.99742394 -0.24929857] [ 0. 0. 0. 1. ]] SLAMing on 327.423133365 meters Centerline goodness : 0.189684 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.25 [[ 9.98031373e-01 -1.98002726e-03 -6.26853959e-02 -2.02282983e+00] [-2.85747318e-04 9.99347578e-01 -3.61155928e-02 2.27993535e-01] [ 6.27160085e-02 3.60624068e-02 9.97379669e-01 -2.50194411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.453133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.48313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.513133365 meters Centerline goodness : 0.127288 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.24, Z:-0.25 [[ 0.9981705 -0.0049758 -0.06025696 -1.98182328] [ 0.00270963 0.99928799 -0.03763193 0.24152893] [ 0.06040131 0.03739981 0.99747328 -0.24758267] [ 0. 0. 0. 1. ]] SLAMing on 327.54313336499996 meters Centerline goodness : 0.190817 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.24, Z:-0.25 [[ 0.99814935 -0.00501861 -0.06060271 -1.98055975] [ 0.00273896 0.99928758 -0.0376409 0.24175158] [ 0.06074844 0.03740525 0.99745199 -0.24814027] [ 0. 0. 0. 1. ]] SLAMing on 327.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.60313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.633133365 meters Centerline goodness : 0.176231 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.25, Z:-0.25 [[ 0.99803332 -0.01476707 -0.06092147 -1.95836395] [ 0.01248933 0.99921479 -0.03760091 0.24543102] [ 0.06142889 0.03676609 0.99743408 -0.24708228] [ 0. 0. 0. 1. ]] SLAMing on 327.66313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.72313336499997 meters Centerline goodness : 0.090673 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.25, Z:-0.25 [[ 0.99820394 -0.00453644 -0.05973542 -1.98292849] [ 0.00228515 0.99928641 -0.03770219 0.24709646] [ 0.05986383 0.03749797 0.99750199 -0.24766234] [ 0. 0. 0. 1. ]] SLAMing on 327.753133365 meters Centerline goodness : 0.151661 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.25, Z:-0.25 [[ 9.98134276e-01 -2.58822645e-03 -6.10021929e-02 -1.97770257e+00] [ 3.68335842e-04 9.99338196e-01 -3.63735272e-02 2.51242937e-01] [ 6.10559643e-02 3.62831949e-02 9.97474661e-01 -2.49849874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.84313336499997 meters Centerline goodness : 0.124824 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.25, Z:-0.25 [[ 9.98142253e-01 1.24911101e-03 -6.09137381e-02 -1.97669750e+00] [-3.28196266e-03 9.99440545e-01 -3.32840091e-02 2.54137117e-01] [ 6.08380842e-02 3.34220924e-02 9.97587937e-01 -2.51247528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.873133365 meters Centerline goodness : 0.146481 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.26, Z:-0.25 [[ 9.98160188e-01 1.33524894e-03 -6.06172892e-02 -1.97754955e+00] [-3.36355413e-03 9.99437368e-01 -3.33711416e-02 2.55037663e-01] [ 6.05386252e-02 3.35136346e-02 9.97603083e-01 -2.51025904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.903133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 327.933133365 meters Centerline goodness : 0.131009 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.25, Z:-0.25 [[ 0.99810719 0.00893322 -0.06084595 -1.95749334] [-0.01107414 0.99932805 -0.03494001 0.25374988] [ 0.06049293 0.03554769 0.99753545 -0.24868115] [ 0. 0. 0. 1. ]] SLAMing on 327.963133365 meters Centerline goodness : 0.112289 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98098298e-01 1.33869379e-03 -6.16278729e-02 -1.93953430e+00] [-3.41450948e-03 9.99429861e-01 -3.35900859e-02 2.58914705e-01] [ 6.15477696e-02 3.37366365e-02 9.97533815e-01 -2.45869169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.993133365 meters Centerline goodness : 0.135606 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98087642e-01 1.42374097e-03 -6.17983086e-02 -1.93904657e+00] [-3.51494592e-03 9.99424339e-01 -3.37436859e-02 2.60133590e-01] [ 6.17146914e-02 3.38963736e-02 9.97518086e-01 -2.45961568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.023133365 meters Centerline goodness : 0.136078 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98082835e-01 1.53988355e-03 -6.18731143e-02 -1.93894355e+00] [-3.64902861e-03 9.99415521e-01 -3.39897113e-02 2.61849428e-01] [ 6.17846106e-02 3.41503242e-02 9.97505096e-01 -2.45842357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.053133365 meters Centerline goodness : 0.133984 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.26, Z:-0.25 [[ 9.98086220e-01 1.67067820e-03 -6.18150956e-02 -1.93901502e+00] [-3.79964586e-03 9.99403006e-01 -3.43394010e-02 2.63934587e-01] [ 6.17208223e-02 3.45085584e-02 9.97496717e-01 -2.45858105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.083133365 meters Centerline goodness : 0.172834 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.25 [[ 9.98082378e-01 1.76002614e-03 -6.18746300e-02 -1.93893635e+00] [-3.91464575e-03 9.99389468e-01 -3.47183870e-02 2.66454286e-01] [ 6.17757483e-02 3.48940275e-02 9.97479906e-01 -2.45826392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.113133365 meters Centerline goodness : 0.154786 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.25 [[ 0.9980875 0.00552442 -0.06156972 -1.93999121] [-0.00749447 0.99946577 -0.03181219 0.27063771] [ 0.06136109 0.03221278 0.99759569 -0.24549762] [ 0. 0. 0. 1. ]] SLAMing on 328.143133365 meters Centerline goodness : 0.175460 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.25 [[ 0.99810254 0.00556203 -0.06132203 -1.94095355] [-0.00753774 0.99945834 -0.03203443 0.27237821] [ 0.06111064 0.03243588 0.99760383 -0.2450525 ] [ 0. 0. 0. 1. ]] SLAMing on 328.173133365 meters Centerline goodness : 0.154597 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.27, Z:-0.24 [[ 0.99810862 0.00553197 -0.06122565 -1.94142844] [-0.00751955 0.99945056 -0.03228066 0.2740866 ] [ 0.06101344 0.03267999 0.99760181 -0.2447263 ] [ 0. 0. 0. 1. ]] SLAMing on 328.203133365 meters Centerline goodness : 0.198650 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98189186e-01 -9.40487747e-04 -6.01453613e-02 -1.95858959e+00] [-9.24364491e-04 9.99519874e-01 -3.09704156e-02 2.79683187e-01] [ 6.01456113e-02 3.09699301e-02 9.97709060e-01 -2.48403112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23313336499996 meters Centerline goodness : 0.138589 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98182918e-01 -1.03402178e-03 -6.02477646e-02 -1.95816985e+00] [-8.47254448e-04 9.99513060e-01 -3.11917496e-02 2.80729323e-01] [ 6.02506805e-02 3.11861168e-02 9.97695987e-01 -2.48649927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.263133365 meters Centerline goodness : 0.228879 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98172367e-01 -1.14384527e-03 -6.04203362e-02 -1.95753431e+00] [-7.55211363e-04 9.99506658e-01 -3.13985687e-02 2.81455511e-01] [ 6.04264435e-02 3.13868138e-02 9.97679063e-01 -2.49003073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 328.323133365 meters Centerline goodness : 0.177863 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98155541e-01 -1.35954718e-03 -6.06932252e-02 -1.95676137e+00] [-5.70161751e-04 9.99495176e-01 -3.17658347e-02 2.83247056e-01] [ 6.07057729e-02 3.17418489e-02 9.97650873e-01 -2.49115506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35313336499996 meters Centerline goodness : 0.189348 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98155207e-01 -1.41993458e-03 -6.06973396e-02 -1.95679980e+00] [-5.12326402e-04 9.99493900e-01 -3.18069495e-02 2.83235787e-01] [ 6.07117844e-02 3.17793691e-02 9.97649313e-01 -2.49062283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.383133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 328.41313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 328.443133365 meters Centerline goodness : 0.100479 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98247332e-01 -2.14163960e-03 -5.91411638e-02 -1.96107476e+00] [ 2.42276568e-04 9.99484496e-01 -3.21042657e-02 2.82571805e-01] [ 5.91794320e-02 3.20336691e-02 9.97733250e-01 -2.48232166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 328.503133365 meters Centerline goodness : 0.111716 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.28, Z:-0.25 [[ 9.98236436e-01 -2.13324258e-03 -5.93251002e-02 -1.96040027e+00] [ 2.14929473e-04 9.99477446e-01 -3.23232057e-02 2.83951374e-01] [ 5.93630529e-02 3.22534509e-02 9.97715261e-01 -2.48597943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53313336499997 meters Centerline goodness : 0.137737 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.29, Z:-0.25 [[ 9.98217527e-01 -2.09948782e-03 -5.96436175e-02 -1.95919125e+00] [ 1.60660601e-04 9.99471947e-01 -3.24930819e-02 2.85176597e-01] [ 5.96803413e-02 3.24255815e-02 9.97690753e-01 -2.49290476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.563133365 meters Centerline goodness : 0.179688 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.29, Z:-0.25 [[ 9.98203614e-01 -2.13476524e-03 -5.98747755e-02 -1.95828109e+00] [ 1.76126093e-04 9.99465246e-01 -3.26984768e-02 2.86374515e-01] [ 5.99125608e-02 3.26291922e-02 9.97670196e-01 -2.49849982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 328.623133365 meters Centerline goodness : 0.140510 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.29, Z:-0.25 [[ 0.9981287 0.00696261 -0.0607505 -1.97692875] [-0.00904484 0.9993786 -0.03406772 0.28684357] [ 0.06047555 0.03455345 0.99757143 -0.25307041] [ 0. 0. 0. 1. ]] SLAMing on 328.653133365 meters Centerline goodness : 0.096597 Centerline is valid? [False, False] Translation: X:-1.96, Y:0.29, Z:-0.25 [[ 9.98119812e-01 -1.03784898e-03 -6.12842881e-02 -1.95848829e+00] [-9.92014878e-04 9.99452136e-01 -3.30823796e-02 2.93425234e-01] [ 6.12850472e-02 3.30809735e-02 9.97571948e-01 -2.50839421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.683133365 meters Centerline goodness : 0.097901 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.99795309 -0.00818609 -0.06342417 -1.97620638] [ 0.00617258 0.99947271 -0.031878 0.29921832] [ 0.06365169 0.03142126 0.9974774 -0.25343838] [ 0. 0. 0. 1. ]] SLAMing on 328.713133365 meters Centerline goodness : 0.171048 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.99795003 -0.00817655 -0.06347347 -1.9759856 ] [ 0.00616118 0.99947264 -0.03188243 0.29937503] [ 0.06370069 0.031426 0.99747412 -0.2535843 ] [ 0. 0. 0. 1. ]] SLAMing on 328.743133365 meters Centerline goodness : 0.134966 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.99795364 -0.0081537 -0.0634197 -1.97610003] [ 0.0061431 0.9994743 -0.03183377 0.29924613] [ 0.06364592 0.03137904 0.9974791 -0.25359166] [ 0. 0. 0. 1. ]] SLAMing on 328.773133365 meters Centerline goodness : 0.107999 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.997953 -0.00813491 -0.06343212 -1.97601842] [ 0.00612759 0.99947624 -0.03177569 0.29891406] [ 0.06365738 0.03132196 0.99748016 -0.2536792 ] [ 0. 0. 0. 1. ]] SLAMing on 328.803133365 meters Centerline goodness : 0.107999 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.997953 -0.00813491 -0.06343212 -1.97601842] [ 0.00612759 0.99947624 -0.03177569 0.29891406] [ 0.06365738 0.03132196 0.99748016 -0.2536792 ] [ 0. 0. 0. 1. ]] SLAMing on 328.833133365 meters Centerline goodness : 0.133009 Centerline is valid? [False, False] Translation: X:-1.98, Y:0.30, Z:-0.25 [[ 0.9979472 -0.00816718 -0.06351921 -1.9755856 ] [ 0.00615836 0.99947664 -0.03175721 0.29845099] [ 0.06374533 0.03130084 0.99747521 -0.2540045 ] [ 0. 0. 0. 1. ]] SLAMing on 328.863133365 meters Centerline goodness : 0.127069 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.29, Z:-0.26 [[ 9.97917247e-01 -1.11719824e-04 -6.45070234e-02 -1.99329912e+00] [-2.03960148e-03 9.99443874e-01 -3.32833710e-02 2.91128142e-01] [ 6.44748678e-02 3.33456185e-02 9.97362051e-01 -2.56917277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.893133365 meters Centerline goodness : 0.092157 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.29, Z:-0.26 [[ 0.99791915 -0.00845012 -0.06392153 -1.9742009 ] [ 0.00640849 0.99946484 -0.0320774 0.29468637] [ 0.06415838 0.03160101 0.99743926 -0.25509468] [ 0. 0. 0. 1. ]] SLAMing on 328.923133365 meters Centerline goodness : 0.166699 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.29, Z:-0.25 [[ 0.99793627 -0.00835627 -0.0636661 -1.97496503] [ 0.00633308 0.99947056 -0.03191395 0.29399051] [ 0.06389908 0.03144488 0.99746084 -0.25495721] [ 0. 0. 0. 1. ]] SLAMing on 328.953133365 meters Centerline goodness : 0.143354 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99783749 -0.0075681 -0.06529219 -2.02144623] [ 0.00545507 0.99945749 -0.03248039 0.29100392] [ 0.06550258 0.03205398 0.99733743 -0.2564095 ] [ 0. 0. 0. 1. ]] SLAMing on 328.98313336499996 meters Centerline goodness : 0.097130 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99785475 -0.00750776 -0.06503481 -2.02229324] [ 0.00541571 0.99946403 -0.03228492 0.28986576] [ 0.06524234 0.03186345 0.9973606 -0.25613467] [ 0. 0. 0. 1. ]] SLAMing on 329.013133365 meters Centerline goodness : 0.140423 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99787255 -0.00745077 -0.06476774 -2.0231175 ] [ 0.00538103 0.99947107 -0.03207234 0.28841444] [ 0.06497244 0.03165559 0.99738483 -0.25593458] [ 0. 0. 0. 1. ]] SLAMing on 329.04313336499996 meters Centerline goodness : 0.187802 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99788644 -0.0072038 -0.06458135 -2.02371869] [ 0.00517246 0.99948828 -0.03156611 0.28590675] [ 0.06477569 0.03116535 0.99741307 -0.25579854] [ 0. 0. 0. 1. ]] SLAMing on 329.073133365 meters Centerline goodness : 0.142645 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99788998 -0.00709851 -0.0645384 -2.02381609] [ 0.00507969 0.99949426 -0.03139132 0.28509398] [ 0.06472859 0.03099725 0.99742137 -0.25586047] [ 0. 0. 0. 1. ]] SLAMing on 329.10313336499996 meters Centerline goodness : 0.177327 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99789777 -0.0070076 -0.06442777 -2.02380903] [ 0.00499948 0.99949825 -0.03127712 0.28464934] [ 0.06461462 0.03088927 0.9974321 -0.25631295] [ 0. 0. 0. 1. ]] SLAMing on 329.133133365 meters Centerline goodness : 0.216830 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.25 [[ 0.99787813 -0.01495006 -0.06336989 -2.0054247 ] [ 0.01306957 0.99946486 -0.02998624 0.28892816] [ 0.06378427 0.02909439 0.99753951 -0.25476369] [ 0. 0. 0. 1. ]] SLAMing on 329.16313336499996 meters Centerline goodness : 0.097865 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.28, Z:-0.26 [[ 0.99800751 -0.00554394 -0.06285123 -2.02593037] [ 0.00363736 0.99953093 -0.03040868 0.28343891] [ 0.06299033 0.03011948 0.99755954 -0.25765074] [ 0. 0. 0. 1. ]] SLAMing on 329.193133365 meters Centerline goodness : 0.094918 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.28, Z:-0.26 [[ 0.99800238 -0.005422 -0.06294321 -2.02548043] [ 0.0035151 0.99953264 -0.03036684 0.28369233] [ 0.06307844 0.03008493 0.99755502 -0.25804862] [ 0. 0. 0. 1. ]] SLAMing on 329.22313336499997 meters Centerline goodness : 0.243008 Centerline is valid? [False, False] Translation: X:-2.03, Y:0.28, Z:-0.26 [[ 0.99799602 -0.00532154 -0.06305259 -2.02514803] [ 0.003415 0.99953481 -0.03030671 0.28379896] [ 0.06318454 0.03003065 0.99754994 -0.25820952] [ 0. 0. 0. 1. ]] SLAMing on 329.253133365 meters Centerline goodness : 0.176969 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798488 -0.0052206 -0.06323699 -2.02432439] [ 0.00331555 0.99953859 -0.03019308 0.28354594] [ 0.06336544 0.02992258 0.99754171 -0.2587791 ] [ 0. 0. 0. 1. ]] SLAMing on 329.28313336499997 meters Centerline goodness : 0.152198 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99797093 -0.00515859 -0.06346195 -2.02344783] [ 0.00324944 0.99954011 -0.03014988 0.28347251] [ 0.0635883 0.02988248 0.99752873 -0.25930273] [ 0. 0. 0. 1. ]] SLAMing on 329.313133365 meters Centerline goodness : 0.225414 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99795489 -0.0050221 -0.06372456 -2.02226355] [ 0.00310716 0.99954165 -0.0301138 0.28378341] [ 0.06384659 0.02985421 0.99751308 -0.26016069] [ 0. 0. 0. 1. ]] SLAMing on 329.34313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 329.373133365 meters Centerline goodness : 0.189327 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798356 -0.00492301 -0.0632817 -2.0237643 ] [ 0.00302101 0.99954182 -0.03011673 0.28440989] [ 0.06340097 0.02986483 0.99754118 -0.25965374] [ 0. 0. 0. 1. ]] SLAMing on 329.403133365 meters Centerline goodness : 0.225593 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798561 -0.00490152 -0.06325107 -2.02389464] [ 0.00300036 0.99954187 -0.03011739 0.28460548] [ 0.06336971 0.02986695 0.9975431 -0.25959179] [ 0. 0. 0. 1. ]] SLAMing on 329.433133365 meters Centerline goodness : 0.097601 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 0.99798361 -0.0049002 -0.06328269 -2.02381163] [ 0.00299489 0.99954036 -0.03016782 0.28498641] [ 0.06340143 0.02991746 0.99753958 -0.25963467] [ 0. 0. 0. 1. ]] SLAMing on 329.463133365 meters Centerline goodness : 0.156264 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.9979714 -0.00489346 -0.06347557 -2.02303066] [ 0.00297553 0.99953719 -0.03027461 0.28573299] [ 0.06359434 0.03002432 0.99752409 -0.26009744] [ 0. 0. 0. 1. ]] SLAMing on 329.493133365 meters Centerline goodness : 0.158237 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99793626 -0.00474535 -0.06403675 -2.02117613] [ 0.00279638 0.99953114 -0.03049051 0.28787166] [ 0.06415141 0.03024851 0.99748164 -0.26093598] [ 0. 0. 0. 1. ]] SLAMing on 329.523133365 meters Centerline goodness : 0.221263 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99792167 -0.00473423 -0.06426446 -2.02039546] [ 0.00276773 0.9995262 -0.03065481 0.28914198] [ 0.06437914 0.03041323 0.99746196 -0.26130589] [ 0. 0. 0. 1. ]] SLAMing on 329.553133365 meters Centerline goodness : 0.096679 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99790214 -0.00472314 -0.06456786 -2.01924842] [ 0.00273906 0.99952235 -0.03078273 0.29015669] [ 0.06468241 0.0305413 0.99743843 -0.26192684] [ 0. 0. 0. 1. ]] SLAMing on 329.583133365 meters Centerline goodness : 0.122101 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99789216 -0.00476304 -0.06471903 -2.01857303] [ 0.00276712 0.99951882 -0.03089442 0.29069794] [ 0.06483504 0.03065021 0.99742518 -0.2623939 ] [ 0. 0. 0. 1. ]] SLAMing on 329.613133365 meters Centerline goodness : 0.184135 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99789147 -0.0048019 -0.06472685 -2.01832227] [ 0.00280414 0.99951793 -0.03092005 0.29060832] [ 0.06484412 0.03067335 0.99742387 -0.2627114 ] [ 0. 0. 0. 1. ]] SLAMing on 329.643133365 meters Centerline goodness : 0.208673 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 0.99790182 -0.00479541 -0.06456752 -2.01897416] [ 0.0028068 0.99951995 -0.03085449 0.29025112] [ 0.06468448 0.03060853 0.99743623 -0.26232145] [ 0. 0. 0. 1. ]] SLAMing on 329.673133365 meters Centerline goodness : 0.186170 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97963466e-01 -1.46310074e-03 -6.37713033e-02 -2.02136503e+00] [-2.84298126e-04 9.99624966e-01 -2.73833382e-02 2.89311098e-01] [ 6.37874515e-02 2.73457012e-02 9.97588780e-01 -2.61611280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.703133365 meters Centerline goodness : 0.217183 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97954477e-01 -1.44170782e-03 -6.39123137e-02 -2.02065747e+00] [-3.13002378e-04 9.99623501e-01 -2.74364523e-02 2.89923469e-01] [ 6.39278061e-02 2.74003351e-02 9.97578296e-01 -2.62125107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73313336499996 meters Centerline goodness : 0.225048 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97928523e-01 -1.52549132e-03 -6.43143520e-02 -2.01893620e+00] [-2.52669328e-04 9.99618166e-01 -2.76307653e-02 2.90654426e-01] [ 6.43319450e-02 2.75897790e-02 9.97547094e-01 -2.63196907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.763133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 329.79313336499996 meters Centerline goodness : 0.148333 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97835863e-01 -1.64856874e-03 -6.57333458e-02 -2.01409167e+00] [-1.93917360e-04 9.99607527e-01 -2.80134747e-02 2.91832069e-01] [ 6.57537294e-02 2.79655965e-02 9.97443919e-01 -2.65388230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.823133365 meters Centerline goodness : 0.155998 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97820005e-01 -1.53237306e-03 -6.59764260e-02 -2.01348128e+00] [-3.11904488e-04 9.99609715e-01 -2.79342130e-02 2.92174912e-01] [ 6.59934820e-02 2.78938949e-02 9.97430093e-01 -2.65459271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85313336499996 meters Centerline goodness : 0.151895 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97814237e-01 -1.45606851e-03 -6.60653340e-02 -2.01333025e+00] [-3.84463096e-04 9.99612374e-01 -2.78380012e-02 2.92072833e-01] [ 6.60802593e-02 2.78025536e-02 9.97426898e-01 -2.65360073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.883133365 meters Centerline goodness : 0.099032 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.27 [[ 9.97815565e-01 -1.43650962e-03 -6.60456957e-02 -2.01346944e+00] [-3.99014836e-04 9.99614255e-01 -2.77701475e-02 2.91681881e-01] [ 6.60601110e-02 2.77358386e-02 9.97430090e-01 -2.65221270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91313336499996 meters Centerline goodness : 0.227795 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97821455e-01 -1.39968367e-03 -6.59574490e-02 -2.01386042e+00] [-4.24011669e-04 9.99618199e-01 -2.76274665e-02 2.90832711e-01] [ 6.59709361e-02 2.75952455e-02 9.97439892e-01 -2.64959869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.943133365 meters Centerline goodness : 0.153036 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97829299e-01 -1.36631358e-03 -6.58393698e-02 -2.01424825e+00] [-4.44892813e-04 9.99622063e-01 -2.74869625e-02 2.89911639e-01] [ 6.58520425e-02 2.74565880e-02 9.97451575e-01 -2.64819722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97313336499997 meters Centerline goodness : 0.155144 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97821485e-01 -1.21593019e-03 -6.59606395e-02 -2.01385609e+00] [-5.75095735e-04 9.99631825e-01 -2.71271687e-02 2.88178297e-01] [ 6.59693392e-02 2.71060054e-02 9.97453413e-01 -2.64929733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.003133365 meters Centerline goodness : 0.185744 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.29, Z:-0.26 [[ 9.97817467e-01 -1.21145220e-03 -6.60214762e-02 -2.01370058e+00] [-5.79207579e-04 9.99632655e-01 -2.70964952e-02 2.87898083e-01] [ 6.60300497e-02 2.70755964e-02 9.97450222e-01 -2.64928749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03313336499997 meters Centerline goodness : 0.143679 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.29, Z:-0.26 [[ 0.9978026 -0.00960483 -0.06555694 -1.9944617 ] [ 0.00790494 0.99962703 -0.0261403 0.29219579] [ 0.06578357 0.02556463 0.99750638 -0.2628388 ] [ 0. 0. 0. 1. ]] SLAMing on 330.063133365 meters Centerline goodness : 0.150380 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97944755e-01 -3.07085166e-03 -6.40065241e-02 -2.01877999e+00] [ 1.25779449e-03 9.99597346e-01 -2.83472003e-02 2.85997587e-01] [ 6.40678017e-02 2.82084328e-02 9.97546791e-01 -2.63059479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09313336499997 meters Centerline goodness : 0.141572 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97955933e-01 -3.03320915e-03 -6.38338040e-02 -2.01935030e+00] [ 1.23096045e-03 9.99600022e-01 -2.82538645e-02 2.85517866e-01] [ 6.38939718e-02 2.81175348e-02 9.97560507e-01 -2.62801448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.123133365 meters Centerline goodness : 0.093766 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97950352e-01 -2.99407672e-03 -6.39228409e-02 -2.01895525e+00] [ 1.19101007e-03 9.99600846e-01 -2.82264160e-02 2.85591777e-01] [ 6.39818379e-02 2.80924291e-02 9.97555582e-01 -2.63080929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.153133365 meters Centerline goodness : 0.155903 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97940132e-01 -2.95721248e-03 -6.40839181e-02 -2.01812399e+00] [ 1.15015632e-03 9.99601164e-01 -2.82168435e-02 2.85809816e-01] [ 6.41418023e-02 2.80850140e-02 9.97545518e-01 -2.63742115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.183133365 meters Centerline goodness : 0.095036 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97931488e-01 -2.89541831e-03 -6.42211988e-02 -2.01727960e+00] [ 1.08923230e-03 9.99603352e-01 -2.81416521e-02 2.85582614e-01] [ 6.42772075e-02 2.80134890e-02 9.97538814e-01 -2.64512520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.213133365 meters Centerline goodness : 0.095398 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.29, Z:-0.26 [[ 9.97934693e-01 -2.89698760e-03 -6.41713072e-02 -2.01730603e+00] [ 1.09348121e-03 9.99603904e-01 -2.81218718e-02 2.85343846e-01] [ 6.42273579e-02 2.79936214e-02 9.97542582e-01 -2.64680985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.243133365 meters Centerline goodness : 0.174179 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97924161e-01 -2.84067550e-03 -6.43373908e-02 -2.01703101e+00] [ 1.04228011e-03 9.99608250e-01 -2.79689017e-02 2.84470876e-01] [ 6.43916373e-02 2.78437852e-02 9.97536185e-01 -2.64519761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.273133365 meters Centerline goodness : 0.228068 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97921179e-01 -2.75934483e-03 -6.43871622e-02 -2.01693710e+00] [ 9.65541332e-04 9.99610974e-01 -2.78741471e-02 2.84335939e-01] [ 6.44390283e-02 2.77540332e-02 9.97535626e-01 -2.64475962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.303133365 meters Centerline goodness : 0.154800 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97923147e-01 -2.74975970e-03 -6.43570698e-02 -2.01701278e+00] [ 9.56787542e-04 9.99610986e-01 -2.78740094e-02 2.84423245e-01] [ 6.44086809e-02 2.77545431e-02 9.97537572e-01 -2.64479842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.333133365 meters Centerline goodness : 0.131085 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97930623e-01 -2.74064603e-03 -6.42414175e-02 -2.01731354e+00] [ 9.53386864e-04 9.99612073e-01 -2.78351410e-02 2.84134811e-01] [ 6.42927828e-02 2.77162927e-02 9.97546112e-01 -2.64483724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.363133365 meters Centerline goodness : 0.176864 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97940941e-01 -2.70417542e-03 -6.40824936e-02 -2.01749241e+00] [ 9.32750947e-04 9.99617045e-01 -2.76566873e-02 2.83002700e-01] [ 6.41327415e-02 2.75399676e-02 9.97561297e-01 -2.64794792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.393133365 meters Centerline goodness : 0.173550 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.26 [[ 9.97933058e-01 -2.60883777e-03 -6.42090817e-02 -2.01713564e+00] [ 8.44887919e-04 9.99621892e-01 -2.74838031e-02 2.82342550e-01] [ 6.42565045e-02 2.73727462e-02 9.97557935e-01 -2.64839733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.423133365 meters Centerline goodness : 0.146767 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.27 [[ 9.97923066e-01 -2.49435209e-03 -6.43687310e-02 -2.01662047e+00] [ 7.40304385e-04 9.99628117e-01 -2.72594726e-02 2.81386517e-01] [ 6.44127881e-02 2.71552041e-02 9.97553802e-01 -2.65014450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.453133365 meters Centerline goodness : 0.228941 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.28, Z:-0.27 [[ 9.97904541e-01 -2.42828543e-03 -6.46577951e-02 -2.01576820e+00] [ 6.80495954e-04 9.99634129e-01 -2.70396939e-02 2.80048988e-01] [ 6.46997988e-02 2.69390339e-02 9.97541089e-01 -2.65234991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48313336499996 meters Centerline goodness : 0.096078 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.28, Z:-0.27 [[ 9.97886975e-01 -2.35254508e-03 -6.49311275e-02 -2.01493231e+00] [ 6.14694964e-04 9.99641389e-01 -2.67715255e-02 2.78356094e-01] [ 6.49708238e-02 2.66750438e-02 9.97530568e-01 -2.65442000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.513133365 meters Centerline goodness : 0.155330 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.28, Z:-0.27 [[ 9.97884156e-01 -2.22524866e-03 -6.49789089e-02 -2.01479936e+00] [ 5.09591008e-04 9.99651119e-01 -2.64079460e-02 2.76341007e-01] [ 6.50150032e-02 2.63189583e-02 9.97537148e-01 -2.65477226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54313336499996 meters Centerline goodness : 0.147466 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.27, Z:-0.26 [[ 9.97911537e-01 -1.94793246e-03 -6.45660091e-02 -2.01625558e+00] [ 3.01563280e-04 9.99674803e-01 -2.54989514e-02 2.71593517e-01] [ 6.45946826e-02 2.54262270e-02 9.97587607e-01 -2.64751454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.573133365 meters Centerline goodness : 0.234903 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.27, Z:-0.26 [[ 0.99787312 -0.01039535 -0.06435188 -1.99606222] [ 0.00884273 0.99966402 -0.02436512 0.27390021] [ 0.06458354 0.02374425 0.99762978 -0.26329022] [ 0. 0. 0. 1. ]] SLAMing on 330.60313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 330.633133365 meters Centerline goodness : 0.100782 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.26, Z:-0.27 [[ 9.97866434e-01 -2.14849744e-03 -6.52530711e-02 -2.01285233e+00] [ 4.97550257e-04 9.99679618e-01 -2.53064013e-02 2.63675256e-01] [ 6.52865359e-02 2.52199417e-02 9.97547805e-01 -2.67067397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 330.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 330.72313336499997 meters Centerline goodness : 0.148861 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.26, Z:-0.27 [[ 9.97837160e-01 -1.77510471e-03 -6.57103598e-02 -2.01081563e+00] [ 1.65070933e-04 9.99699833e-01 -2.44993024e-02 2.59378329e-01] [ 6.57341245e-02 2.44354674e-02 9.97537936e-01 -2.68441200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.753133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 330.78313336499997 meters Centerline goodness : 0.096971 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.99774326 -0.00981948 -0.06642263 -1.98979395] [ 0.00827628 0.99969032 -0.02346847 0.26219728] [ 0.06663251 0.02286578 0.99751555 -0.2675758 ] [ 0. 0. 0. 1. ]] SLAMing on 330.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 330.84313336499997 meters Centerline goodness : 0.095140 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.9978063 -0.0056919 -0.06595597 -1.99051623] [ 0.0044253 0.99980329 -0.019334 0.25973504] [ 0.06605304 0.01899971 0.99763521 -0.26810567] [ 0. 0. 0. 1. ]] SLAMing on 330.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 330.903133365 meters Centerline goodness : 0.098562 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.99782623 -0.00560651 -0.06566107 -1.99173888] [ 0.00434753 0.99980427 -0.01930101 0.25988284] [ 0.06575643 0.01897359 0.9976553 -0.26746052] [ 0. 0. 0. 1. ]] SLAMing on 330.933133365 meters Centerline goodness : 0.083351 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.9978256 -0.00560039 -0.06567124 -1.99197646] [ 0.00434043 0.99980407 -0.01931282 0.25995451] [ 0.06576653 0.01898579 0.9976544 -0.2671156 ] [ 0. 0. 0. 1. ]] SLAMing on 330.963133365 meters Centerline goodness : 0.099691 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.26, Z:-0.27 [[ 0.99782836 -0.00555336 -0.06563323 -1.99223614] [ 0.00430135 0.99980638 -0.01920174 0.2594007 ] [ 0.06572716 0.01887773 0.99765905 -0.26688655] [ 0. 0. 0. 1. ]] SLAMing on 330.993133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.023133365 meters Centerline goodness : 0.118250 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.25, Z:-0.27 [[ 0.99786502 -0.0057808 -0.06505366 -1.99435959] [ 0.00457398 0.99981496 -0.01868475 0.25361276] [ 0.06514964 0.0183473 0.99770682 -0.26591312] [ 0. 0. 0. 1. ]] SLAMing on 331.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.083133365 meters Centerline goodness : 0.201362 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.27 [[ 0.99789194 -0.00564277 -0.06465159 -1.99569501] [ 0.00449715 0.99983053 -0.01785171 0.24851547] [ 0.06474137 0.01752333 0.99774821 -0.26524594] [ 0. 0. 0. 1. ]] SLAMing on 331.113133365 meters Centerline goodness : 0.091214 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.27 [[ 0.99788258 -0.00545399 -0.06481209 -1.99522689] [ 0.00433255 0.99983868 -0.01743098 0.24642422] [ 0.0648967 0.01711327 0.99774524 -0.26531603] [ 0. 0. 0. 1. ]] SLAMing on 331.143133365 meters Centerline goodness : 0.114815 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.24, Z:-0.27 [[ 0.99786061 -0.00522569 -0.06516824 -1.99391282] [ 0.00412693 0.99984725 -0.01698353 0.24413317] [ 0.06524704 0.01667826 0.99772975 -0.26597723] [ 0. 0. 0. 1. ]] SLAMing on 331.173133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.23313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.263133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.29313336499996 meters Centerline goodness : 0.151440 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.27 [[ 0.99790378 -0.00450269 -0.06455835 -1.99571862] [ 0.00347486 0.99986556 -0.0160244 0.24093385] [ 0.06462182 0.01576648 0.99778527 -0.26559263] [ 0. 0. 0. 1. ]] SLAMing on 331.323133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.35313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.383133365 meters Centerline goodness : 0.098205 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.27 [[ 0.99793278 -0.00480008 -0.06408679 -1.99702003] [ 0.00381882 0.99987373 -0.01542516 0.23425737] [ 0.06415274 0.01514854 0.99782511 -0.26520377] [ 0. 0. 0. 1. ]] SLAMing on 331.41313336499996 meters Centerline goodness : 0.101867 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99796034 -0.00465729 -0.06366682 -1.99859926] [ 0.0037059 0.99987983 -0.01505323 0.23263741] [ 0.06372927 0.01478658 0.99785767 -0.26429514] [ 0. 0. 0. 1. ]] SLAMing on 331.443133365 meters Centerline goodness : 0.040902 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99797644 -0.00453758 -0.06342266 -1.99929193] [ 0.00360825 0.99988456 -0.01475982 0.23128646] [ 0.06348231 0.01450111 0.9978776 -0.26411101] [ 0. 0. 0. 1. ]] SLAMing on 331.47313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.503133365 meters Centerline goodness : 0.085086 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99797298 -0.00455454 -0.06347586 -1.99874697] [ 0.00362844 0.9998854 -0.01469733 0.23038588] [ 0.06353553 0.01443721 0.99787514 -0.26467416] [ 0. 0. 0. 1. ]] SLAMing on 331.53313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.563133365 meters Centerline goodness : 0.084765 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.27 [[ 0.99794876 -0.00445552 -0.06386256 -1.9976706 ] [ 0.00350923 0.9998825 -0.01492207 0.23246437] [ 0.06392154 0.01466736 0.99784714 -0.2650044 ] [ 0. 0. 0. 1. ]] SLAMing on 331.59313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.623133365 meters Centerline goodness : 0.087664 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.27 [[ 0.99793091 -0.00455558 -0.06413378 -1.99702018] [ 0.00358096 0.99987648 -0.01530349 0.23466213] [ 0.06419558 0.01504216 0.99782396 -0.26507115] [ 0. 0. 0. 1. ]] SLAMing on 331.653133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.683133365 meters Centerline goodness : 0.230580 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 0.99791477 -0.00484998 -0.06436289 -1.99650824] [ 0.00385435 0.99987113 -0.01558417 0.23528413] [ 0.06443017 0.0153036 0.99780487 -0.26494386] [ 0. 0. 0. 1. ]] SLAMing on 331.713133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.743133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.773133365 meters Centerline goodness : 0.151257 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.24, Z:-0.27 [[ 0.9978141 -0.00574494 -0.06583328 -1.99267147] [ 0.00468573 0.99985727 -0.01623246 0.23530824] [ 0.06591714 0.0158885 0.99769859 -0.26537888] [ 0. 0. 0. 1. ]] SLAMing on 331.803133365 meters Centerline goodness : 0.146440 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.27 [[ 0.99781997 -0.00578935 -0.06574033 -1.99287781] [ 0.00476049 0.9998639 -0.0157962 0.23278312] [ 0.06582283 0.01544881 0.99771173 -0.26527247] [ 0. 0. 0. 1. ]] SLAMing on 331.833133365 meters Centerline goodness : 0.212281 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99784012 -0.00582084 -0.06543094 -1.99402478] [ 0.0048126 0.99986741 -0.01555641 0.23113502] [ 0.06551282 0.01520792 0.99773583 -0.26459666] [ 0. 0. 0. 1. ]] SLAMing on 331.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 331.893133365 meters Centerline goodness : 0.099115 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.9978666 -0.00608292 -0.06500187 -1.99572194] [ 0.00510081 0.99987048 -0.01526423 0.22768222] [ 0.0650863 0.0149001 0.99776839 -0.26363804] [ 0. 0. 0. 1. ]] SLAMing on 331.923133365 meters Centerline goodness : 0.134465 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99784685 -0.00594277 -0.06531727 -1.99479938] [ 0.00497546 0.99987568 -0.014962 0.22622736] [ 0.06539806 0.0146048 0.99775237 -0.26386295] [ 0. 0. 0. 1. ]] SLAMing on 331.953133365 meters Centerline goodness : 0.095111 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.9978142 -0.00566717 -0.06583841 -1.99314562] [ 0.00471163 0.99988144 -0.01465966 0.22519681] [ 0.06591368 0.01431741 0.99772261 -0.26443375] [ 0. 0. 0. 1. ]] SLAMing on 331.98313336499996 meters Centerline goodness : 0.239620 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99781846 -0.00559892 -0.06577978 -1.99353591] [ 0.0046436 0.99988165 -0.01466693 0.22539453] [ 0.06585411 0.01432948 0.99772637 -0.26416106] [ 0. 0. 0. 1. ]] SLAMing on 332.013133365 meters Centerline goodness : 0.229142 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.23, Z:-0.26 [[ 0.99783936 -0.00551565 -0.06546906 -1.9947164 ] [ 0.00456172 0.99988138 -0.01471124 0.22597349] [ 0.06554243 0.0143808 0.99774615 -0.2635916 ] [ 0. 0. 0. 1. ]] SLAMing on 332.04313336499996 meters Centerline goodness : 0.094258 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99784927 -0.00544378 -0.06532377 -1.9952412 ] [ 0.00448378 0.99987992 -0.01483356 0.22710447] [ 0.06539668 0.01450876 0.99775386 -0.26343595] [ 0. 0. 0. 1. ]] SLAMing on 332.073133365 meters Centerline goodness : 0.231521 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99784575 -0.00535391 -0.06538499 -1.99521913] [ 0.00438477 0.99987853 -0.01495653 0.22840293] [ 0.06545713 0.01463761 0.99774802 -0.26334654] [ 0. 0. 0. 1. ]] SLAMing on 332.10313336499996 meters Centerline goodness : 0.097032 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.23, Z:-0.26 [[ 0.99784231 -0.0052894 -0.06544271 -1.99506318] [ 0.00428934 0.99987202 -0.01541257 0.23146636] [ 0.06551586 0.01509861 0.99773729 -0.26352781] [ 0. 0. 0. 1. ]] SLAMing on 332.133133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.16313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.193133365 meters Centerline goodness : 0.091267 Centerline is valid? [False, False] Translation: X:-1.99, Y:0.24, Z:-0.26 [[ 9.97833503e-01 -1.43628358e-03 -6.57741455e-02 -1.99489743e+00] [ 6.20889314e-04 9.99922730e-01 -1.24156450e-02 2.36013637e-01] [ 6.57868955e-02 1.23479081e-02 9.97757292e-01 -2.62949198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.253133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.28313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.34313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.373133365 meters Centerline goodness : 0.152231 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97801758e-01 -1.05606676e-03 -6.62611233e-02 -1.99608646e+00] [ 2.05723911e-04 9.99917559e-01 -1.28387201e-02 2.45977065e-01] [ 6.62692192e-02 1.27968659e-02 9.97719716e-01 -2.60236276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.403133365 meters Centerline goodness : 0.105997 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97805126e-01 -1.02840798e-03 -6.62108219e-02 -1.99611749e+00] [ 1.81841327e-04 9.99918179e-01 -1.27906828e-02 2.45932034e-01] [ 6.62185585e-02 1.27505690e-02 9.97723672e-01 -2.60345270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.433133365 meters Centerline goodness : 0.256205 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97800789e-01 -1.01462618e-03 -6.62763625e-02 -1.99591946e+00] [ 1.70883219e-04 9.99918891e-01 -1.27351055e-02 2.45659707e-01] [ 6.62839083e-02 1.26957728e-02 9.97720031e-01 -2.60387969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.463133365 meters Centerline goodness : 0.103627 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.25, Z:-0.26 [[ 9.97799417e-01 -1.02234546e-03 -6.62969021e-02 -1.99574864e+00] [ 1.83051486e-04 9.99919786e-01 -1.26644649e-02 2.45082220e-01] [ 6.63045316e-02 1.26244600e-02 9.97719566e-01 -2.60521404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.493133365 meters Centerline goodness : 0.181009 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97795074e-01 -1.02052440e-03 -6.63622589e-02 -1.99562415e+00] [ 1.86597162e-04 9.99920961e-01 -1.25712720e-02 2.44387170e-01] [ 6.63698430e-02 1.25311703e-02 9.97716399e-01 -2.60464213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.523133365 meters Centerline goodness : 0.101048 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97784017e-01 -1.02649371e-03 -6.65282051e-02 -1.99536262e+00] [ 2.07418881e-04 9.99924116e-01 -1.23174309e-02 2.42574223e-01] [ 6.65358004e-02 1.22763364e-02 9.97708514e-01 -2.60210342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.583133365 meters Centerline goodness : 0.200563 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97795721e-01 -9.84484857e-04 -6.63530733e-02 -1.99624989e+00] [ 1.88541347e-04 9.99927970e-01 -1.20007734e-02 2.40694085e-01] [ 6.63601085e-02 1.19618100e-02 9.97724036e-01 -2.59491788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.613133365 meters Centerline goodness : 0.200563 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97795721e-01 -9.84484857e-04 -6.63530733e-02 -1.99624989e+00] [ 1.88541347e-04 9.99927970e-01 -1.20007734e-02 2.40694085e-01] [ 6.63601085e-02 1.19618100e-02 9.97724036e-01 -2.59491788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.643133365 meters Centerline goodness : 0.141090 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97798632e-01 -9.44681100e-04 -6.63098665e-02 -1.99645330e+00] [ 1.59712014e-04 9.99929866e-01 -1.18421957e-02 2.39723917e-01] [ 6.63164030e-02 1.18055362e-02 9.97728803e-01 -2.59311144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.673133365 meters Centerline goodness : 0.150094 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97800748e-01 -8.21978038e-04 -6.62796508e-02 -1.99665140e+00] [ 5.25646496e-05 9.99932606e-01 -1.16094998e-02 2.38722700e-01] [ 6.62847267e-02 1.15804836e-02 9.97733545e-01 -2.59140404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.703133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.73313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.763133365 meters Centerline goodness : 0.103244 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97824039e-01 -7.06204396e-04 -6.59294171e-02 -1.99803977e+00] [-5.20551788e-05 9.99933887e-01 -1.14986549e-02 2.38392816e-01] [ 6.59331787e-02 1.14770663e-02 9.97758033e-01 -2.58408205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79313336499996 meters Centerline goodness : 0.095561 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.24, Z:-0.26 [[ 9.97687338e-01 -3.56095784e-04 -6.79694746e-02 -2.04388842e+00] [-4.65240064e-04 9.99927075e-01 -1.20676810e-02 2.35852901e-01] [ 6.79688152e-02 1.20713946e-02 9.97614415e-01 -2.59527730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 332.85313336499996 meters Centerline goodness : 0.091045 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97736889e-01 -1.68533806e-04 -6.72389228e-02 -1.99901087e+00] [-6.06083183e-04 9.99933691e-01 -1.14998002e-02 2.37337894e-01] [ 6.72364023e-02 1.15145273e-02 9.97670628e-01 -2.57143717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.883133365 meters Centerline goodness : 0.097167 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97722356e-01 -1.46272450e-04 -6.74542662e-02 -1.99835687e+00] [-6.26026190e-04 9.99934503e-01 -1.14279383e-02 2.36800385e-01] [ 6.74515197e-02 1.14441377e-02 9.97656917e-01 -2.57343751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91313336499996 meters Centerline goodness : 0.098218 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97706819e-01 -1.55159501e-04 -6.76836766e-02 -1.99767589e+00] [-6.19177883e-04 9.99934605e-01 -1.14194055e-02 2.36552420e-01] [ 6.76810223e-02 1.14351270e-02 9.97641477e-01 -2.57542529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.943133365 meters Centerline goodness : 0.106125 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97688352e-01 -1.17266450e-04 -6.79554118e-02 -1.99698310e+00] [-6.68791458e-04 9.99933138e-01 -1.15443941e-02 2.37545952e-01] [ 6.79522219e-02 1.15631556e-02 9.97621566e-01 -2.57630360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.003133365 meters Centerline goodness : 0.181570 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97724109e-01 -1.11855714e-04 -6.74284079e-02 -1.99864152e+00] [-6.87954991e-04 9.99929688e-01 -1.18382912e-02 2.39638377e-01] [ 6.74249911e-02 1.18577363e-02 9.97653880e-01 -2.57153922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.09313336499997 meters Centerline goodness : 0.085651 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97700655e-01 -5.14302652e-05 -6.77746278e-02 -1.99879807e+00] [-7.39264900e-04 9.99931963e-01 -1.16414043e-02 2.38426140e-01] [ 6.77706153e-02 1.16647401e-02 9.97632737e-01 -2.55779129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.183133365 meters Centerline goodness : 0.119194 Centerline is valid? [False, False] Translation: X:-2.00, Y:0.24, Z:-0.26 [[ 9.97678668e-01 3.15141018e-05 -6.80975299e-02 -1.99730967e+00] [-7.98863905e-04 9.99936497e-01 -1.12411915e-02 2.35626411e-01] [ 6.80928513e-02 1.12694977e-02 9.97615338e-01 -2.56716091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.213133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.243133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.273133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.303133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.333133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.363133365 meters Centerline goodness : 0.100963 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97842668e-01 7.17147909e-04 -6.56467549e-02 -2.00778292e+00] [-1.34574427e-03 9.99953667e-01 -9.53171826e-03 2.24198737e-01] [ 6.56368776e-02 9.59949892e-03 9.97797399e-01 -2.51413768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.393133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.423133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.453133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.48313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.513133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.54313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.573133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.60313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.633133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.66313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.693133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.72313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.753133365 meters Centerline goodness : 0.085787 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.21, Z:-0.25 [[ 9.97869705e-01 -8.62994912e-04 -6.52327219e-02 -2.01135884e+00] [ 2.00051173e-04 9.99948278e-01 -1.01685972e-02 2.14648827e-01] [ 6.52381234e-02 1.01338852e-02 9.97818266e-01 -2.48636981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78313336499997 meters Centerline goodness : 0.090444 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.21, Z:-0.25 [[ 9.97877766e-01 -9.20204377e-04 -6.51085029e-02 -2.01195806e+00] [ 2.59765748e-04 9.99948439e-01 -1.01514002e-02 2.14305789e-01] [ 6.51144872e-02 1.01129436e-02 9.97826554e-01 -2.48173987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.84313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.903133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.933133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 333.963133365 meters Centerline goodness : 0.092384 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97753408e-01 -2.32294275e-03 -6.69532728e-02 -2.00708114e+00] [ 1.55579425e-03 9.99932572e-01 -1.15078334e-02 2.18487552e-01] [ 6.69754903e-02 1.13778145e-02 9.97689746e-01 -2.48696696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.993133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.023133365 meters Centerline goodness : 0.126556 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97755192e-01 -2.28739599e-03 -6.69279076e-02 -2.00723468e+00] [ 1.52517573e-03 9.99933426e-01 -1.14375562e-02 2.18747062e-01] [ 6.69496142e-02 1.13098042e-02 9.97692256e-01 -2.48496946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.053133365 meters Centerline goodness : 0.092820 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97761406e-01 -2.57498460e-03 -6.68247453e-02 -2.00764030e+00] [ 1.78799348e-03 9.99928376e-01 -1.18340785e-02 2.19869014e-01] [ 6.68504317e-02 1.16881046e-02 9.97694546e-01 -2.48256978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.083133365 meters Centerline goodness : 0.093018 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97768298e-01 -2.68663709e-03 -6.67173587e-02 -2.00815024e+00] [ 1.89223582e-03 9.99926599e-01 -1.19673050e-02 2.20151573e-01] [ 6.67446134e-02 1.18143525e-02 9.97700144e-01 -2.47920280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.113133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.143133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.173133365 meters Centerline goodness : 0.093121 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97741541e-01 -2.33728932e-03 -6.71293791e-02 -2.00749784e+00] [ 1.56584838e-03 9.99932161e-01 -1.15421711e-02 2.20117159e-01] [ 6.71518025e-02 1.14109892e-02 9.97677515e-01 -2.47474988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.23313336499996 meters Centerline goodness : 0.086283 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 0.99774573 -0.00285679 -0.06704703 -2.00793299] [ 0.00206987 0.99992819 -0.01180345 0.21881182] [ 0.06707594 0.01163806 0.99768 -0.24710725] [ 0. 0. 0. 1. ]] SLAMing on 334.263133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.29313336499996 meters Centerline goodness : 0.098117 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97763111e-01 -2.73307546e-03 -6.67930040e-02 -2.00914337e+00] [ 1.95205450e-03 9.99928995e-01 -1.17556239e-02 2.19355447e-01] [ 6.68203904e-02 1.15989443e-02 9.97697599e-01 -2.46290212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.323133365 meters Centerline goodness : 0.086054 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97761569e-01 -2.73222576e-03 -6.68160625e-02 -2.00908041e+00] [ 1.94412744e-03 9.99927811e-01 -1.18572218e-02 2.20055591e-01] [ 6.68436358e-02 1.17007813e-02 9.97694853e-01 -2.46318371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35313336499996 meters Centerline goodness : 0.092264 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97749215e-01 -2.76712207e-03 -6.69988563e-02 -2.00854464e+00] [ 1.96662141e-03 9.99925932e-01 -1.20109834e-02 2.20806294e-01] [ 6.70271297e-02 1.18521879e-02 9.97680755e-01 -2.46519596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.383133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.41313336499996 meters Centerline goodness : 0.087026 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97831808e-01 -2.51147273e-03 -6.57675908e-02 -2.01208181e+00] [ 1.71884638e-03 9.99925246e-01 -1.21057406e-02 2.22113863e-01] [ 6.57930776e-02 1.19664487e-02 9.97761532e-01 -2.45753030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.443133365 meters Centerline goodness : 0.086055 Centerline is valid? [False, False] Translation: X:-2.01, Y:0.22, Z:-0.25 [[ 9.97856351e-01 -2.45012070e-03 -6.53964850e-02 -2.01330651e+00] [ 1.65629553e-03 9.99924326e-01 -1.21901090e-02 2.23003255e-01] [ 6.54214034e-02 1.20556618e-02 9.97784897e-01 -2.45345251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.503133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.53313336499997 meters Centerline goodness : 0.083091 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.22, Z:-0.24 [[ 9.97899446e-01 -1.95866316e-03 -6.47522891e-02 -2.01545182e+00] [ 1.17948019e-03 9.99926467e-01 -1.20693264e-02 2.24492278e-01] [ 6.47711674e-02 1.19676001e-02 9.97828378e-01 -2.44662536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.563133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.59313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.623133365 meters Centerline goodness : 0.194354 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.24 [[ 9.97953373e-01 -1.57729553e-03 -6.39263368e-02 -2.01802810e+00] [ 8.11508716e-04 9.99927627e-01 -1.20034019e-02 2.25495734e-01] [ 6.39406432e-02 1.19269586e-02 9.97882429e-01 -2.43929657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.653133365 meters Centerline goodness : 0.245693 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.24 [[ 9.97970739e-01 -1.55766527e-03 -6.36551432e-02 -2.01933946e+00] [ 7.96270746e-04 9.99927862e-01 -1.19848602e-02 2.25507760e-01] [ 6.36692197e-02 1.19098531e-02 9.97899988e-01 -2.43020017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.683133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.713133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.743133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.773133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.803133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.833133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.863133365 meters Centerline goodness : 0.092929 Centerline is valid? [False, False] Translation: X:-2.02, Y:0.23, Z:-0.24 [[ 9.97977277e-01 1.33850114e-03 -6.35575579e-02 -2.02037803e+00] [-2.00458759e-03 9.99943728e-01 -1.04174400e-02 2.34341451e-01] [ 6.35400376e-02 1.05237751e-02 9.97923802e-01 -2.42446191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.893133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.923133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.953133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 334.98313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.04313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.10313336499996 meters Centerline goodness : 0.273673 Centerline is valid? [False, False] Translation: X:-2.04, Y:0.23, Z:-0.24 [[ 0.99795947 -0.02634064 -0.05816417 -2.03976864] [ 0.02566443 0.99959442 -0.01234258 0.22722338] [ 0.05846569 0.01082464 0.99823073 -0.24315335] [ 0. 0. 0. 1. ]] SLAMing on 335.133133365 meters Centerline goodness : 0.148712 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.22, Z:-0.25 [[ 0.99817468 -0.01849104 -0.05749247 -2.05864234] [ 0.01776511 0.99975621 -0.01311209 0.21766558] [ 0.05772091 0.0120668 0.99825983 -0.24561274] [ 0. 0. 0. 1. ]] SLAMing on 335.16313336499996 meters Centerline goodness : 0.277577 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.21, Z:-0.25 [[ 0.99816946 -0.01823685 -0.05766401 -2.05810512] [ 0.01754364 0.99976789 -0.01250516 0.21482474] [ 0.05787868 0.01147064 0.99825772 -0.2457382 ] [ 0. 0. 0. 1. ]] SLAMing on 335.193133365 meters Centerline goodness : 0.130202 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.21, Z:-0.25 [[ 0.99825753 -0.00947377 -0.05824221 -2.07670005] [ 0.00873828 0.999879 -0.0128699 0.206696 ] [ 0.05835709 0.01233853 0.99821952 -0.24791403] [ 0. 0. 0. 1. ]] SLAMing on 335.22313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.253133365 meters Centerline goodness : 0.104036 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.20, Z:-0.25 [[ 0.99822618 -0.00875101 -0.05888905 -2.07464439] [ 0.0080654 0.99989702 -0.0118701 0.20198612] [ 0.05898686 0.01137408 0.99819396 -0.24864008] [ 0. 0. 0. 1. ]] SLAMing on 335.28313336499997 meters Centerline goodness : 0.237381 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.20, Z:-0.25 [[ 0.99822622 -0.00849047 -0.05892636 -2.07444892] [ 0.00781737 0.99990165 -0.01164389 0.20142578] [ 0.05901943 0.01116259 0.99819442 -0.24888995] [ 0. 0. 0. 1. ]] SLAMing on 335.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.34313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.403133365 meters Centerline goodness : 0.101265 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.19, Z:-0.25 [[ 0.99827903 0.01099223 -0.05760343 -2.07828344] [-0.01165992 0.99986853 -0.01126784 0.19395471] [ 0.057472 0.0119201 0.99827595 -0.24767305] [ 0. 0. 0. 1. ]] SLAMing on 335.433133365 meters Centerline goodness : 0.095776 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.20, Z:-0.25 [[ 0.99831082 0.00338756 -0.05800018 -2.0597392 ] [-0.00397839 0.99994134 -0.0100743 0.19865448] [ 0.05796265 0.01028803 0.99826574 -0.24575794] [ 0. 0. 0. 1. ]] SLAMing on 335.463133365 meters Centerline goodness : 0.188536 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.20, Z:-0.25 [[ 0.99830644 0.00344928 -0.0580719 -2.05927224] [-0.00403305 0.99994248 -0.00993829 0.19781434] [ 0.05803428 0.01015567 0.99826293 -0.24617623] [ 0. 0. 0. 1. ]] SLAMing on 335.493133365 meters Centerline goodness : 0.175977 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.20, Z:-0.25 [[ 0.99832003 0.00349648 -0.05783505 -2.05993127] [-0.00406602 0.99994437 -0.00973293 0.19646381] [ 0.0577978 0.00995174 0.99827871 -0.2460684 ] [ 0. 0. 0. 1. ]] SLAMing on 335.523133365 meters Centerline goodness : 0.099847 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.19, Z:-0.24 [[ 9.98369366e-01 -8.74171092e-05 -5.70841536e-02 -2.06287953e+00] [-6.42981720e-04 9.99918169e-01 -1.27766317e-02 1.93671791e-01] [ 5.70805993e-02 1.27925018e-02 9.98287612e-01 -2.44716008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.583133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.613133365 meters Centerline goodness : 0.143199 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98416722e-01 -1.95004422e-03 -5.62160648e-02 -2.06572572e+00] [ 1.20153091e-03 9.99910221e-01 -1.33456620e-02 1.84317056e-01] [ 5.62370424e-02 1.32569868e-02 9.98329428e-01 -2.43728247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.643133365 meters Centerline goodness : 0.158263 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98434288e-01 -1.79112678e-03 -5.59085288e-02 -2.06644254e+00] [ 1.07794980e-03 9.99917704e-01 -1.27836907e-02 1.81425579e-01] [ 5.59268250e-02 1.27034086e-02 9.98354052e-01 -2.43606973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.673133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.703133365 meters Centerline goodness : 0.102814 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.17, Z:-0.24 [[ 9.98435637e-01 -1.69600589e-03 -5.58874150e-02 -2.06625854e+00] [ 1.02854237e-03 9.99927833e-01 -1.19696024e-02 1.74347461e-01] [ 5.59036823e-02 1.18933950e-02 9.98365327e-01 -2.43758882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.763133365 meters Centerline goodness : 0.192653 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.17, Z:-0.24 [[ 9.98455480e-01 -1.29590824e-03 -5.55425511e-02 -2.06719863e+00] [ 6.84600044e-04 9.99939002e-01 -1.10237379e-02 1.69874778e-01] [ 5.55534489e-02 1.09686871e-02 9.98395464e-01 -2.43542289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79313336499996 meters Centerline goodness : 0.092846 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.17, Z:-0.24 [[ 9.98449258e-01 -1.19357990e-03 -5.56565769e-02 -2.06676235e+00] [ 5.96433189e-04 9.99942098e-01 -1.07445076e-02 1.68333604e-01] [ 5.56661787e-02 1.06946502e-02 9.98392158e-01 -2.43772608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.823133365 meters Centerline goodness : 0.103143 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.16, Z:-0.25 [[ 0.9983962 0.00666596 -0.05621911 -2.08493863] [-0.00735036 0.99990127 -0.01197595 0.16147686] [ 0.05613373 0.01236997 0.99834663 -0.2465161 ] [ 0. 0. 0. 1. ]] SLAMing on 335.85313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 335.883133365 meters Centerline goodness : 0.101657 Centerline is valid? [False, False] Translation: X:-2.10, Y:0.16, Z:-0.25 [[ 9.98397605e-01 -1.28676435e-03 -5.65735579e-02 -2.10496237e+00] [ 6.87350514e-04 9.99943439e-01 -1.06134824e-02 1.62232093e-01] [ 5.65840151e-02 1.05575895e-02 9.98342019e-01 -2.48715085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91313336499996 meters Centerline goodness : 0.284235 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98473339e-01 -1.14978689e-03 -5.52238116e-02 -2.05922594e+00] [ 5.77144099e-04 9.99945915e-01 -1.03843196e-02 1.63334875e-01] [ 5.52327645e-02 1.03365942e-02 9.98420000e-01 -2.47133011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.943133365 meters Centerline goodness : 0.339684 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98459887e-01 -1.11838723e-03 -5.54671377e-02 -2.05837837e+00] [ 5.44510576e-04 9.99946183e-01 -1.03602799e-02 1.63296559e-01] [ 5.54757394e-02 1.03141214e-02 9.98406761e-01 -2.47530480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97313336499997 meters Centerline goodness : 0.096206 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98448828e-01 -1.06341433e-03 -5.56669281e-02 -2.05783325e+00] [ 4.85694100e-04 9.99945898e-01 -1.03906595e-02 1.63811198e-01] [ 5.56749660e-02 1.03475047e-02 9.98395326e-01 -2.47674911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.003133365 meters Centerline goodness : 0.126790 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.16, Z:-0.25 [[ 9.98445542e-01 -9.95626689e-04 -5.57270933e-02 -2.05775122e+00] [ 4.17231792e-04 9.99945938e-01 -1.03897334e-02 1.64268150e-01] [ 5.57344249e-02 1.03503319e-02 9.98391979e-01 -2.47636978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03313336499997 meters Centerline goodness : 0.093822 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98447243e-01 -9.62767172e-04 -5.56971833e-02 -2.05781764e+00] [ 3.79914250e-04 9.99945071e-01 -1.04743170e-02 1.65009712e-01] [ 5.57042083e-02 1.04368927e-02 9.98392765e-01 -2.47694122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.063133365 meters Centerline goodness : 0.277946 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98446920e-01 -1.18489396e-03 -5.56986874e-02 -2.05750375e+00] [ 5.75063703e-04 9.99939734e-01 -1.09634893e-02 1.66794934e-01] [ 5.57083212e-02 1.09144319e-02 9.98387429e-01 -2.48246126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09313336499997 meters Centerline goodness : 0.101558 Centerline is valid? [False, False] Translation: X:-2.08, Y:0.16, Z:-0.25 [[ 0.99840714 0.00676609 -0.05601261 -2.07722632] [-0.00747058 0.99989549 -0.01237759 0.16274962] [ 0.05592301 0.01277632 0.99835334 -0.25041087] [ 0. 0. 0. 1. ]] SLAMing on 336.123133365 meters Centerline goodness : 0.439183 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98456642e-01 -1.71156231e-04 -5.55365162e-02 -2.06046307e+00] [-4.23152856e-04 9.99942778e-01 -1.06892952e-02 1.70042203e-01] [ 5.55351678e-02 1.06962982e-02 9.98399436e-01 -2.47529387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.153133365 meters Centerline goodness : 0.193851 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98464185e-01 -1.59938635e-04 -5.54007810e-02 -2.06096596e+00] [-4.43730366e-04 9.99940670e-01 -1.08839264e-02 1.71717195e-01] [ 5.53992349e-02 1.08917937e-02 9.98404875e-01 -2.47349865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.183133365 meters Centerline goodness : 0.187215 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.17, Z:-0.25 [[ 9.98474645e-01 -1.47431662e-04 -5.52119717e-02 -2.06193458e+00] [-4.75897240e-04 9.99936306e-01 -1.12764239e-02 1.74782265e-01] [ 5.52101175e-02 1.12854986e-02 9.98410978e-01 -2.46750290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.213133365 meters Centerline goodness : 0.098975 Centerline is valid? [False, False] Translation: X:-2.06, Y:0.18, Z:-0.25 [[ 9.98475796e-01 -2.63132288e-04 -5.51907225e-02 -2.06210705e+00] [-3.73261885e-04 9.99933571e-01 -1.15201928e-02 1.75902475e-01] [ 5.51900875e-02 1.15232343e-02 9.98409370e-01 -2.46597784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.243133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.273133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.303133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.333133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.363133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.393133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.423133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.453133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 336.48313336499996 meters Centerline goodness : 0.111770 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98547746e-01 -2.19311345e-03 -5.38292555e-02 -2.06840281e+00] [ 1.48261554e-03 9.99911308e-01 -1.32354892e-02 1.76788477e-01] [ 5.38535082e-02 1.31364598e-02 9.98462434e-01 -2.43109725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.513133365 meters Centerline goodness : 0.093390 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98539505e-01 -2.14021666e-03 -5.39840463e-02 -2.06788699e+00] [ 1.42862051e-03 9.99911634e-01 -1.32167477e-02 1.76969474e-01] [ 5.40075627e-02 1.31203220e-02 9.98454326e-01 -2.43347349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54313336499996 meters Centerline goodness : 0.096275 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98558398e-01 -2.03621030e-03 -5.36374777e-02 -2.06874279e+00] [ 1.33046036e-03 9.99912120e-01 -1.31901988e-02 1.77365919e-01] [ 5.36596221e-02 1.30998213e-02 9.98473354e-01 -2.43420836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.573133365 meters Centerline goodness : 0.099411 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98574126e-01 -2.01010652e-03 -5.33448629e-02 -2.06964713e+00] [ 1.30886041e-03 9.99912320e-01 -1.31772039e-02 1.77464899e-01] [ 5.33666732e-02 1.30885939e-02 9.98489202e-01 -2.43169650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60313336499996 meters Centerline goodness : 0.098446 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98584451e-01 -1.95504305e-03 -5.31532913e-02 -2.07021801e+00] [ 1.25880736e-03 9.99913019e-01 -1.31289620e-02 1.77469139e-01] [ 5.31743356e-02 1.30434676e-02 9.98500054e-01 -2.43014038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.633133365 meters Centerline goodness : 0.450502 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98590320e-01 -1.96497670e-03 -5.30425427e-02 -2.07034038e+00] [ 1.26798119e-03 9.99912458e-01 -1.31707663e-02 1.77633163e-01] [ 5.30637795e-02 1.30849427e-02 9.98505393e-01 -2.43247123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66313336499996 meters Centerline goodness : 0.443898 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98569762e-01 -2.00808395e-03 -5.34265656e-02 -2.06892736e+00] [ 1.30456680e-03 9.99912031e-01 -1.31995446e-02 1.77318281e-01] [ 5.34483715e-02 1.31109676e-02 9.98484539e-01 -2.44019968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.693133365 meters Centerline goodness : 0.248214 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98561927e-01 -1.89872403e-03 -5.35768014e-02 -2.06841001e+00] [ 1.20257956e-03 9.99914479e-01 -1.30226416e-02 1.76707489e-01] [ 5.35969458e-02 1.29394837e-02 9.98478812e-01 -2.44310498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72313336499997 meters Centerline goodness : 0.277614 Centerline is valid? [False, False] Translation: X:-2.07, Y:0.18, Z:-0.24 [[ 9.98561715e-01 -1.76261038e-03 -5.35853919e-02 -2.06814107e+00] [ 1.07878174e-03 9.99917652e-01 -1.27877217e-02 1.75977684e-01] [ 5.36035191e-02 1.27115224e-02 9.98481387e-01 -2.44651795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.753133365 meters Centerline goodness : 0.192398 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98442450e-01 -1.75586783e-03 -5.57637114e-02 -2.11298872e+00] [ 1.04776605e-03 9.99918486e-01 -1.27249528e-02 1.71527390e-01] [ 5.57815091e-02 1.26467058e-02 9.98362902e-01 -2.46451485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78313336499997 meters Centerline goodness : 0.249341 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98441932e-01 -1.73078602e-03 -5.57737631e-02 -2.11296992e+00] [ 1.03190160e-03 9.99920624e-01 -1.25570658e-02 1.70394229e-01] [ 5.57910696e-02 1.24799480e-02 9.98364466e-01 -2.46441856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.813133365 meters Centerline goodness : 0.197646 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98437132e-01 -1.81333342e-03 -5.58570005e-02 -2.11292414e+00] [ 1.11776321e-03 9.99921479e-01 -1.24814209e-02 1.69035956e-01] [ 5.58752476e-02 1.23994792e-02 9.98360761e-01 -2.46236826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84313336499997 meters Centerline goodness : 0.335021 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.17, Z:-0.25 [[ 9.98386179e-01 -2.06733531e-03 -5.67517760e-02 -2.11065986e+00] [ 1.37138738e-03 9.99923421e-01 -1.22992238e-02 1.66161132e-01] [ 5.67728566e-02 1.22015464e-02 9.98312559e-01 -2.46416276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.873133365 meters Centerline goodness : 0.183551 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98376935e-01 -1.94460053e-03 -5.69184897e-02 -2.10996591e+00] [ 1.26486669e-03 9.99927487e-01 -1.19758237e-02 1.64573367e-01] [ 5.69376506e-02 1.18843918e-02 9.98306999e-01 -2.46805571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.903133365 meters Centerline goodness : 0.107877 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98373806e-01 -1.82329997e-03 -5.69773478e-02 -2.10968939e+00] [ 1.15963738e-03 9.99931129e-01 -1.16787256e-02 1.63173028e-01] [ 5.69947175e-02 1.15936607e-02 9.98307162e-01 -2.46956157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.933133365 meters Centerline goodness : 0.444571 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.17, Z:-0.25 [[ 0.99835478 -0.0099525 -0.05646832 -2.09013362] [ 0.00936335 0.99989904 -0.01068835 0.16685589] [ 0.05656899 0.01014203 0.99834718 -0.24518912] [ 0. 0. 0. 1. ]] SLAMing on 336.963133365 meters Centerline goodness : 0.358956 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98400667e-01 -2.32194560e-03 -5.64864317e-02 -2.10917354e+00] [ 1.65458865e-03 9.99928318e-01 -1.18583654e-02 1.59059660e-01] [ 5.65099171e-02 1.17459381e-02 9.98332942e-01 -2.47475054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.993133365 meters Centerline goodness : 0.098092 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98370548e-01 -2.34302492e-03 -5.70154324e-02 -2.10770382e+00] [ 1.68936974e-03 9.99932330e-01 -1.15100307e-02 1.56476057e-01] [ 5.70385425e-02 1.13949555e-02 9.98306947e-01 -2.47720215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.023133365 meters Centerline goodness : 0.105244 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.16, Z:-0.25 [[ 9.98356984e-01 -2.24829602e-03 -5.72562481e-02 -2.10701521e+00] [ 1.60445049e-03 9.99934996e-01 -1.12884714e-02 1.55327250e-01] [ 5.72779061e-02 1.11780595e-02 9.98295694e-01 -2.47881462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.053133365 meters Centerline goodness : 0.344180 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 9.98358019e-01 -2.14139531e-03 -5.72422899e-02 -2.10710023e+00] [ 1.51109391e-03 9.99937782e-01 -1.10521322e-02 1.54208243e-01] [ 5.72623954e-02 1.09474863e-02 9.98299139e-01 -2.47803446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.083133365 meters Centerline goodness : 0.299882 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 9.98368129e-01 -2.04045785e-03 -5.70693939e-02 -2.10774542e+00] [ 1.42285071e-03 9.99940010e-01 -1.08605787e-02 1.53397823e-01] [ 5.70881309e-02 1.07616544e-02 9.98311140e-01 -2.47465271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.113133365 meters Centerline goodness : 0.297791 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99849709 0.00437294 -0.05463006 -2.13155054] [-0.00507813 0.99990549 -0.01277628 0.14687487] [ 0.05456902 0.0130345 0.99842492 -0.24849682] [ 0. 0. 0. 1. ]] SLAMing on 337.143133365 meters Centerline goodness : 0.446937 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99850912 0.00442325 -0.05440564 -2.13244135] [-0.00512622 0.99990509 -0.0127882 0.14715391] [ 0.05434391 0.01304803 0.99843702 -0.24801884] [ 0. 0. 0. 1. ]] SLAMing on 337.173133365 meters Centerline goodness : 0.445502 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99852905 0.00454831 -0.05402814 -2.13374111] [-0.00524723 0.99990429 -0.01280139 0.14794926] [ 0.05396474 0.01306605 0.99845735 -0.24749371] [ 0. 0. 0. 1. ]] SLAMing on 337.203133365 meters Centerline goodness : 0.108975 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99854813 0.00467498 -0.05366346 -2.13478794] [-0.00537404 0.99990248 -0.01288974 0.1492577 ] [ 0.05359797 0.01315942 0.99847588 -0.24731158] [ 0. 0. 0. 1. ]] SLAMing on 337.23313336499996 meters Centerline goodness : 0.090267 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99854349 0.00472942 -0.053745 -2.13446987] [-0.00543976 0.99989968 -0.01307836 0.1508053 ] [ 0.05367776 0.01335167 0.99846904 -0.24759345] [ 0. 0. 0. 1. ]] SLAMing on 337.263133365 meters Centerline goodness : 0.090038 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99853676 0.00466965 -0.05387525 -2.13378468] [-0.00539555 0.99989651 -0.01333614 0.15214286] [ 0.0538074 0.01360731 0.99845861 -0.24821793] [ 0. 0. 0. 1. ]] SLAMing on 337.29313336499996 meters Centerline goodness : 0.135394 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99853537 0.0044993 -0.05391547 -2.13343675] [-0.00524636 0.99989208 -0.01372262 0.1537197 ] [ 0.05384791 0.01398538 0.99845121 -0.24870609] [ 0. 0. 0. 1. ]] SLAMing on 337.323133365 meters Centerline goodness : 0.090621 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99853931 0.00449667 -0.05384261 -2.13389226] [-0.00524481 0.99989155 -0.01376184 0.1540927 ] [ 0.05377489 0.01402413 0.9984546 -0.24831239] [ 0. 0. 0. 1. ]] SLAMing on 337.35313336499996 meters Centerline goodness : 0.096431 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.99854478 0.00452445 -0.0537387 -2.13437157] [-0.00527032 0.99989163 -0.01374591 0.15432092] [ 0.05367068 0.01400913 0.99846042 -0.24799448] [ 0. 0. 0. 1. ]] SLAMing on 337.383133365 meters Centerline goodness : 0.103450 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.15, Z:-0.25 [[ 0.9985485 0.00450354 -0.05367124 -2.13469899] [-0.00525137 0.99989098 -0.01380072 0.15465167] [ 0.05360323 0.01406254 0.99846329 -0.24775418] [ 0. 0. 0. 1. ]] SLAMing on 337.41313336499996 meters Centerline goodness : 0.106563 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.9985509 0.00444349 -0.05363172 -2.13457992] [-0.00519735 0.99988954 -0.01392483 0.15531118] [ 0.05356392 0.01418339 0.99846369 -0.24808674] [ 0. 0. 0. 1. ]] SLAMing on 337.443133365 meters Centerline goodness : 0.090839 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.99855039 0.00443039 -0.05364229 -2.13425269] [-0.00518604 0.99988917 -0.01395571 0.1555546 ] [ 0.05357451 0.01421367 0.99846269 -0.24853631] [ 0. 0. 0. 1. ]] SLAMing on 337.47313336499997 meters Centerline goodness : 0.261410 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.9985499 0.00441715 -0.05365243 -2.1340176 ] [-0.00517398 0.99988895 -0.01397555 0.15564716] [ 0.05358474 0.01423288 0.99846187 -0.24882543] [ 0. 0. 0. 1. ]] SLAMing on 337.503133365 meters Centerline goodness : 0.115675 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.99854106 0.0044081 -0.05381746 -2.13360453] [-0.00516796 0.99988881 -0.01398819 0.15565065] [ 0.05374982 0.0142459 0.99845281 -0.24887096] [ 0. 0. 0. 1. ]] SLAMing on 337.53313336499997 meters Centerline goodness : 0.108834 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.16, Z:-0.25 [[ 0.99853559 0.00438692 -0.05392053 -2.13354279] [-0.00514812 0.99988893 -0.01398637 0.15547439] [ 0.05385318 0.01424348 0.99844727 -0.24860577] [ 0. 0. 0. 1. ]] SLAMing on 337.563133365 meters Centerline goodness : 0.091727 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.99854157 -0.00331249 -0.05388656 -2.11568657] [ 0.00262875 0.9999152 -0.01275449 0.16071728] [ 0.05392424 0.01259423 0.9984656 -0.24567825] [ 0. 0. 0. 1. ]] SLAMing on 337.59313336499997 meters Centerline goodness : 0.133502 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.99853495 -0.00333764 -0.0540075 -2.11539317] [ 0.00265062 0.99991472 -0.01278741 0.16088383] [ 0.05404557 0.01262552 0.99845865 -0.24566873] [ 0. 0. 0. 1. ]] SLAMing on 337.623133365 meters Centerline goodness : 0.195606 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.9985353 -0.00330604 -0.05400303 -2.11516647] [ 0.00262373 0.9999159 -0.01270062 0.16046447] [ 0.05404047 0.01254032 0.99846 -0.24603668] [ 0. 0. 0. 1. ]] SLAMing on 337.653133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 337.683133365 meters Centerline goodness : 0.446763 Centerline is valid? [False, False] Translation: X:-2.09, Y:0.16, Z:-0.25 [[ 0.99849528 -0.01207888 -0.05349089 -2.09425759] [ 0.01144179 0.99986011 -0.01220056 0.16279315] [ 0.05363077 0.01157017 0.9984938 -0.24500157] [ 0. 0. 0. 1. ]] SLAMing on 337.713133365 meters Centerline goodness : 0.448761 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.16, Z:-0.25 [[ 0.99852742 -0.00574409 -0.05394448 -2.11535811] [ 0.00496053 0.99988041 -0.01464809 0.15642348] [ 0.05402217 0.01435893 0.99843649 -0.24620202] [ 0. 0. 0. 1. ]] SLAMing on 337.743133365 meters Centerline goodness : 0.189473 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.9984596 -0.00590697 -0.05516824 -2.11242531] [ 0.00512612 0.99988483 -0.01428479 0.15309984] [ 0.05524627 0.01397998 0.99837488 -0.24620535] [ 0. 0. 0. 1. ]] SLAMing on 337.773133365 meters Centerline goodness : 0.446455 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844649 -0.00577104 -0.0554194 -2.11175964] [ 0.00500887 0.9998911 -0.01388188 0.1510844 ] [ 0.05549348 0.01358273 0.99836666 -0.24628074] [ 0. 0. 0. 1. ]] SLAMing on 337.803133365 meters Centerline goodness : 0.446112 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844026 -0.00564987 -0.05554386 -2.11135156] [ 0.00490486 0.9998963 -0.01354019 0.14940451] [ 0.0556146 0.01324664 0.99836443 -0.24641549] [ 0. 0. 0. 1. ]] SLAMing on 337.833133365 meters Centerline goodness : 0.439513 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.14, Z:-0.25 [[ 0.99845286 0.00250818 -0.05554806 -2.13071824] [-0.00330534 0.99989281 -0.01426352 0.14160113] [ 0.05550633 0.01442506 0.99835413 -0.24903048] [ 0. 0. 0. 1. ]] SLAMing on 337.863133365 meters Centerline goodness : 0.099400 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99843379 -0.00490499 -0.0557307 -2.11188208] [ 0.0041882 0.9999071 -0.01297118 0.14690407] [ 0.05578914 0.01271745 0.99836158 -0.24685421] [ 0. 0. 0. 1. ]] SLAMing on 337.893133365 meters Centerline goodness : 0.091613 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99843681 -0.00483989 -0.05568232 -2.11199188] [ 0.00412557 0.99990781 -0.01293645 0.14710379] [ 0.0557398 0.0126865 0.99836473 -0.24688164] [ 0. 0. 0. 1. ]] SLAMing on 337.92313336499996 meters Centerline goodness : 0.257536 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844241 -0.00479217 -0.05558593 -2.11235895] [ 0.00407961 0.99990814 -0.01292546 0.14734984] [ 0.05564276 0.01267856 0.99837024 -0.24674031] [ 0. 0. 0. 1. ]] SLAMing on 337.953133365 meters Centerline goodness : 0.091133 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99844477 -0.00475155 -0.05554694 -2.1125802 ] [ 0.00403994 0.99990842 -0.01291629 0.14740833] [ 0.05560322 0.01267179 0.99837253 -0.24658473] [ 0. 0. 0. 1. ]] SLAMing on 337.98313336499996 meters Centerline goodness : 0.360288 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99845195 -0.00479279 -0.05541414 -2.11286118] [ 0.00407891 0.99990733 -0.01298859 0.14746848] [ 0.05547125 0.01274245 0.99837897 -0.24668645] [ 0. 0. 0. 1. ]] SLAMing on 338.013133365 meters Centerline goodness : 0.440398 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99846374 -0.00474814 -0.05520521 -2.1136725 ] [ 0.00404879 0.99991022 -0.01277316 0.14588491] [ 0.0552609 0.01253003 0.99839332 -0.2463078 ] [ 0. 0. 0. 1. ]] SLAMing on 338.04313336499996 meters Centerline goodness : 0.321321 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99846082 -0.00460426 -0.05527017 -2.11349392] [ 0.0039208 0.99991459 -0.01246788 0.14455039] [ 0.05532286 0.01223198 0.99839359 -0.24632 ] [ 0. 0. 0. 1. ]] SLAMing on 338.073133365 meters Centerline goodness : 0.219858 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99845795 -0.00449736 -0.05533079 -2.11310815] [ 0.00383021 0.99991876 -0.01215766 0.14295198] [ 0.05538097 0.01192698 0.99839406 -0.24664552] [ 0. 0. 0. 1. ]] SLAMing on 338.10313336499996 meters Centerline goodness : 0.195410 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99845597 -0.00441906 -0.05537285 -2.11280854] [ 0.00376776 0.99992256 -0.01186098 0.14113436] [ 0.05542098 0.01163404 0.99839529 -0.24693043] [ 0. 0. 0. 1. ]] SLAMing on 338.133133365 meters Centerline goodness : 0.196090 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.998453 -0.00438254 -0.05542921 -2.1124962 ] [ 0.00374304 0.9999253 -0.01163582 0.13959855] [ 0.05547606 0.01141034 0.99839482 -0.24714194] [ 0. 0. 0. 1. ]] SLAMing on 338.16313336499996 meters Centerline goodness : 0.243708 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99844883 -0.00415001 -0.05552215 -2.11235228] [ 0.00353955 0.99993225 -0.01108878 0.13700232] [ 0.05556441 0.01087505 0.99839588 -0.24700716] [ 0. 0. 0. 1. ]] SLAMing on 338.193133365 meters Centerline goodness : 0.449904 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99847924 0.00407229 -0.05497832 -2.13189882] [-0.00472584 0.99991965 -0.01176266 0.13093881] [ 0.054926 0.01200459 0.99841826 -0.24925642] [ 0. 0. 0. 1. ]] SLAMing on 338.22313336499997 meters Centerline goodness : 0.453209 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99848546 0.0041112 -0.05486249 -2.13214912] [-0.00476161 0.99991987 -0.01172976 0.13089525] [ 0.05480987 0.01197323 0.99842502 -0.24931534] [ 0. 0. 0. 1. ]] SLAMing on 338.253133365 meters Centerline goodness : 0.196261 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99848949 0.00406149 -0.0547928 -2.13216147] [-0.00471729 0.99991872 -0.01184482 0.13132514] [ 0.05474024 0.0120854 0.99842749 -0.2495758 ] [ 0. 0. 0. 1. ]] SLAMing on 338.28313336499997 meters Centerline goodness : 0.432253 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99849662 0.00398669 -0.05466814 -2.13238913] [-0.00464979 0.99991709 -0.01200778 0.13193626] [ 0.05461573 0.01224393 0.99843238 -0.24970623] [ 0. 0. 0. 1. ]] SLAMing on 338.313133365 meters Centerline goodness : 0.432253 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99849662 0.00398669 -0.05466814 -2.13238913] [-0.00464979 0.99991709 -0.01200778 0.13193626] [ 0.05461573 0.01224393 0.99843238 -0.24970623] [ 0. 0. 0. 1. ]] SLAMing on 338.34313336499997 meters Centerline goodness : 0.116144 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99850583 0.00396557 -0.05450127 -2.13253631] [-0.0046358 0.99991512 -0.01217669 0.13322158] [ 0.05444836 0.01241115 0.99843945 -0.25010727] [ 0. 0. 0. 1. ]] SLAMing on 338.373133365 meters Centerline goodness : 0.119849 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99850113 0.00397122 -0.05458684 -2.13224348] [-0.00464516 0.99991449 -0.01222477 0.13367224] [ 0.05453362 0.01246001 0.99843419 -0.25024564] [ 0. 0. 0. 1. ]] SLAMing on 338.403133365 meters Centerline goodness : 0.117586 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99849495 0.00395399 -0.05470093 -2.13183633] [-0.00463144 0.99991407 -0.01226355 0.13375838] [ 0.05464774 0.01249844 0.99842747 -0.25044834] [ 0. 0. 0. 1. ]] SLAMing on 338.433133365 meters Centerline goodness : 0.364994 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.13, Z:-0.25 [[ 0.99848318 0.00387731 -0.05492088 -2.13120345] [-0.00456291 0.99991316 -0.01236341 0.13390677] [ 0.05486818 0.01259526 0.99841416 -0.25064273] [ 0. 0. 0. 1. ]] SLAMing on 338.463133365 meters Centerline goodness : 0.102204 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99844204 -0.00371234 -0.05567498 -2.112624 ] [ 0.00307821 0.99992946 -0.01147137 0.13965552] [ 0.05571364 0.01128212 0.99838304 -0.24828884] [ 0. 0. 0. 1. ]] SLAMing on 338.493133365 meters Centerline goodness : 0.124558 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99844674 -0.00373879 -0.05558893 -2.11285151] [ 0.00310075 0.99992838 -0.01155962 0.14023866] [ 0.05562817 0.0113693 0.99838682 -0.24829109] [ 0. 0. 0. 1. ]] SLAMing on 338.523133365 meters Centerline goodness : 0.137066 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.14, Z:-0.25 [[ 0.99849003 -0.00355401 -0.0548181 -2.11501228] [ 0.00292088 0.99992816 -0.01162534 0.1420981 ] [ 0.05485548 0.01144767 0.99842868 -0.24785413] [ 0. 0. 0. 1. ]] SLAMing on 338.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 338.583133365 meters Centerline goodness : 0.100457 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.14, Z:-0.25 [[ 0.9985042 -0.00361457 -0.05455548 -2.11591108] [ 0.00296858 0.99992458 -0.01191742 0.1439056 ] [ 0.05459444 0.01173764 0.99843962 -0.2475556 ] [ 0. 0. 0. 1. ]] SLAMing on 338.613133365 meters Centerline goodness : 0.120039 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.14, Z:-0.25 [[ 0.99849351 -0.00368973 -0.0547457 -2.11527385] [ 0.00303641 0.99992324 -0.01201212 0.14409182] [ 0.05478582 0.0118278 0.99842807 -0.24781819] [ 0. 0. 0. 1. ]] SLAMing on 338.643133365 meters Centerline goodness : 0.093441 Centerline is valid? [False, False] Translation: X:-2.13, Y:0.14, Z:-0.25 [[ 0.99844948 0.0041978 -0.05550684 -2.13360744] [-0.00493781 0.99990067 -0.01320139 0.1379809 ] [ 0.05544591 0.01345501 0.99837103 -0.25043078] [ 0. 0. 0. 1. ]] SLAMing on 338.67313336499996 meters Centerline goodness : 0.145318 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99842765 -0.00349659 -0.05594643 -2.1137895 ] [ 0.00282012 0.99992202 -0.01216589 0.14301041] [ 0.05598461 0.01198899 0.99835965 -0.24881754] [ 0. 0. 0. 1. ]] SLAMing on 338.703133365 meters Centerline goodness : 0.443775 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99842374 -0.00347917 -0.05601728 -2.11333054] [ 0.00280352 0.99992243 -0.01213555 0.14291252] [ 0.05605516 0.01195937 0.99835605 -0.24923859] [ 0. 0. 0. 1. ]] SLAMing on 338.73313336499996 meters Centerline goodness : 0.387689 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99841718 -0.00353512 -0.0561305 -2.11306878] [ 0.0028483 0.99992015 -0.01231154 0.14391009] [ 0.05616954 0.01213218 0.99834753 -0.24924919] [ 0. 0. 0. 1. ]] SLAMing on 338.763133365 meters Centerline goodness : 0.267786 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.14, Z:-0.25 [[ 0.99841775 -0.00354011 -0.05612 -2.11310085] [ 0.00284878 0.99991913 -0.0123941 0.14458813] [ 0.05615934 0.01221462 0.9983471 -0.24926358] [ 0. 0. 0. 1. ]] SLAMing on 338.79313336499996 meters Centerline goodness : 0.381642 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99841924 -0.00354121 -0.05609346 -2.11315167] [ 0.00284461 0.99991791 -0.01249363 0.14543497] [ 0.0561331 0.01231431 0.99834735 -0.24929122] [ 0. 0. 0. 1. ]] SLAMing on 338.823133365 meters Centerline goodness : 0.447880 Centerline is valid? [False, False] Translation: X:-2.11, Y:0.15, Z:-0.25 [[ 0.99843134 -0.00356528 -0.0558761 -2.11372977] [ 0.00286538 0.9999165 -0.01260109 0.14608106] [ 0.05591637 0.01242122 0.99835819 -0.24924991] [ 0. 0. 0. 1. ]] SLAMing on 338.85313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 338.883133365 meters Centerline goodness : 0.231090 Centerline is valid? [False, False] Translation: X:-2.14, Y:0.14, Z:-0.25 [[ 0.99851896 0.00283557 -0.05433088 -2.13701762] [-0.00365809 0.99988012 -0.01504565 0.1422053 ] [ 0.0542817 0.01522211 0.99840963 -0.25039682] [ 0. 0. 0. 1. ]] SLAMing on 338.91313336499996 meters Centerline goodness : 0.446723 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.15, Z:-0.25 [[ 0.99850188 -0.00480791 -0.05450579 -2.11764666] [ 0.0040598 0.99989615 -0.01382788 0.14724924] [ 0.05456661 0.01358588 0.9984177 -0.24813202] [ 0. 0. 0. 1. ]] SLAMing on 338.943133365 meters Centerline goodness : 0.445168 Centerline is valid? [False, False] Translation: X:-2.12, Y:0.15, Z:-0.25 [[ 0.99849047 -0.00471289 -0.0547226 -2.11700747] [ 0.00397246 0.9998992 -0.01363151 0.14645287] [ 0.05478132 0.01339355 0.99840854 -0.24826028] [ 0. 0. 0. 1. ]] SLAMing on 338.97313336499997 meters Centerline goodness : 0.178182 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99836498 -0.00468225 -0.05696873 -2.16248375] [ 0.00392686 0.99990298 -0.01336446 0.14212849] [ 0.05702578 0.0131189 0.99828651 -0.24963893] [ 0. 0. 0. 1. ]] SLAMing on 339.003133365 meters Centerline goodness : 0.099271 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99837149 -0.00465834 -0.05685652 -2.16294013] [ 0.00391088 0.99990456 -0.01325073 0.14143757] [ 0.05691282 0.01300679 0.99829442 -0.24934167] [ 0. 0. 0. 1. ]] SLAMing on 339.03313336499997 meters Centerline goodness : 0.101003 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99837937 -0.00467777 -0.0567164 -2.16358092] [ 0.00393474 0.99990506 -0.01320543 0.14091212] [ 0.05677279 0.01296086 0.99830299 -0.2488949 ] [ 0. 0. 0. 1. ]] SLAMing on 339.063133365 meters Centerline goodness : 0.103072 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99838231 -0.00474901 -0.05665873 -2.16402004] [ 0.00400012 0.99990323 -0.0133238 0.14126414] [ 0.05671652 0.01307561 0.9983047 -0.24852126] [ 0. 0. 0. 1. ]] SLAMing on 339.09313336499997 meters Centerline goodness : 0.451578 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99838248 -0.0048046 -0.05665105 -2.1641292 ] [ 0.00404742 0.99990104 -0.01347299 0.14204071] [ 0.05671017 0.01322191 0.99830313 -0.24840788] [ 0. 0. 0. 1. ]] SLAMing on 339.123133365 meters Centerline goodness : 0.121299 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99838349 -0.00487594 -0.05662708 -2.16437993] [ 0.00410512 0.99989744 -0.01372047 0.14351606] [ 0.05668818 0.01346583 0.99830112 -0.24820415] [ 0. 0. 0. 1. ]] SLAMing on 339.153133365 meters Centerline goodness : 0.096560 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 0.99838637 -0.00489435 -0.05657474 -2.16457992] [ 0.00411029 0.99989401 -0.01396694 0.14545534] [ 0.05663711 0.01371186 0.99830067 -0.24817878] [ 0. 0. 0. 1. ]] SLAMing on 339.183133365 meters Centerline goodness : 0.095623 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98381835e-01 -1.16548348e-03 -5.68537920e-02 -2.16337608e+00] [ 5.56823195e-04 9.99942380e-01 -1.07203783e-02 1.47737241e-01] [ 5.68630105e-02 1.06713734e-02 9.98324957e-01 -2.48841685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.213133365 meters Centerline goodness : 0.212028 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98379580e-01 -1.33790879e-03 -5.68895791e-02 -2.16317384e+00] [ 7.08356873e-04 9.99938309e-01 -1.10849338e-02 1.49285426e-01] [ 5.69009002e-02 1.10266734e-02 9.98318937e-01 -2.49050442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.243133365 meters Centerline goodness : 0.331609 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98371035e-01 -1.50718236e-03 -5.70351269e-02 -2.16278387e+00] [ 8.58044797e-04 9.99934603e-01 -1.14041427e-02 1.50578959e-01] [ 5.70485851e-02 1.13366270e-02 9.98307037e-01 -2.49150986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.273133365 meters Centerline goodness : 0.201335 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98352615e-01 -1.58599544e-03 -5.73545203e-02 -2.16200453e+00] [ 9.20787065e-04 9.99932030e-01 -1.16227538e-02 1.51789335e-01] [ 5.73690555e-02 1.15507953e-02 9.98286217e-01 -2.49215712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.303133365 meters Centerline goodness : 0.106312 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98332437e-01 -1.65082352e-03 -5.77028583e-02 -2.16108983e+00] [ 9.68428946e-04 9.99929294e-01 -1.18519739e-02 1.53257911e-01] [ 5.77183439e-02 1.17763288e-02 9.98263448e-01 -2.49381084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.333133365 meters Centerline goodness : 0.097834 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98315976e-01 -1.68721942e-03 -5.79859077e-02 -2.16041326e+00] [ 9.92050734e-04 9.99927322e-01 -1.20152763e-02 1.54456179e-01] [ 5.80019658e-02 1.19375173e-02 9.98245094e-01 -2.49400133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.363133365 meters Centerline goodness : 0.445012 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98319016e-01 -1.93617314e-03 -5.79257580e-02 -2.16067938e+00] [ 1.21296337e-03 9.99920915e-01 -1.25176717e-02 1.56963772e-01] [ 5.79454133e-02 1.24263678e-02 9.98242413e-01 -2.49246610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.393133365 meters Centerline goodness : 0.095950 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98333135e-01 -2.04908189e-03 -5.76780149e-02 -2.16165920e+00] [ 1.31622981e-03 9.99917963e-01 -1.27410411e-02 1.58119509e-01] [ 5.76993907e-02 1.26438860e-02 9.98253932e-01 -2.48742720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42313336499996 meters Centerline goodness : 0.448765 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98342639e-01 -2.11428787e-03 -5.75109131e-02 -2.16256413e+00] [ 1.37348125e-03 9.99915621e-01 -1.29176279e-02 1.59403647e-01] [ 5.75333719e-02 1.28172285e-02 9.98261303e-01 -2.48025421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.453133365 meters Centerline goodness : 0.101394 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98350400e-01 -2.12187321e-03 -5.73757489e-02 -2.16328451e+00] [ 1.37869133e-03 9.99914684e-01 -1.29893754e-02 1.60240166e-01] [ 5.73984157e-02 1.28888446e-02 9.98268150e-01 -2.47468164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48313336499996 meters Centerline goodness : 0.449665 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98340275e-01 -2.54183690e-03 -5.75346425e-02 -2.16343839e+00] [ 1.77955133e-03 9.99910014e-01 -1.32965178e-02 1.60449445e-01] [ 5.75632628e-02 1.31720634e-02 9.98254961e-01 -2.46649653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.513133365 meters Centerline goodness : 0.090309 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98325439e-01 -2.72134072e-03 -5.77833155e-02 -2.16289556e+00] [ 1.95433870e-03 9.99909293e-01 -1.33261277e-02 1.59536351e-01] [ 5.78143391e-02 1.31908841e-02 9.98240203e-01 -2.46518914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54313336499996 meters Centerline goodness : 0.090652 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98323238e-01 -2.75534497e-03 -5.78197241e-02 -2.16283427e+00] [ 1.99580531e-03 9.99911017e-01 -1.31899793e-02 1.58473850e-01] [ 5.78509221e-02 1.30524660e-02 9.98239903e-01 -2.46452420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.573133365 meters Centerline goodness : 0.102057 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98318162e-01 -2.62679846e-03 -5.79132824e-02 -2.16269356e+00] [ 1.88350057e-03 9.99915204e-01 -1.28855222e-02 1.57263365e-01] [ 5.79422193e-02 1.27547711e-02 9.98238456e-01 -2.46269964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60313336499996 meters Centerline goodness : 0.112560 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98312541e-01 -2.54441575e-03 -5.80137626e-02 -2.16232336e+00] [ 1.81249308e-03 9.99918147e-01 -1.26654931e-02 1.56254343e-01] [ 5.80412403e-02 1.25389711e-02 9.98235437e-01 -2.46381655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.633133365 meters Centerline goodness : 0.144621 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98292713e-01 -2.58542806e-03 -5.83521548e-02 -2.16151241e+00] [ 1.86860231e-03 9.99922166e-01 -1.23357014e-02 1.53414815e-01] [ 5.83795061e-02 1.22056039e-02 9.98219844e-01 -2.46307130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66313336499996 meters Centerline goodness : 0.243251 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280649e-01 -2.48630594e-03 -5.85624753e-02 -2.16110968e+00] [ 1.78353714e-03 9.99925811e-01 -1.20495396e-02 1.51732969e-01] [ 5.85880895e-02 1.19243739e-02 9.98211022e-01 -2.46134717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.693133365 meters Centerline goodness : 0.452576 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98272781e-01 -2.35046612e-03 -5.87020502e-02 -2.16076905e+00] [ 1.66240758e-03 9.99929381e-01 -1.17672873e-02 1.50356685e-01] [ 5.87255634e-02 1.16493759e-02 9.98206191e-01 -2.46150445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72313336499997 meters Centerline goodness : 0.441416 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98274587e-01 -2.12584805e-03 -5.86798907e-02 -2.16061635e+00] [ 1.45999099e-03 9.99934091e-01 -1.13878200e-02 1.48285842e-01] [ 5.87002320e-02 1.12824992e-02 9.98211895e-01 -2.46439496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.753133365 meters Centerline goodness : 0.196761 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280525e-01 -2.04625378e-03 -5.85816134e-02 -2.16092286e+00] [ 1.38752931e-03 9.99935382e-01 -1.12830293e-02 1.47614630e-01] [ 5.86009159e-02 1.11823447e-02 9.98218858e-01 -2.46361528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78313336499997 meters Centerline goodness : 0.107563 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98282387e-01 -1.92229363e-03 -5.85540893e-02 -2.16098914e+00] [ 1.26759604e-03 9.99936293e-01 -1.12161656e-02 1.47585880e-01] [ 5.85719198e-02 1.11226776e-02 9.98221226e-01 -2.46428481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.813133365 meters Centerline goodness : 0.090249 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280140e-01 -1.65608296e-03 -5.86004996e-02 -2.16091466e+00] [ 1.00882845e-03 9.99938183e-01 -1.10730655e-02 1.47892804e-01] [ 5.86152150e-02 1.09949036e-02 9.98220100e-01 -2.46464696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84313336499997 meters Centerline goodness : 0.094923 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98280562e-01 -1.42376661e-03 -5.85994308e-02 -2.16077000e+00] [ 7.82516386e-04 9.99939583e-01 -1.09644357e-02 1.48336172e-01] [ 5.86115012e-02 1.08997281e-02 9.98221362e-01 -2.46751871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.873133365 meters Centerline goodness : 0.092652 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98282040e-01 -1.31616389e-03 -5.85767644e-02 -2.16063176e+00] [ 6.73124215e-04 9.99939314e-01 -1.09961042e-02 1.48840754e-01] [ 5.85876823e-02 1.09377839e-02 9.98222344e-01 -2.47120295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.903133365 meters Centerline goodness : 0.090787 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98301295e-01 -1.18574066e-03 -5.82504762e-02 -2.16113349e+00] [ 5.32636934e-04 9.99936842e-01 -1.12262366e-02 1.50121311e-01] [ 5.82601087e-02 1.11761402e-02 9.98238876e-01 -2.47682586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.933133365 meters Centerline goodness : 0.098478 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98298262e-01 -1.13945805e-03 -5.83033630e-02 -2.16081365e+00] [ 4.74904973e-04 9.99934782e-01 -1.14107813e-02 1.51473634e-01] [ 5.83125627e-02 1.13636746e-02 9.98233696e-01 -2.48086217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.963133365 meters Centerline goodness : 0.105766 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98279728e-01 -1.09937666e-03 -5.86206143e-02 -2.15978644e+00] [ 4.16355072e-04 9.99931904e-01 -1.16625009e-02 1.53305310e-01] [ 5.86294439e-02 1.16180312e-02 9.98212207e-01 -2.48598122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.993133365 meters Centerline goodness : 0.335480 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.15, Z:-0.25 [[ 9.98111060e-01 -4.87730624e-04 -6.14334967e-02 -2.20335136e+00] [-2.10186573e-04 9.99935524e-01 -1.13535572e-02 1.51340738e-01] [ 6.14350732e-02 1.13450235e-02 9.98046603e-01 -2.50825590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.023133365 meters Centerline goodness : 0.315626 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.16, Z:-0.25 [[ 0.99806558 -0.00604251 -0.06187557 -2.18194296] [ 0.00550895 0.99994619 -0.00879004 0.15828445] [ 0.06192535 0.00843217 0.99804516 -0.24926762] [ 0. 0. 0. 1. ]] SLAMing on 340.053133365 meters Centerline goodness : 0.397595 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.16, Z:-0.25 [[ 0.99806832 -0.00616276 -0.06181945 -2.1822073 ] [ 0.00561095 0.99994289 -0.00909584 0.15996035] [ 0.06187198 0.00873141 0.9980459 -0.24912847] [ 0. 0. 0. 1. ]] SLAMing on 340.083133365 meters Centerline goodness : 0.367655 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.16, Z:-0.25 [[ 0.9980764 -0.00624254 -0.06168083 -2.18271993] [ 0.00567589 0.99994011 -0.0093578 0.16161516] [ 0.06173555 0.00898971 0.99805206 -0.24894138] [ 0. 0. 0. 1. ]] SLAMing on 340.113133365 meters Centerline goodness : 0.174359 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98177541e-01 1.62460155e-03 -6.03237657e-02 -2.16331285e+00] [-2.26330222e-03 9.99942091e-01 -1.05210603e-02 1.62261507e-01] [ 6.03031799e-02 1.06384170e-02 9.98123415e-01 -2.46812605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.143133365 meters Centerline goodness : 0.095137 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98184181e-01 1.50276517e-03 -6.02169588e-02 -2.16375123e+00] [-2.15664154e-03 9.99939405e-01 -1.07951542e-02 1.63739645e-01] [ 6.01970874e-02 1.09054185e-02 9.98126937e-01 -2.46597410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17313336499996 meters Centerline goodness : 0.412454 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98179772e-01 1.38341034e-03 -6.02928560e-02 -2.16353690e+00] [-2.05339109e-03 9.99936821e-01 -1.10515665e-02 1.65130561e-01] [ 6.02737580e-02 1.11552550e-02 9.98119549e-01 -2.46660801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.23313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.263133365 meters Centerline goodness : 0.093749 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98134139e-01 1.12642707e-03 -6.10489306e-02 -2.16143906e+00] [-1.84034659e-03 9.99930568e-01 -1.16392522e-02 1.69311194e-01] [ 6.10315811e-02 1.17298862e-02 9.98066910e-01 -2.46900082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29313336499996 meters Centerline goodness : 0.451647 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98144499e-01 1.05315016e-03 -6.08806191e-02 -2.16226035e+00] [-1.77225538e-03 9.99929291e-01 -1.17589354e-02 1.70016663e-01] [ 6.08639304e-02 1.18450127e-02 9.98075788e-01 -2.46294375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.323133365 meters Centerline goodness : 0.287236 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.24 [[ 9.98173465e-01 7.50241222e-04 -6.04083654e-02 -2.16428399e+00] [-1.49015155e-03 9.99924414e-01 -1.22043565e-02 1.71988258e-01] [ 6.03946431e-02 1.22720824e-02 9.98099135e-01 -2.44982652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35313336499996 meters Centerline goodness : 0.095974 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98169488e-01 6.59562195e-04 -6.04751093e-02 -2.16401315e+00] [-1.41324472e-03 9.99921861e-01 -1.24207646e-02 1.73191720e-01] [ 6.04621915e-02 1.24834944e-02 9.98092423e-01 -2.45147770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.383133365 meters Centerline goodness : 0.205796 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.17, Z:-0.25 [[ 9.98155876e-01 5.45850100e-04 -6.07004820e-02 -2.16311382e+00] [-1.31900663e-03 9.99918508e-01 -1.26978992e-02 1.74672223e-01] [ 6.06886043e-02 1.27545471e-02 9.98075255e-01 -2.45676895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41313336499996 meters Centerline goodness : 0.198300 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98145511e-01 4.81227084e-04 -6.08712382e-02 -2.16244015e+00] [-1.26932220e-03 9.99915871e-01 -1.29089153e-02 1.75965808e-01] [ 6.08599051e-02 1.29622411e-02 9.98062148e-01 -2.46078114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.443133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.47313336499997 meters Centerline goodness : 0.095390 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98154247e-01 4.67859263e-04 -6.07279146e-02 -2.16311674e+00] [-1.25836201e-03 9.99914971e-01 -1.29795318e-02 1.76635173e-01] [ 6.07166783e-02 1.30319925e-02 9.98069964e-01 -2.45578531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.503133365 meters Centerline goodness : 0.092128 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98166114e-01 3.33041890e-04 -6.05334392e-02 -2.16429546e+00] [-1.13248957e-03 9.99912592e-01 -1.31728834e-02 1.77151336e-01] [ 6.05237610e-02 1.32172793e-02 9.98079244e-01 -2.44547719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 340.563133365 meters Centerline goodness : 0.449560 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98154390e-01 2.14949494e-04 -6.07269985e-02 -2.16385593e+00] [-1.03431825e-03 9.99908854e-01 -1.34615479e-02 1.78584858e-01] [ 6.07185699e-02 1.34995142e-02 9.98063634e-01 -2.44556050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59313336499997 meters Centerline goodness : 0.446581 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98144701e-01 1.69705501e-04 -6.08861847e-02 -2.16317104e+00] [-1.00199586e-03 9.99906478e-01 -1.36393376e-02 1.79701631e-01] [ 6.08781758e-02 1.36750403e-02 9.98051522e-01 -2.45007248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.623133365 meters Centerline goodness : 0.446600 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98142009e-01 2.22361502e-04 -6.09301346e-02 -2.16300749e+00] [-1.06616778e-03 9.99903978e-01 -1.38165902e-02 1.81628842e-01] [ 6.09212117e-02 1.38558809e-02 9.98046402e-01 -2.45149849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.653133365 meters Centerline goodness : 0.155277 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.25 [[ 9.98146036e-01 2.13879168e-04 -6.08641534e-02 -2.16328589e+00] [-1.06162613e-03 9.99902875e-01 -1.38965133e-02 1.82228307e-01] [ 6.08552698e-02 1.39353646e-02 9.98049318e-01 -2.45026381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.683133365 meters Centerline goodness : 0.450466 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98143303e-01 1.67713654e-04 -6.09090989e-02 -2.16333644e+00] [-1.02024381e-03 9.99901951e-01 -1.39659317e-02 1.82401132e-01] [ 6.09007845e-02 1.40021434e-02 9.98045607e-01 -2.44841898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.713133365 meters Centerline goodness : 0.196029 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98130485e-01 1.08508486e-04 -6.11189222e-02 -2.16281623e+00] [-9.65529721e-04 9.99901629e-01 -1.39928324e-02 1.82071858e-01] [ 6.11113916e-02 1.40256848e-02 9.98032403e-01 -2.44879499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.743133365 meters Centerline goodness : 0.271952 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98109063e-01 1.67372290e-04 -6.14676296e-02 -2.16205660e+00] [-1.01056929e-03 9.99905819e-01 -1.36869088e-02 1.80302814e-01] [ 6.14595497e-02 1.37231450e-02 9.98015230e-01 -2.44746617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.773133365 meters Centerline goodness : 0.097307 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98123305e-01 2.15248042e-04 -6.12357905e-02 -2.16289485e+00] [-1.03873234e-03 9.99909459e-01 -1.34162456e-02 1.78844695e-01] [ 6.12273583e-02 1.34546750e-02 9.98033157e-01 -2.44279431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.803133365 meters Centerline goodness : 0.448230 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.18, Z:-0.24 [[ 9.98151393e-01 1.90834641e-04 -6.07763152e-02 -2.16431255e+00] [-9.95352270e-04 9.99912284e-01 -1.32073547e-02 1.77376137e-01] [ 6.07684637e-02 1.32434334e-02 9.98064029e-01 -2.43750553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.833133365 meters Centerline goodness : 0.167071 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.18, Z:-0.24 [[ 0.99823403 -0.00811129 -0.05884753 -2.14532563] [ 0.0074074 0.99989851 -0.01216944 0.18008371] [ 0.05894027 0.01171204 0.9981928 -0.24177221] [ 0. 0. 0. 1. ]] SLAMing on 340.863133365 meters Centerline goodness : 0.312533 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98389715e-01 -1.46246625e-03 -5.67083631e-02 -2.16709034e+00] [ 6.85613549e-04 9.99905695e-01 -1.37161218e-02 1.72746274e-01] [ 5.67230745e-02 1.36551549e-02 9.98296564e-01 -2.44044126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.893133365 meters Centerline goodness : 0.116722 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98392077e-01 -1.39917380e-03 -5.66683507e-02 -2.16709004e+00] [ 6.50886483e-04 9.99912387e-01 -1.32209832e-02 1.69653064e-01] [ 5.66818842e-02 1.31628402e-02 9.98305516e-01 -2.44083298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92313336499996 meters Centerline goodness : 0.390026 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98380682e-01 -1.28939847e-03 -5.68713487e-02 -2.16648228e+00] [ 5.54038961e-04 9.99916068e-01 -1.29441004e-02 1.68192497e-01] [ 5.68832655e-02 1.28916309e-02 9.98297601e-01 -2.44229614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.953133365 meters Centerline goodness : 0.114800 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98373944e-01 -1.22769699e-03 -5.69908882e-02 -2.16613596e+00] [ 5.03170288e-04 9.99918899e-01 -1.27256364e-02 1.66823684e-01] [ 5.70018894e-02 1.26762676e-02 9.98293593e-01 -2.44311116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98313336499996 meters Centerline goodness : 0.095587 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.17, Z:-0.24 [[ 9.98367099e-01 -1.15110541e-03 -5.71122620e-02 -2.16595234e+00] [ 4.40676618e-04 9.99922396e-01 -1.24501992e-02 1.65034029e-01] [ 5.71221613e-02 1.24047012e-02 9.98290129e-01 -2.44126436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.013133365 meters Centerline goodness : 0.453148 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.16, Z:-0.24 [[ 9.98353461e-01 -9.23840597e-04 -5.73542738e-02 -2.16535344e+00] [ 2.45477146e-04 9.99929951e-01 -1.18335196e-02 1.61709625e-01] [ 5.73611885e-02 1.17999561e-02 9.98283755e-01 -2.44122418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04313336499996 meters Centerline goodness : 0.328123 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.24 [[ 9.98345371e-01 -8.31045024e-04 -5.74963405e-02 -2.16482733e+00] [ 1.65950691e-04 9.99933035e-01 -1.15714020e-02 1.60230874e-01] [ 5.75021067e-02 1.15427140e-02 9.98278655e-01 -2.44343832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.073133365 meters Centerline goodness : 0.438043 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.24 [[ 9.98331702e-01 -7.62238581e-04 -5.77341500e-02 -2.16394828e+00] [ 1.08078712e-04 9.99935776e-01 -1.13328285e-02 1.58698696e-01] [ 5.77390804e-02 1.13076822e-02 9.98267667e-01 -2.44759609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10313336499996 meters Centerline goodness : 0.221854 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98313875e-01 -6.92896414e-04 -5.80424629e-02 -2.16280744e+00] [ 4.63095105e-05 9.99937942e-01 -1.11404988e-02 1.57556002e-01] [ 5.80465801e-02 1.11190266e-02 9.98251953e-01 -2.45320679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.133133365 meters Centerline goodness : 0.367819 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.16, Z:-0.25 [[ 9.98307613e-01 -6.02551716e-04 -5.81510705e-02 -2.16223278e+00] [-3.16636679e-05 9.99940540e-01 -1.09048030e-02 1.56380609e-01] [ 5.81541835e-02 1.08881892e-02 9.98248235e-01 -2.45774042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16313336499996 meters Centerline goodness : 0.130040 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98332013e-01 -6.83460342e-04 -5.77297639e-02 -2.16324613e+00] [ 7.89572785e-05 9.99945155e-01 -1.04728867e-02 1.53357823e-01] [ 5.77337555e-02 1.04508599e-02 9.98277313e-01 -2.45656462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.193133365 meters Centerline goodness : 0.272221 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98337710e-01 -6.48489323e-04 -5.76315609e-02 -2.16363063e+00] [ 6.41595820e-05 9.99948583e-01 -1.01403301e-02 1.51202888e-01] [ 5.76351735e-02 1.01197763e-02 9.98286420e-01 -2.45363315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22313336499997 meters Centerline goodness : 0.275888 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98328003e-01 -6.83545722e-04 -5.77990530e-02 -2.16332771e+00] [ 1.14120304e-04 9.99951436e-01 -9.85453916e-03 1.49013407e-01] [ 5.78029821e-02 9.83146636e-03 9.98279599e-01 -2.45204816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.253133365 meters Centerline goodness : 0.103859 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 9.98288521e-01 -1.12063228e-03 -5.84702696e-02 -2.16115664e+00] [ 5.57843351e-04 9.99953372e-01 -9.64065019e-03 1.45218383e-01] [ 5.84783469e-02 9.59153317e-03 9.98242598e-01 -2.45862427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28313336499997 meters Centerline goodness : 0.136505 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98283329e-01 -1.07335022e-03 -5.85597309e-02 -2.16070668e+00] [ 5.26140374e-04 9.99956064e-01 -9.35909182e-03 1.43423249e-01] [ 5.85672036e-02 9.31221470e-03 9.98240034e-01 -2.46179337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.313133365 meters Centerline goodness : 0.102149 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98295811e-01 -1.05231707e-03 -5.83469436e-02 -2.16130154e+00] [ 5.18678000e-04 9.99957909e-01 -9.16035472e-03 1.42126404e-01] [ 5.83541273e-02 9.11448047e-03 9.98254337e-01 -2.46034504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34313336499997 meters Centerline goodness : 0.106443 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98312365e-01 -1.07723455e-03 -5.80625721e-02 -2.16213704e+00] [ 5.52503568e-04 9.99958871e-01 -9.05263203e-03 1.41250336e-01] [ 5.80699358e-02 9.00527471e-03 9.98271901e-01 -2.45805347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.373133365 meters Centerline goodness : 0.098807 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98330967e-01 -1.04925198e-03 -5.77423453e-02 -2.16317804e+00] [ 5.32386844e-04 9.99959664e-01 -8.96588765e-03 1.41272946e-01] [ 5.77494237e-02 8.92018203e-03 9.98291257e-01 -2.45389637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.403133365 meters Centerline goodness : 0.127302 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98332609e-01 -1.03887940e-03 -5.77141373e-02 -2.16318005e+00] [ 5.21846975e-04 9.99959607e-01 -8.97285491e-03 1.41615473e-01] [ 5.77211278e-02 8.92777571e-03 9.98292826e-01 -2.45491220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.433133365 meters Centerline goodness : 0.123168 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98335716e-01 -1.11290215e-03 -5.76590000e-02 -2.16321302e+00] [ 5.93699225e-04 9.99959133e-01 -9.02106400e-03 1.41529407e-01] [ 5.76666832e-02 8.97181828e-03 9.98295578e-01 -2.45639809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.463133365 meters Centerline goodness : 0.146032 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 9.98207958e-01 -2.42133317e-03 -5.97913841e-02 -2.20838943e+00] [ 1.80695297e-03 9.99945039e-01 -1.03273283e-02 1.39983595e-01] [ 5.98131038e-02 1.02007811e-02 9.98157471e-01 -2.47419756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.493133365 meters Centerline goodness : 0.106191 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.14, Z:-0.25 [[ 0.99818421 -0.01133759 -0.05915857 -2.18820514] [ 0.0107823 0.99989485 -0.00969734 0.14171824] [ 0.05926229 0.00904187 0.9982015 -0.24537658] [ 0. 0. 0. 1. ]] SLAMing on 341.523133365 meters Centerline goodness : 0.102162 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 0.99829652 -0.00423824 -0.05819015 -2.20829461] [ 0.0036188 0.99993571 -0.01074629 0.13377336] [ 0.05823195 0.01051741 0.99824768 -0.24760168] [ 0. 0. 0. 1. ]] SLAMing on 341.553133365 meters Centerline goodness : 0.100550 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.13, Z:-0.25 [[ 0.99824264 -0.01385885 -0.05761559 -2.18758698] [ 0.01330615 0.99986181 -0.00996562 0.13036149] [ 0.05774574 0.00918146 0.9982891 -0.24559812] [ 0. 0. 0. 1. ]] SLAMing on 341.583133365 meters Centerline goodness : 0.179173 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.13, Z:-0.25 [[ 0.99822811 -0.01409253 -0.05781032 -2.18704329] [ 0.01355352 0.99986105 -0.00970526 0.12740557] [ 0.05793906 0.00890453 0.99828041 -0.24564396] [ 0. 0. 0. 1. ]] SLAMing on 341.613133365 meters Centerline goodness : 0.146834 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.12, Z:-0.25 [[ 0.99840811 -0.00853721 -0.05575262 -2.20282436] [ 0.00790801 0.99990264 -0.01149645 0.1195725 ] [ 0.05584534 0.01103726 0.99837842 -0.24986925] [ 0. 0. 0. 1. ]] SLAMing on 341.643133365 meters Centerline goodness : 0.110287 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.12, Z:-0.25 [[ 0.99840365 -0.00849429 -0.05583897 -2.20254051] [ 0.00788447 0.99990695 -0.01113232 0.11720771] [ 0.05592834 0.01067429 0.99837772 -0.24999615] [ 0. 0. 0. 1. ]] SLAMing on 341.67313336499996 meters Centerline goodness : 0.130057 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.11, Z:-0.25 [[ 0.99840776 -0.00824231 -0.05580338 -2.20272463] [ 0.00766713 0.99991534 -0.01051349 0.1142325 ] [ 0.05588531 0.0100689 0.99838642 -0.24982187] [ 0. 0. 0. 1. ]] SLAMing on 341.703133365 meters Centerline goodness : 0.107224 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.11, Z:-0.25 [[ 0.99839728 -0.00815631 -0.05600302 -2.20228029] [ 0.00758901 0.99991779 -0.01033513 0.11328753] [ 0.05608271 0.00989356 0.99837711 -0.24979641] [ 0. 0. 0. 1. ]] SLAMing on 341.73313336499996 meters Centerline goodness : 0.108208 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98375442e-01 -6.08760859e-04 -5.69746054e-02 -2.18220204e+00] [-2.99335684e-05 9.99937181e-01 -1.12086350e-02 1.07935567e-01] [ 5.69778497e-02 1.11921314e-02 9.98312707e-01 -2.47422230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.763133365 meters Centerline goodness : 0.114465 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98357300e-01 -5.04113848e-04 -5.72926550e-02 -2.18130649e+00] [-1.28971769e-04 9.99938985e-01 -1.10457963e-02 1.07144325e-01] [ 5.72947276e-02 1.10350405e-02 9.98296320e-01 -2.47659892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79313336499996 meters Centerline goodness : 0.106702 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98358096e-01 -2.14645721e-04 -5.72805922e-02 -2.18145988e+00] [-3.93718766e-04 9.99943642e-01 -1.06092817e-02 1.05419362e-01] [ 5.72796413e-02 1.06144148e-02 9.98301746e-01 -2.47522718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.823133365 meters Centerline goodness : 0.110476 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98371142e-01 -1.45453636e-04 -5.70529758e-02 -2.18229537e+00] [-4.48398785e-04 9.99945861e-01 -1.03958498e-02 1.03829630e-01] [ 5.70513992e-02 1.04044989e-02 9.98317026e-01 -2.47178050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85313336499996 meters Centerline goodness : 0.206968 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 0.99841401 -0.00829305 -0.05568388 -2.16327843] [ 0.00778495 0.99992612 -0.00933552 0.10559895] [ 0.05575719 0.00888721 0.9984048 -0.24515239] [ 0. 0. 0. 1. ]] SLAMing on 341.883133365 meters Centerline goodness : 0.101249 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.10, Z:-0.24 [[ 0.99842614 -0.00819334 -0.05548073 -2.16403161] [ 0.00770002 0.99992895 -0.00909964 0.10430946] [ 0.05555134 0.00865811 0.99841829 -0.24482839] [ 0. 0. 0. 1. ]] SLAMing on 341.91313336499996 meters Centerline goodness : 0.200121 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.10, Z:-0.24 [[ 0.99843182 -0.00802607 -0.05540286 -2.16420028] [ 0.00755008 0.99993282 -0.00879534 0.10302348] [ 0.05546973 0.00836325 0.99842534 -0.24489666] [ 0. 0. 0. 1. ]] SLAMing on 341.943133365 meters Centerline goodness : 0.107624 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98498074e-01 4.51281075e-05 -5.47868001e-02 -2.18299264e+00] [-5.73339095e-04 9.99953509e-01 -9.62552973e-03 9.73848759e-02] [ 5.47838186e-02 9.64248432e-03 9.98451679e-01 -2.47883018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97313336499997 meters Centerline goodness : 0.162990 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98478258e-01 4.40448583e-05 -5.51467765e-02 -2.18192599e+00] [-5.60884447e-04 9.99956068e-01 -9.35663034e-03 9.52757797e-02] [ 5.51439417e-02 9.37332293e-03 9.98434418e-01 -2.48254112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.003133365 meters Centerline goodness : 0.103694 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98471970e-01 4.89283712e-05 -5.52605014e-02 -2.18168753e+00] [-5.54803629e-04 9.99958084e-01 -9.13906931e-03 9.35645711e-02] [ 5.52577379e-02 9.15576326e-03 9.98430145e-01 -2.48260354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03313336499997 meters Centerline goodness : 0.113158 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98497434e-01 -1.62013023e-04 -5.47982416e-02 -2.18314960e+00] [-3.17458484e-04 9.99961747e-01 -8.74094302e-03 8.99302508e-02] [ 5.47975616e-02 8.74520535e-03 9.98459187e-01 -2.47761821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.063133365 meters Centerline goodness : 0.126304 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98497689e-01 -1.08895338e-04 -5.47937327e-02 -2.18313913e+00] [-3.50517849e-04 9.99964870e-01 -8.37473106e-03 8.77393980e-02] [ 5.47927197e-02 8.38135579e-03 9.98462574e-01 -2.47803923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09313336499997 meters Centerline goodness : 0.105891 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 0.99846199 -0.00866514 -0.05475926 -2.1621158 ] [ 0.00826221 0.99993714 -0.00758033 0.08858214] [ 0.0548215 0.00711624 0.99847081 -0.24608978] [ 0. 0. 0. 1. ]] SLAMing on 342.123133365 meters Centerline goodness : 0.105891 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 0.99846199 -0.00866514 -0.05475926 -2.1621158 ] [ 0.00826221 0.99993714 -0.00758033 0.08858214] [ 0.0548215 0.00711624 0.99847081 -0.24608978] [ 0. 0. 0. 1. ]] SLAMing on 342.153133365 meters Centerline goodness : 0.102902 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 0.99846559 -0.00868507 -0.05469028 -2.16211932] [ 0.0082951 0.99993856 -0.00735359 0.08667773] [ 0.05475079 0.00688865 0.99847629 -0.2463015 ] [ 0. 0. 0. 1. ]] SLAMing on 342.183133365 meters Centerline goodness : 0.112175 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.9984818 -0.00863106 -0.05440219 -2.16276262] [ 0.00826405 0.99994158 -0.00696758 0.08429765] [ 0.05445915 0.00650742 0.99849479 -0.24636518] [ 0. 0. 0. 1. ]] SLAMing on 342.213133365 meters Centerline goodness : 0.106848 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.99848893 -0.00856446 -0.05428181 -2.16311311] [ 0.00820798 0.99994328 -0.00678678 0.08338581] [ 0.05433685 0.00633098 0.99850259 -0.24630457] [ 0. 0. 0. 1. ]] SLAMing on 342.243133365 meters Centerline goodness : 0.106480 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.99849179 -0.00851181 -0.05423747 -2.16322493] [ 0.00816475 0.99994477 -0.0066174 0.08241767] [ 0.0542908 0.00616458 0.99850614 -0.24628846] [ 0. 0. 0. 1. ]] SLAMing on 342.273133365 meters Centerline goodness : 0.107728 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.9984822 -0.00849581 -0.05441611 -2.16264367] [ 0.00815406 0.99994563 -0.00649925 0.08156616] [ 0.05446837 0.00604568 0.99849719 -0.24652699] [ 0. 0. 0. 1. ]] SLAMing on 342.303133365 meters Centerline goodness : 0.106943 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.99846884 -0.00851941 -0.054657 -2.16196533] [ 0.00817689 0.99994552 -0.00648739 0.08119134] [ 0.05470929 0.00603053 0.99848411 -0.24668146] [ 0. 0. 0. 1. ]] SLAMing on 342.333133365 meters Centerline goodness : 0.111854 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.08, Z:-0.25 [[ 0.9984609 -0.00851064 -0.05480324 -2.1615723 ] [ 0.00816721 0.9999456 -0.00648749 0.08131405] [ 0.05485547 0.00602991 0.9984761 -0.2467678 ] [ 0. 0. 0. 1. ]] SLAMing on 342.363133365 meters Centerline goodness : 0.098773 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98501062e-01 3.28437530e-04 -5.47313637e-02 -2.18247222e+00] [-7.17980215e-04 9.99974552e-01 -7.09784680e-03 7.95018675e-02] [ 5.47276397e-02 7.12650360e-03 9.98475888e-01 -2.48511460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.393133365 meters Centerline goodness : 0.110419 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98501100e-01 3.18337609e-04 -5.47307261e-02 -2.18246181e+00] [-7.14713933e-04 9.99973659e-01 -7.22287922e-03 8.07341103e-02] [ 5.47269851e-02 7.25116965e-03 9.98475026e-01 -2.48508698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42313336499996 meters Centerline goodness : 0.114915 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98504257e-01 2.72410098e-04 -5.46733498e-02 -2.18259823e+00] [-6.77089918e-04 9.99972513e-01 -7.38338801e-03 8.17326384e-02] [ 5.46698357e-02 7.40936313e-03 9.98476995e-01 -2.48531163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.453133365 meters Centerline goodness : 0.101189 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98505893e-01 2.78568747e-04 -5.46434338e-02 -2.18257139e+00] [-6.87354841e-04 9.99971920e-01 -7.46232267e-03 8.25927411e-02] [ 5.46398207e-02 7.48873258e-03 9.98478046e-01 -2.48679631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48313336499996 meters Centerline goodness : 0.111276 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.08, Z:-0.25 [[ 9.98523578e-01 2.64823667e-04 -5.43193653e-02 -2.18341098e+00] [-6.81043435e-04 9.99970552e-01 -7.64408895e-03 8.40922812e-02] [ 5.43157413e-02 7.66979690e-03 9.98494354e-01 -2.48580053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.513133365 meters Centerline goodness : 0.099613 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98534226e-01 1.62829819e-04 -5.41236798e-02 -2.18400193e+00] [-5.90787891e-04 9.99968690e-01 -7.89113397e-03 8.54149488e-02] [ 5.41207003e-02 7.91154296e-03 9.98503058e-01 -2.48366182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54313336499996 meters Centerline goodness : 0.106971 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98539339e-01 6.14768105e-05 -5.40294801e-02 -2.18422009e+00] [-5.03404726e-04 9.99966532e-01 -8.16581372e-03 8.70255730e-02] [ 5.40271698e-02 8.18108493e-03 9.98505951e-01 -2.48368347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.573133365 meters Centerline goodness : 0.097816 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98530203e-01 -1.53958333e-04 -5.41978863e-02 -2.18355607e+00] [-3.24464379e-04 9.99961064e-01 -8.81842177e-03 9.09066309e-02] [ 5.41971338e-02 8.82304576e-03 9.98491274e-01 -2.48719712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60313336499996 meters Centerline goodness : 0.098317 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98524080e-01 -2.75696398e-04 -5.43100798e-02 -2.18307793e+00] [-2.20888222e-04 9.99958230e-01 -9.13729261e-03 9.27831676e-02] [ 5.43103303e-02 9.13580316e-03 9.98482311e-01 -2.49009186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.633133365 meters Centerline goodness : 0.106999 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.09, Z:-0.25 [[ 9.98523462e-01 -3.85290239e-04 -5.43207790e-02 -2.18289261e+00] [-1.27852884e-04 9.99955408e-01 -9.44274312e-03 9.46483832e-02] [ 5.43219950e-02 9.43574562e-03 9.98478887e-01 -2.49217699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66313336499996 meters Centerline goodness : 0.106536 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98525632e-01 -4.76041504e-04 -5.42801544e-02 -2.18301515e+00] [-4.98508195e-05 9.99953081e-01 -9.68671691e-03 9.61908411e-02] [ 5.42822190e-02 9.67514103e-03 9.98478759e-01 -2.49208309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.693133365 meters Centerline goodness : 0.108357 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98530006e-01 -5.73624361e-04 -5.41986894e-02 -2.18334550e+00] [ 3.71207910e-05 9.99951000e-01 -9.89931741e-03 9.73982941e-02] [ 5.42017121e-02 9.88275358e-03 9.98481099e-01 -2.49005033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72313336499997 meters Centerline goodness : 0.098933 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98540490e-01 -7.82434076e-04 -5.40025692e-02 -2.18387426e+00] [ 2.30561145e-04 9.99947698e-01 -1.02248564e-02 9.87649634e-02] [ 5.40077450e-02 1.01974822e-02 9.98488445e-01 -2.48896021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.753133365 meters Centerline goodness : 0.107412 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98538450e-01 -8.62999326e-04 -5.40390595e-02 -2.18368154e+00] [ 3.04514295e-04 9.99946471e-01 -1.03422211e-02 9.92760091e-02] [ 5.40450922e-02 1.03106497e-02 9.98485262e-01 -2.49080376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78313336499997 meters Centerline goodness : 0.106137 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98540664e-01 -9.12773410e-04 -5.39973038e-02 -2.18356052e+00] [ 3.48612465e-04 9.99945269e-01 -1.04564430e-02 1.00051668e-01] [ 5.40038928e-02 1.04223594e-02 9.98486331e-01 -2.49404720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.813133365 meters Centerline goodness : 0.107172 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98533382e-01 -9.61426663e-04 -5.41309665e-02 -2.18315517e+00] [ 3.88235615e-04 9.99943759e-01 -1.05984875e-02 1.01151990e-01] [ 5.41381118e-02 1.05619280e-02 9.98477596e-01 -2.49554688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84313336499997 meters Centerline goodness : 0.104449 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.10, Z:-0.25 [[ 9.98530912e-01 -1.03685808e-03 -5.41751058e-02 -2.18305772e+00] [ 4.49581029e-04 9.99941021e-01 -1.08514116e-02 1.02898909e-01] [ 5.41831620e-02 1.08111138e-02 9.98472486e-01 -2.49524555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.873133365 meters Centerline goodness : 0.103217 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98525959e-01 -1.29802710e-03 -5.42606989e-02 -2.18295799e+00] [ 6.66891412e-04 9.99931937e-01 -1.16480321e-02 1.07719299e-01] [ 5.42721252e-02 1.15946765e-02 9.98458862e-01 -2.49319303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.903133365 meters Centerline goodness : 0.106363 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98516405e-01 -1.47992041e-03 -5.44315921e-02 -2.18247134e+00] [ 8.18896772e-04 9.99925675e-01 -1.21644164e-02 1.10605977e-01] [ 5.44455489e-02 1.21017955e-02 9.98443403e-01 -2.49384527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.933133365 meters Centerline goodness : 0.109841 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.11, Z:-0.25 [[ 9.98510213e-01 -1.67523247e-03 -5.45394141e-02 -2.18222663e+00] [ 9.84871200e-04 9.99919090e-01 -1.26824423e-02 1.13402494e-01] [ 5.45562473e-02 1.26098338e-02 9.98431073e-01 -2.49346184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.963133365 meters Centerline goodness : 0.103883 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 9.98494666e-01 -2.00729098e-03 -5.48121535e-02 -2.18156400e+00] [ 1.26342972e-03 9.99906685e-01 -1.36023817e-02 1.19061195e-01] [ 5.48343426e-02 1.35126543e-02 9.98404028e-01 -2.49330815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.993133365 meters Centerline goodness : 0.119769 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 9.98482468e-01 -2.17400785e-03 -5.50275773e-02 -2.18085077e+00] [ 1.40148653e-03 9.99899981e-01 -1.40735012e-02 1.21906953e-01] [ 5.50526694e-02 1.39750238e-02 9.98385648e-01 -2.49555340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.023133365 meters Centerline goodness : 0.107337 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 9.98473229e-01 -2.28358233e-03 -5.51905382e-02 -2.18023570e+00] [ 1.49055978e-03 9.99895121e-01 -1.44057081e-02 1.24099888e-01] [ 5.52176465e-02 1.43014491e-02 9.98371915e-01 -2.49809352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.053133365 meters Centerline goodness : 0.104652 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.13, Z:-0.25 [[ 9.98468869e-01 -2.39242888e-03 -5.52647592e-02 -2.18000382e+00] [ 1.58522826e-03 9.99891495e-01 -1.46452865e-02 1.25590616e-01] [ 5.52938005e-02 1.45352554e-02 9.98364323e-01 -2.49856370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.083133365 meters Centerline goodness : 0.060656 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.13, Z:-0.25 [[ 9.98472181e-01 -2.78142648e-03 -5.51866522e-02 -2.18018894e+00] [ 1.95474630e-03 9.99885162e-01 -1.50280408e-02 1.26312753e-01] [ 5.52221141e-02 1.48972047e-02 9.98362956e-01 -2.49781556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.113133365 meters Centerline goodness : 0.101348 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.13, Z:-0.25 [[ 9.98474728e-01 -2.86286052e-03 -5.51363966e-02 -2.18020860e+00] [ 2.03706059e-03 9.99885001e-01 -1.50277824e-02 1.25765524e-01] [ 5.51730784e-02 1.48925448e-02 9.98365736e-01 -2.49946418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.143133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 343.17313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 343.203133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 343.23313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 343.263133365 meters Centerline goodness : 0.102914 Centerline is valid? [False, False] Translation: X:-2.18, Y:0.12, Z:-0.25 [[ 0.99853372 -0.00364584 -0.05401029 -2.18332236] [ 0.00281849 0.99987764 -0.01538675 0.12460055] [ 0.05405978 0.01521197 0.99842182 -0.24933029] [ 0. 0. 0. 1. ]] SLAMing on 343.29313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 343.323133365 meters Centerline goodness : 0.118120 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.13, Z:-0.25 [[ 9.98574355e-01 -5.28329308e-04 -5.33758293e-02 -2.18570965e+00] [-1.49877598e-04 9.99919322e-01 -1.27014534e-02 1.26868329e-01] [ 5.33782336e-02 1.26913455e-02 9.98493713e-01 -2.48424490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35313336499996 meters Centerline goodness : 0.107119 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.13, Z:-0.25 [[ 0.99858112 -0.00502579 -0.05301398 -2.16623598] [ 0.00455771 0.99994959 -0.00894644 0.13345891] [ 0.05305627 0.00869212 0.99855369 -0.24668559] [ 0. 0. 0. 1. ]] SLAMing on 343.383133365 meters Centerline goodness : 0.127509 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99857972 -0.00513733 -0.05302965 -2.16613233] [ 0.0046475 0.99994543 -0.00935604 0.13598281] [ 0.05307482 0.00909629 0.99854911 -0.24675922] [ 0. 0. 0. 1. ]] SLAMing on 343.41313336499996 meters Centerline goodness : 0.142138 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99857865 -0.00523265 -0.05304047 -2.16616515] [ 0.0047248 0.99994183 -0.00969559 0.13804137] [ 0.05308812 0.0094312 0.99854529 -0.24669953] [ 0. 0. 0. 1. ]] SLAMing on 343.443133365 meters Centerline goodness : 0.104583 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99858184 -0.00534198 -0.05296958 -2.1663546 ] [ 0.0048174 0.99993813 -0.01002624 0.14001998] [ 0.05301986 0.00975685 0.99854579 -0.24665323] [ 0. 0. 0. 1. ]] SLAMing on 343.47313336499997 meters Centerline goodness : 0.053051 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99857365 -0.00560523 -0.05309666 -2.16603735] [ 0.00504991 0.9999312 -0.01058699 0.14294068] [ 0.05315235 0.01030375 0.99853325 -0.24663109] [ 0. 0. 0. 1. ]] SLAMing on 343.503133365 meters Centerline goodness : 0.148842 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856793 -0.00574326 -0.05318926 -2.16581863] [ 0.00517744 0.9999286 -0.01076967 0.14364227] [ 0.05324731 0.01047886 0.99852637 -0.24660292] [ 0. 0. 0. 1. ]] SLAMing on 343.53313336499997 meters Centerline goodness : 0.133446 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856622 -0.00585986 -0.05320875 -2.1657404 ] [ 0.00528851 0.99992691 -0.01087239 0.14385764] [ 0.05326857 0.0105754 0.99852422 -0.24659878] [ 0. 0. 0. 1. ]] SLAMing on 343.563133365 meters Centerline goodness : 0.139129 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856796 -0.00609099 -0.05314999 -2.16612977] [ 0.00551356 0.99992425 -0.01100414 0.14417162] [ 0.05321299 0.01069534 0.99852591 -0.24612918] [ 0. 0. 0. 1. ]] SLAMing on 343.59313336499997 meters Centerline goodness : 0.136451 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 0.99856561 -0.0060816 -0.05319523 -2.16609218] [ 0.00550471 0.99992451 -0.01098474 0.1443994 ] [ 0.05325802 0.01067616 0.99852371 -0.24597695] [ 0. 0. 0. 1. ]] SLAMing on 343.623133365 meters Centerline goodness : 0.128026 Centerline is valid? [False, False] Translation: X:-2.15, Y:0.15, Z:-0.24 [[ 0.99848979 -0.01428409 -0.05304814 -2.14685582] [ 0.01377025 0.99985479 -0.01003927 0.14925039] [ 0.05318384 0.00929362 0.99854149 -0.24384745] [ 0. 0. 0. 1. ]] SLAMing on 343.653133365 meters Centerline goodness : 0.145794 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99855431 -0.00590098 -0.05342729 -2.16584028] [ 0.00531705 0.99992464 -0.01106501 0.14586452] [ 0.05348856 0.01076494 0.99851044 -0.2459886 ] [ 0. 0. 0. 1. ]] SLAMing on 343.683133365 meters Centerline goodness : 0.126108 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99855179 -0.00598167 -0.05346528 -2.16542014] [ 0.00539412 0.99992354 -0.01112692 0.14609397] [ 0.05352775 0.01082241 0.99850771 -0.24646371] [ 0. 0. 0. 1. ]] SLAMing on 343.713133365 meters Centerline goodness : 0.146483 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99855725 -0.0059535 -0.05336648 -2.16550648] [ 0.0053702 0.99992434 -0.01106695 0.14584262] [ 0.05342833 0.01076439 0.99851367 -0.24668393] [ 0. 0. 0. 1. ]] SLAMing on 343.743133365 meters Centerline goodness : 0.132616 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99856385 -0.00594437 -0.05324372 -2.16568056] [ 0.00536418 0.99992474 -0.01103325 0.14575769] [ 0.0533053 0.01073179 0.99852059 -0.24689613] [ 0. 0. 0. 1. ]] SLAMing on 343.773133365 meters Centerline goodness : 0.124613 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99857025 -0.00595549 -0.05312248 -2.16583842] [ 0.00537809 0.99992497 -0.01100559 0.14546237] [ 0.05318403 0.01070416 0.99852736 -0.24709973] [ 0. 0. 0. 1. ]] SLAMing on 343.803133365 meters Centerline goodness : 0.116772 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.15, Z:-0.25 [[ 0.99856218 -0.00613591 -0.05325347 -2.16548759] [ 0.00554816 0.99992213 -0.0111778 0.14546484] [ 0.05331791 0.01086627 0.99851846 -0.24715604] [ 0. 0. 0. 1. ]] SLAMing on 343.833133365 meters Centerline goodness : 0.185680 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 0.99855136 -0.00606936 -0.05346357 -2.16495139] [ 0.00548396 0.99992347 -0.01108948 0.14542105] [ 0.05352678 0.01078023 0.99850822 -0.24726357] [ 0. 0. 0. 1. ]] SLAMing on 343.863133365 meters Centerline goodness : 0.089552 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.15, Z:-0.25 [[ 0.99853342 -0.00598407 -0.05380713 -2.16393886] [ 0.00540097 0.99992518 -0.01097584 0.14536811] [ 0.05386879 0.01066914 0.99849102 -0.24753628] [ 0. 0. 0. 1. ]] SLAMing on 343.893133365 meters Centerline goodness : 0.081518 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99850515 -0.00595551 -0.05433232 -2.16202306] [ 0.00537613 0.99992719 -0.01080372 0.14443457] [ 0.0543927 0.01049548 0.99846446 -0.2485615 ] [ 0. 0. 0. 1. ]] SLAMing on 343.92313336499996 meters Centerline goodness : 0.133731 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99850318 -0.00598563 -0.05436511 -2.16171122] [ 0.00541142 0.99992808 -0.01070321 0.14336872] [ 0.05442526 0.010393 0.99846376 -0.24894549] [ 0. 0. 0. 1. ]] SLAMing on 343.953133365 meters Centerline goodness : 0.134349 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.9985118 -0.00597187 -0.05420821 -2.16225257] [ 0.00540767 0.99992974 -0.01054886 0.14223496] [ 0.05426739 0.01024002 0.99847393 -0.24875066] [ 0. 0. 0. 1. ]] SLAMing on 343.98313336499996 meters Centerline goodness : 0.132308 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851907 -0.00587461 -0.05408468 -2.16279263] [ 0.00532427 0.99993263 -0.01031402 0.1411101 ] [ 0.05414163 0.01001078 0.99848308 -0.24845331] [ 0. 0. 0. 1. ]] SLAMing on 344.013133365 meters Centerline goodness : 0.131178 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851934 -0.00574916 -0.0540933 -2.1628919 ] [ 0.00521189 0.99993573 -0.01006804 0.14017995] [ 0.0541477 0.0097712 0.99848513 -0.24833152] [ 0. 0. 0. 1. ]] SLAMing on 344.04313336499996 meters Centerline goodness : 0.131178 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851934 -0.00574916 -0.0540933 -2.1628919 ] [ 0.00521189 0.99993573 -0.01006804 0.14017995] [ 0.0541477 0.0097712 0.99848513 -0.24833152] [ 0. 0. 0. 1. ]] SLAMing on 344.073133365 meters Centerline goodness : 0.133486 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851909 -0.0056152 -0.05411192 -2.16281151] [ 0.00509104 0.99993883 -0.00981952 0.13920303] [ 0.05416375 0.0095295 0.99848659 -0.24841324] [ 0. 0. 0. 1. ]] SLAMing on 344.10313336499996 meters Centerline goodness : 0.139076 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851891 -0.00560911 -0.05411584 -2.16275372] [ 0.0050841 0.99993872 -0.00983435 0.13938474] [ 0.05416769 0.00954465 0.99848623 -0.24849572] [ 0. 0. 0. 1. ]] SLAMing on 344.133133365 meters Centerline goodness : 0.171514 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 0.99851176 -0.00559914 -0.05424862 -2.16239572] [ 0.00506982 0.99993824 -0.00989012 0.13992214] [ 0.05430065 0.00960037 0.99847848 -0.24855496] [ 0. 0. 0. 1. ]] SLAMing on 344.16313336499996 meters Centerline goodness : 0.133569 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98530466e-01 -2.33067330e-03 -5.41431103e-02 -2.16266118e+00] [ 1.97037231e-03 9.99975566e-01 -6.70703193e-03 1.39440474e-01] [ 5.41574193e-02 6.59049363e-03 9.98510661e-01 -2.48644257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.193133365 meters Centerline goodness : 0.146507 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.14, Z:-0.25 [[ 9.98551247e-01 -2.23614556e-03 -5.37624988e-02 -2.16405764e+00] [ 1.87363418e-03 9.99975177e-01 -6.79228676e-03 1.40575713e-01] [ 5.37763528e-02 6.68171516e-03 9.98530650e-01 -2.47926288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22313336499997 meters Centerline goodness : 0.155585 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98567551e-01 -2.28542027e-03 -5.34567351e-02 -2.16505884e+00] [ 1.91977370e-03 9.99974418e-01 -6.89039618e-03 1.40845986e-01] [ 5.34711150e-02 6.77790121e-03 9.98546393e-01 -2.47561349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.253133365 meters Centerline goodness : 0.127149 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98583292e-01 -2.32742076e-03 -5.31600633e-02 -2.16598610e+00] [ 1.96224565e-03 9.99974128e-01 -6.92051155e-03 1.40677132e-01] [ 5.31747949e-02 6.80639410e-03 9.98562023e-01 -2.47284943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28313336499997 meters Centerline goodness : 0.108664 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98592698e-01 -2.34504478e-03 -5.29823025e-02 -2.16661717e+00] [ 1.98213154e-03 9.99974222e-01 -6.90121480e-03 1.40296419e-01] [ 5.29971203e-02 6.78648481e-03 9.98571604e-01 -2.47050702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.313133365 meters Centerline goodness : 0.149134 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98594042e-01 -2.17617954e-03 -5.29641700e-02 -2.16647330e+00] [ 1.83848667e-03 9.99977677e-01 -6.42376015e-03 1.37746099e-01] [ 5.29769670e-02 6.31735470e-03 9.98575752e-01 -2.47441243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34313336499997 meters Centerline goodness : 0.112479 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.14, Z:-0.25 [[ 9.98589613e-01 -2.05826105e-03 -5.30523225e-02 -2.16606983e+00] [ 1.73757113e-03 9.99979945e-01 -6.09020051e-03 1.36024148e-01] [ 5.30637938e-02 5.98942879e-03 9.98573162e-01 -2.47797175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.373133365 meters Centerline goodness : 0.124319 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.13, Z:-0.25 [[ 9.98588519e-01 -1.93379914e-03 -5.30775796e-02 -2.16578619e+00] [ 1.63319783e-03 9.99982386e-01 -5.70622244e-03 1.34004405e-01] [ 5.30876793e-02 5.61148203e-03 9.98574088e-01 -2.48233801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.403133365 meters Centerline goodness : 0.121185 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.13, Z:-0.25 [[ 9.98578710e-01 -2.00589395e-03 -5.32591495e-02 -2.16487198e+00] [ 1.73455481e-03 9.99985284e-01 -5.14042998e-03 1.29330240e-01] [ 5.32686768e-02 5.04074303e-03 9.98567493e-01 -2.49050358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.433133365 meters Centerline goodness : 0.113618 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.13, Z:-0.25 [[ 9.98579371e-01 -1.89467949e-03 -5.32508263e-02 -2.16465993e+00] [ 1.64538252e-03 9.99987483e-01 -4.72501085e-03 1.26804913e-01] [ 5.32591121e-02 4.63068038e-03 9.98569989e-01 -2.49516204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.463133365 meters Centerline goodness : 0.093518 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98575969e-01 -1.73017424e-03 -5.33201634e-02 -2.16450477e+00] [ 1.50428281e-03 9.99989725e-01 -4.27635223e-03 1.24442553e-01] [ 5.33270144e-02 4.19005397e-03 9.98568312e-01 -2.49596164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.493133365 meters Centerline goodness : 0.140510 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98578955e-01 -1.55894763e-03 -5.32695066e-02 -2.16464479e+00] [ 1.35467984e-03 9.99991592e-01 -3.87050223e-03 1.22450606e-01] [ 5.32750927e-02 3.79283895e-03 9.98572671e-01 -2.49648757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.523133365 meters Centerline goodness : 0.125550 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98583455e-01 -1.38708781e-03 -5.31898426e-02 -2.16491960e+00] [ 1.20338805e-03 9.99993201e-01 -3.48553354e-03 1.20548656e-01] [ 5.31943157e-02 3.41658811e-03 9.98578335e-01 -2.49593959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.553133365 meters Centerline goodness : 0.123289 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98585081e-01 -1.11574513e-03 -5.31656959e-02 -2.16481729e+00] [ 9.62545347e-04 9.99995311e-01 -2.90707145e-03 1.17695904e-01] [ 5.31686902e-02 2.85178378e-03 9.98581473e-01 -2.49921063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.583133365 meters Centerline goodness : 0.125887 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98580236e-01 -9.59275770e-04 -5.32596714e-02 -2.16440527e+00] [ 8.20781286e-04 9.99996225e-01 -2.62217499e-03 1.16402941e-01] [ 5.32619857e-02 2.57473758e-03 9.98577254e-01 -2.50234847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.613133365 meters Centerline goodness : 0.115621 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.12, Z:-0.25 [[ 9.98578833e-01 -7.69040953e-04 -5.32890553e-02 -2.16418023e+00] [ 6.47872899e-04 9.99997166e-01 -2.29102599e-03 1.15030638e-01] [ 5.32906662e-02 2.25324552e-03 9.98576501e-01 -2.50500970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.643133365 meters Centerline goodness : 0.041606 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98574473e-01 -5.74497957e-04 -5.33731419e-02 -2.16375949e+00] [ 4.70265593e-04 9.99997958e-01 -1.96543736e-03 1.13736939e-01] [ 5.33741621e-02 1.93753603e-03 9.98572704e-01 -2.50874622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67313336499996 meters Centerline goodness : 0.121413 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98575199e-01 -4.29967761e-04 -5.33609149e-02 -2.16363086e+00] [ 3.38645845e-04 9.99998463e-01 -1.72043075e-03 1.12739734e-01] [ 5.33615726e-02 1.69990902e-03 9.98573809e-01 -2.51137644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.703133365 meters Centerline goodness : 0.041373 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98576743e-01 -2.48622275e-04 -5.33331641e-02 -2.16375819e+00] [ 1.77282960e-04 9.99999083e-01 -1.34234313e-03 1.10560151e-01] [ 5.33334489e-02 1.33097757e-03 9.98575872e-01 -2.51128434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 344.763133365 meters Centerline goodness : 0.142316 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98558589e-01 -8.68780993e-05 -5.36724930e-02 -2.16295642e+00] [ 3.40597259e-05 9.99999514e-01 -9.85000367e-04 1.08838861e-01] [ 5.36725525e-02 9.81752507e-04 9.98558107e-01 -2.51187275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79313336499996 meters Centerline goodness : 0.097528 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98551260e-01 1.99616601e-05 -5.38087482e-02 -2.16240676e+00] [-5.87628655e-05 9.99999739e-01 -7.19512714e-04 1.07627734e-01] [ 5.38087198e-02 7.21632283e-04 9.98551001e-01 -2.51588555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.823133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 344.85313336499996 meters Centerline goodness : 0.105958 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98581447e-01 -1.12585376e-04 -5.32454719e-02 -2.16404139e+00] [ 7.50299170e-05 9.99999747e-01 -7.07325202e-04 1.06787489e-01] [ 5.32455380e-02 7.02326821e-04 9.98581203e-01 -2.51223827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.883133365 meters Centerline goodness : 0.142971 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98594100e-01 -1.20980083e-04 -5.30076214e-02 -2.16478589e+00] [ 8.62645105e-05 9.99999780e-01 -6.57204089e-04 1.06403445e-01] [ 5.30076892e-02 6.51707450e-04 9.98593892e-01 -2.50984547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 344.943133365 meters Centerline goodness : 0.116135 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.11, Z:-0.25 [[ 9.98601403e-01 -1.75468049e-04 -5.28697197e-02 -2.16473086e+00] [ 1.42197543e-04 9.99999790e-01 -6.33053216e-04 1.06162821e-01] [ 5.28698196e-02 6.24649886e-04 9.98601218e-01 -2.51580096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97313336499997 meters Centerline goodness : 0.201439 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.11, Z:-0.25 [[ 9.98611532e-01 -1.31814854e-04 -5.26781855e-02 -2.16524793e+00] [ 1.07903099e-04 9.99999890e-01 -4.56765179e-04 1.05147584e-01] [ 5.26782399e-02 4.50446836e-04 9.98611436e-01 -2.51554132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.003133365 meters Centerline goodness : 0.117447 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.10, Z:-0.25 [[ 9.98628407e-01 -1.20186976e-04 -5.23573419e-02 -2.16613607e+00] [ 1.06036996e-04 9.99999957e-01 -2.73035521e-04 1.03865845e-01] [ 5.23573725e-02 2.67109212e-04 9.98628376e-01 -2.51423764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03313336499997 meters Centerline goodness : 0.094749 Centerline is valid? [False, False] Translation: X:-2.17, Y:0.10, Z:-0.25 [[ 9.98622633e-01 -2.84370329e-04 -5.24667084e-02 -2.16581242e+00] [ 2.94214033e-04 9.99999941e-01 1.79894648e-04 1.00068735e-01] [ 5.24666541e-02 -1.95083309e-04 9.98622658e-01 -2.51699671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.063133365 meters Centerline goodness : 0.104280 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.10, Z:-0.25 [[ 9.98598069e-01 -2.76284906e-04 -5.29322268e-02 -2.16431875e+00] [ 3.05273432e-04 9.99999808e-01 5.39569345e-04 9.74381735e-02] [ 5.29320675e-02 -5.54971708e-04 9.98597961e-01 -2.52330674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09313336499997 meters Centerline goodness : 0.123739 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 9.98576748e-01 -1.81122903e-04 -5.33333447e-02 -2.16309957e+00] [ 2.35479670e-04 9.99999459e-01 1.01290699e-03 9.44511334e-02] [ 5.33331324e-02 -1.02402428e-03 9.98576251e-01 -2.52812789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.153133365 meters Centerline goodness : 0.122257 Centerline is valid? [False, False] Translation: X:-2.16, Y:0.09, Z:-0.25 [[ 9.98554820e-01 3.04765794e-05 -5.37426402e-02 -2.16166720e+00] [ 6.78409994e-05 9.99998328e-01 1.82758951e-03 8.92043019e-02] [ 5.37426061e-02 -1.82859426e-03 9.98553148e-01 -2.53593601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.183133365 meters Centerline goodness : 0.115735 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98491064e-01 8.77547611e-04 -5.49074256e-02 -2.20929397e+00] [-7.59625189e-04 9.99997360e-01 2.16849232e-03 8.76417679e-02] [ 5.49091836e-02 -2.12351114e-03 9.98489095e-01 -2.54323120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.213133365 meters Centerline goodness : 0.203480 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98513624e-01 9.78085253e-04 -5.44939063e-02 -2.21082355e+00] [-8.51215211e-04 9.99996873e-01 2.35131262e-03 8.65358332e-02] [ 5.44960357e-02 -2.30143165e-03 9.98511335e-01 -2.53564560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.243133365 meters Centerline goodness : 0.100075 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98523250e-01 1.09448880e-03 -5.43150205e-02 -2.21165790e+00] [-9.59012512e-04 9.99996364e-01 2.52027018e-03 8.57168969e-02] [ 5.43175814e-02 -2.46445959e-03 9.98520669e-01 -2.53004421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.273133365 meters Centerline goodness : 0.110629 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98520346e-01 1.21152704e-03 -5.43658926e-02 -2.21156400e+00] [-1.06812626e-03 9.99995874e-01 2.66667633e-03 8.51864209e-02] [ 5.43688991e-02 -2.60466094e-03 9.98517520e-01 -2.52992406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.303133365 meters Centerline goodness : 0.100794 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98517530e-01 1.42636729e-03 -5.44123845e-02 -2.21117199e+00] [-1.26111193e-03 9.99994488e-01 3.07130542e-03 8.31373861e-02] [ 5.44164654e-02 -2.99813219e-03 9.98513825e-01 -2.53444656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.333133365 meters Centerline goodness : 0.097541 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98513380e-01 1.52441692e-03 -5.44858349e-02 -2.21089134e+00] [-1.34556305e-03 9.99993586e-01 3.31910918e-03 8.17508701e-02] [ 5.44905451e-02 -3.24086080e-03 9.98509027e-01 -2.53631144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.363133365 meters Centerline goodness : 0.099152 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98506205e-01 1.67139199e-03 -5.46128698e-02 -2.21044616e+00] [-1.47503677e-03 9.99992304e-01 3.63551235e-03 8.02542950e-02] [ 5.46185258e-02 -3.54952565e-03 9.98500985e-01 -2.53894616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.393133365 meters Centerline goodness : 0.094989 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98497679e-01 1.84047667e-03 -5.47631068e-02 -2.21004010e+00] [-1.62511106e-03 9.99990771e-01 3.97694871e-03 7.86718996e-02] [ 5.47699209e-02 -3.88197792e-03 9.98491455e-01 -2.54010205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42313336499996 meters Centerline goodness : 0.241927 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98496975e-01 1.96328266e-03 -5.47716669e-02 -2.21044630e+00] [-1.73445895e-03 9.99989570e-01 4.22499758e-03 7.71656136e-02] [ 5.47793905e-02 -4.12364810e-03 9.98489967e-01 -2.53439806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.453133365 meters Centerline goodness : 0.242426 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98498609e-01 1.98745931e-03 -5.47409991e-02 -2.21056551e+00] [-1.75724239e-03 9.99989410e-01 4.25337848e-03 7.69849137e-02] [ 5.47488729e-02 -4.15079929e-03 9.98491528e-01 -2.53395416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48313336499996 meters Centerline goodness : 0.104766 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98496624e-01 2.04906728e-03 -5.47749253e-02 -2.21031242e+00] [-1.81741456e-03 9.99989195e-01 4.27865180e-03 7.72564350e-02] [ 5.47831007e-02 -4.17267064e-03 9.98489560e-01 -2.53646196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.513133365 meters Centerline goodness : 0.244806 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98491610e-01 2.09477422e-03 -5.48645309e-02 -2.20976554e+00] [-1.86691232e-03 9.99989420e-01 4.20409622e-03 7.83055645e-02] [ 5.48727571e-02 -4.09532754e-03 9.98484957e-01 -2.54112025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54313336499996 meters Centerline goodness : 0.239286 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98482011e-01 2.05290175e-03 -5.50405284e-02 -2.20894863e+00] [-1.84065137e-03 9.99990675e-01 3.90667258e-03 8.02507487e-02] [ 5.50480351e-02 -3.79943187e-03 9.98476479e-01 -2.54632978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.573133365 meters Centerline goodness : 0.241096 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98481961e-01 1.95434901e-03 -5.50450199e-02 -2.20893083e+00] [-1.75071091e-03 9.99991446e-01 3.74746050e-03 8.08268978e-02] [ 5.50518728e-02 -3.64540379e-03 9.98476841e-01 -2.54690540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60313336499996 meters Centerline goodness : 0.179753 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98479921e-01 1.94745028e-03 -5.50822593e-02 -2.20890953e+00] [-1.74346145e-03 9.99991445e-01 3.75116001e-03 8.08896525e-02] [ 5.50890932e-02 -3.64942415e-03 9.98474774e-01 -2.54638474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.633133365 meters Centerline goodness : 0.243263 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98474519e-01 1.99896699e-03 -5.51782476e-02 -2.20867006e+00] [-1.78675624e-03 9.99990818e-01 3.89497790e-03 8.04814767e-02] [ 5.51855269e-02 -3.79044611e-03 9.98468923e-01 -2.54733984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66313336499996 meters Centerline goodness : 0.101463 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.26 [[ 9.98457831e-01 1.70406999e-03 -5.54892334e-02 -2.20751600e+00] [-1.48557890e-03 9.99990982e-01 3.97855068e-03 7.91675854e-02] [ 5.54955128e-02 -3.88998145e-03 9.98451359e-01 -2.55497426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.693133365 meters Centerline goodness : 0.156178 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.26 [[ 9.98459977e-01 1.43896411e-03 -5.54581335e-02 -2.20752559e+00] [-1.22042725e-03 9.99991358e-01 3.97423966e-03 7.78944894e-02] [ 5.54633730e-02 -3.90043662e-03 9.98453104e-01 -2.55683223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.753133365 meters Centerline goodness : 0.073038 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98454356e-01 -2.63172408e-03 -5.55155198e-02 -2.20833540e+00] [ 2.65559612e-03 9.99996410e-01 3.56240584e-04 7.65558636e-02] [ 5.55143829e-02 -5.03116762e-04 9.98457761e-01 -2.54581251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78313336499997 meters Centerline goodness : 0.112604 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98453336e-01 -2.62454934e-03 -5.55341950e-02 -2.20857013e+00] [ 2.66735722e-03 9.99996200e-01 6.96730272e-04 7.45401377e-02] [ 5.55321554e-02 -8.43782201e-04 9.98456543e-01 -2.54248395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.813133365 meters Centerline goodness : 0.111808 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98451284e-01 -2.59131444e-03 -5.55726448e-02 -2.20831610e+00] [ 2.64256152e-03 9.99996148e-01 8.48699738e-04 7.35849050e-02] [ 5.55702315e-02 -9.94239476e-04 9.98454286e-01 -2.54537014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84313336499997 meters Centerline goodness : 0.128908 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98447265e-01 -2.60873050e-03 -5.56439958e-02 -2.20790512e+00] [ 2.66324944e-03 9.99996043e-01 9.05649223e-04 7.28582435e-02] [ 5.56414130e-02 -1.05243683e-03 9.98450262e-01 -2.54922245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.873133365 meters Centerline goodness : 0.112901 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.26 [[ 9.98437478e-01 -2.55712117e-03 -5.58217132e-02 -2.20730533e+00] [ 2.61601791e-03 9.99996096e-01 9.82039736e-04 7.24492057e-02] [ 5.58189841e-02 -1.12653588e-03 9.98440270e-01 -2.55170848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.903133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.933133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 345.963133365 meters Centerline goodness : 0.106133 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98427096e-01 -2.31008657e-03 -5.60178278e-02 -2.20695395e+00] [ 2.38085113e-03 9.99996450e-01 1.19654610e-03 7.23375562e-02] [ 5.60148648e-02 -1.32803416e-03 9.98429052e-01 -2.54987042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.993133365 meters Centerline goodness : 0.102460 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.07, Z:-0.25 [[ 9.98396727e-01 -1.95485070e-03 -5.65698984e-02 -2.20559101e+00] [ 2.03313207e-03 9.99997054e-01 1.32627891e-03 7.30435179e-02] [ 5.65671391e-02 -1.43916660e-03 9.98397760e-01 -2.54973602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.023133365 meters Centerline goodness : 0.099271 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98366911e-01 5.52804991e-03 -5.68590556e-02 -2.18742217e+00] [-5.53887906e-03 9.99984660e-01 -3.28614099e-05 6.87930126e-02] [ 5.68580017e-02 3.47743177e-04 9.98382215e-01 -2.52105558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.053133365 meters Centerline goodness : 0.100074 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98370141e-01 5.53531316e-03 -5.68015943e-02 -2.18778547e+00] [-5.55225868e-03 9.99984576e-01 -1.40515407e-04 6.94862699e-02] [ 5.67999404e-02 4.55663532e-04 9.98385476e-01 -2.51782715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.083133365 meters Centerline goodness : 0.102503 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98371262e-01 5.54325332e-03 -5.67811194e-02 -2.18777165e+00] [-5.56346037e-03 9.99984504e-01 -1.97803946e-04 6.98605064e-02] [ 5.67791431e-02 5.13381283e-04 9.98386631e-01 -2.51884623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.113133365 meters Centerline goodness : 0.100860 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.07, Z:-0.25 [[ 9.98356531e-01 5.47387210e-03 -5.70462471e-02 -2.18674252e+00] [-5.51266561e-03 9.99984669e-01 -5.22690492e-04 7.13898117e-02] [ 5.70425113e-02 8.36308350e-04 9.98371400e-01 -2.52388254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.143133365 meters Centerline goodness : 0.102105 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.08, Z:-0.25 [[ 9.98372816e-01 -1.71382816e-03 -5.69980947e-02 -2.20484528e+00] [ 1.76404577e-03 9.99998099e-01 8.30737376e-04 7.81883011e-02] [ 5.69965626e-02 -9.29932862e-04 9.98373942e-01 -2.54873246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17313336499996 meters Centerline goodness : 0.101436 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98378651e-01 -1.65411279e-03 -5.68975600e-02 -2.20523973e+00] [ 1.69471144e-03 9.99998343e-01 6.65295186e-04 7.98429867e-02] [ 5.68963652e-02 -7.60641456e-04 9.98379800e-01 -2.54596458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.203133365 meters Centerline goodness : 0.099246 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98390241e-01 -1.58427574e-03 -5.66958184e-02 -2.20604816e+00] [ 1.61474925e-03 9.99998575e-01 4.91683679e-04 8.17021761e-02] [ 5.66949586e-02 -5.82441717e-04 9.98391377e-01 -2.54123539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23313336499996 meters Centerline goodness : 0.100501 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98406667e-01 -1.60622399e-03 -5.64051978e-02 -2.20700698e+00] [ 1.62508716e-03 9.99998638e-01 2.88556009e-04 8.32001480e-02] [ 5.64046575e-02 -3.79759606e-04 9.98407918e-01 -2.53713177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.263133365 meters Centerline goodness : 0.101077 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98425516e-01 -1.72899198e-03 -5.60669278e-02 -2.20804813e+00] [ 1.73361223e-03 9.99998497e-01 3.37687157e-05 8.43212026e-02] [ 5.60667851e-02 -1.30913859e-04 9.98427012e-01 -2.53391041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29313336499996 meters Centerline goodness : 0.099113 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98447461e-01 -2.00994901e-03 -5.56653173e-02 -2.20922454e+00] [ 1.99491087e-03 9.99997957e-01 -3.25718290e-04 8.51740311e-02] [ 5.56658583e-02 2.14165253e-04 9.98449431e-01 -2.53133490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.323133365 meters Centerline goodness : 0.452477 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.09, Z:-0.25 [[ 9.98435478e-01 -2.00094053e-03 -5.58801552e-02 -2.20858238e+00] [ 1.98933318e-03 9.99997987e-01 -2.63343548e-04 8.50939145e-02] [ 5.58805696e-02 1.51767295e-04 9.98437449e-01 -2.53400574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35313336499996 meters Centerline goodness : 0.101179 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.08, Z:-0.25 [[ 9.98406775e-01 -1.93024633e-03 -5.63931363e-02 -2.20698118e+00] [ 1.92755608e-03 9.99998137e-01 -1.02098918e-04 8.48757402e-02] [ 5.63932283e-02 -6.76468109e-06 9.98408636e-01 -2.53945935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.383133365 meters Centerline goodness : 0.110091 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98178016e-01 -2.35708605e-03 -6.02917360e-02 -2.24668469e+00] [ 2.32888487e-03 9.99997143e-01 -5.38011367e-04 8.75203734e-02] [ 6.02928320e-02 3.96618607e-04 9.98180654e-01 -2.57164259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41313336499996 meters Centerline goodness : 0.108078 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98172910e-01 -2.52966067e-03 -6.03692188e-02 -2.24653627e+00] [ 2.49735272e-03 9.99996695e-01 -6.10617056e-04 8.70454259e-02] [ 6.03705640e-02 4.58738170e-04 9.98175929e-01 -2.57220897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.443133365 meters Centerline goodness : 0.102075 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98176861e-01 -2.58872581e-03 -6.03013481e-02 -2.24695974e+00] [ 2.55018889e-03 9.99996492e-01 -7.16023515e-04 8.75238219e-02] [ 6.03029902e-02 5.60938277e-04 9.98179961e-01 -2.56870577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47313336499997 meters Centerline goodness : 0.102531 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98186344e-01 -2.59099932e-03 -6.01440728e-02 -2.24764822e+00] [ 2.54423962e-03 9.99996399e-01 -8.54028277e-04 8.87429620e-02] [ 6.01460690e-02 6.99458431e-04 9.98189341e-01 -2.56437670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.503133365 meters Centerline goodness : 0.135261 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.09, Z:-0.26 [[ 9.98197967e-01 -2.65353796e-03 -5.99481159e-02 -2.24812788e+00] [ 2.58866670e-03 9.99995977e-01 -1.15976038e-03 9.08552292e-02] [ 5.99509522e-02 1.00248476e-03 9.98200821e-01 -2.56332538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53313336499997 meters Centerline goodness : 0.113578 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 9.98208568e-01 -2.89620743e-03 -5.97600749e-02 -2.24857337e+00] [ 2.78151134e-03 9.99994127e-01 -2.00237315e-03 9.57371826e-02] [ 5.97655232e-02 1.83256270e-03 9.98210761e-01 -2.56193954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.563133365 meters Centerline goodness : 0.097432 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 9.98208173e-01 -3.07768330e-03 -5.97576051e-02 -2.24861644e+00] [ 2.93894594e-03 9.99992779e-01 -2.40942088e-03 9.76801048e-02] [ 5.97645890e-02 2.22947924e-03 9.98210010e-01 -2.56135824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59313336499997 meters Centerline goodness : 0.243416 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99820924 -0.00317869 -0.05973447 -2.24876408] [ 0.00302416 0.99999184 -0.00267723 0.09918416] [ 0.05974249 0.00249179 0.99821071 -0.25600991] [ 0. 0. 0. 1. ]] SLAMing on 346.623133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 346.653133365 meters Centerline goodness : 0.101287 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99822142 -0.00330838 -0.0595235 -2.24939464] [ 0.00313297 0.99999047 -0.00303997 0.10152331] [ 0.05953299 0.00284808 0.99822228 -0.2557868 ] [ 0. 0. 0. 1. ]] SLAMing on 346.683133365 meters Centerline goodness : 0.111589 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99821831 -0.00335055 -0.05957323 -2.24922049] [ 0.00317402 0.99999029 -0.00305754 0.10145168] [ 0.0595829 0.00286301 0.99821926 -0.25588731] [ 0. 0. 0. 1. ]] SLAMing on 346.713133365 meters Centerline goodness : 0.113272 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99821569 -0.00338215 -0.05961543 -2.24909407] [ 0.00320459 0.99999014 -0.00307369 0.10142973] [ 0.05962524 0.00287716 0.99821669 -0.25597626] [ 0. 0. 0. 1. ]] SLAMing on 346.743133365 meters Centerline goodness : 0.121070 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99820387 -0.0033893 -0.05981256 -2.2484608 ] [ 0.00321369 0.99999024 -0.00303191 0.10116083] [ 0.05982226 0.00283424 0.99820502 -0.25621096] [ 0. 0. 0. 1. ]] SLAMing on 346.773133365 meters Centerline goodness : 0.119689 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99818927 -0.00332315 -0.06005953 -2.24769663] [ 0.00315497 0.99999083 -0.00289484 0.10064359] [ 0.0600686 0.00270011 0.9981906 -0.25648141] [ 0. 0. 0. 1. ]] SLAMing on 346.803133365 meters Centerline goodness : 0.116405 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99817264 -0.00325906 -0.06033871 -2.24674827] [ 0.00309791 0.99999138 -0.00276413 0.10016634] [ 0.0603472 0.00257215 0.99817413 -0.25690905] [ 0. 0. 0. 1. ]] SLAMing on 346.833133365 meters Centerline goodness : 0.116674 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.9981692 -0.00322057 -0.06039757 -2.2464988 ] [ 0.00306463 0.99999173 -0.00267424 0.09950761] [ 0.06040569 0.00248424 0.99817082 -0.2570761 ] [ 0. 0. 0. 1. ]] SLAMing on 346.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 346.893133365 meters Centerline goodness : 0.096090 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99819309 -0.0030923 -0.06000828 -2.24796098] [ 0.00294076 0.99999226 -0.00261349 0.09944456] [ 0.0600159 0.0024323 0.99819446 -0.25628384] [ 0. 0. 0. 1. ]] SLAMing on 346.92313336499996 meters Centerline goodness : 0.154453 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99818043 -0.00281853 -0.06023192 -2.24739033] [ 0.00267595 0.99999342 -0.00244776 0.09947953] [ 0.06023843 0.00228213 0.99818141 -0.25629994] [ 0. 0. 0. 1. ]] SLAMing on 346.953133365 meters Centerline goodness : 0.089143 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99816644 -0.00279873 -0.06046428 -2.2466839 ] [ 0.0026529 0.99999338 -0.00249197 0.09956872] [ 0.06047085 0.00232699 0.99816725 -0.25654037] [ 0. 0. 0. 1. ]] SLAMing on 346.98313336499996 meters Centerline goodness : 0.089069 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99815683 -0.00276785 -0.06062416 -2.24624635] [ 0.00262141 0.99999345 -0.00249493 0.09963012] [ 0.06063067 0.00233141 0.99815755 -0.25662917] [ 0. 0. 0. 1. ]] SLAMing on 347.013133365 meters Centerline goodness : 0.143004 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99815093 -0.00272005 -0.06072339 -2.24630831] [ 0.00257081 0.99999348 -0.00253562 0.10011634] [ 0.06072989 0.00237482 0.99815141 -0.25621569] [ 0. 0. 0. 1. ]] SLAMing on 347.04313336499996 meters Centerline goodness : 0.102211 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.26 [[ 0.99817135 -0.00256877 -0.06039332 -2.24745221] [ 0.00242135 0.99999391 -0.00251403 0.10072052] [ 0.06039941 0.0023632 0.99817149 -0.25565487] [ 0. 0. 0. 1. ]] SLAMing on 347.073133365 meters Centerline goodness : 0.100875 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.25 [[ 0.9982073 -0.00241595 -0.05980265 -2.24947112] [ 0.00226697 0.99999416 -0.00255892 0.10168903] [ 0.05980848 0.00241876 0.99820694 -0.25470074] [ 0. 0. 0. 1. ]] SLAMing on 347.10313336499996 meters Centerline goodness : 0.099548 Centerline is valid? [False, False] Translation: X:-2.23, Y:0.10, Z:-0.25 [[ 0.99833061 0.00542329 -0.05750282 -2.23162085] [-0.005667 0.99997564 -0.00407589 0.09989736] [ 0.05747932 0.00439496 0.99833702 -0.25199898] [ 0. 0. 0. 1. ]] SLAMing on 347.133133365 meters Centerline goodness : 0.097087 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.10, Z:-0.25 [[ 9.98367595e-01 -2.53097244e-04 -5.71146308e-02 -2.25268635e+00] [ 1.74357820e-04 9.99999028e-01 -1.38359996e-03 1.04884420e-01] [ 5.71149254e-02 1.37138298e-03 9.98366668e-01 -2.54076594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16313336499996 meters Centerline goodness : 0.118813 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98372775e-01 -1.37182025e-04 -5.70244136e-02 -2.25276508e+00] [ 6.01679395e-05 9.99999084e-01 -1.35226057e-03 1.05581471e-01] [ 5.70245468e-02 1.34662910e-03 9.98371868e-01 -2.54262947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.193133365 meters Centerline goodness : 0.097147 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98379581e-01 -9.71618760e-05 -5.69052122e-02 -2.25309817e+00] [ 1.72454751e-05 9.99999013e-01 -1.40486692e-03 1.06518521e-01] [ 5.69052925e-02 1.40160909e-03 9.98378597e-01 -2.54205186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22313336499997 meters Centerline goodness : 0.097385 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98390606e-01 -1.34964298e-04 -5.67113630e-02 -2.25409981e+00] [ 3.99594338e-05 9.99998594e-01 -1.67636572e-03 1.08339437e-01] [ 5.67115095e-02 1.67140163e-03 9.98389208e-01 -2.53393821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.253133365 meters Centerline goodness : 0.095296 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98392107e-01 -2.16801889e-04 -5.66846897e-02 -2.25430440e+00] [ 1.07085052e-04 9.99998115e-01 -1.93859418e-03 1.09853225e-01] [ 5.66850031e-02 1.92940705e-03 9.98390248e-01 -2.53157769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28313336499997 meters Centerline goodness : 0.100784 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.11, Z:-0.25 [[ 9.98386159e-01 -3.00884464e-04 -5.67889718e-02 -2.25407466e+00] [ 1.69215495e-04 9.99997287e-01 -2.32336023e-03 1.12212110e-01] [ 5.67895168e-02 2.31000112e-03 9.98383501e-01 -2.53103180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.313133365 meters Centerline goodness : 0.093731 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98369004e-01 -2.89661165e-04 -5.70898244e-02 -2.25315520e+00] [ 1.35240936e-04 9.99996322e-01 -2.70870934e-03 1.15170978e-01] [ 5.70903991e-02 2.69657056e-03 9.98365371e-01 -2.53368762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34313336499997 meters Centerline goodness : 0.099419 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98341741e-01 -2.66664762e-04 -5.75647252e-02 -2.25168350e+00] [ 8.31000992e-05 9.99994905e-01 -3.19120964e-03 1.18777787e-01] [ 5.75652829e-02 3.18113415e-03 9.98336676e-01 -2.53819250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.373133365 meters Centerline goodness : 0.099872 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.13, Z:-0.25 [[ 9.98327845e-01 3.07598239e-03 -5.77239380e-02 -2.25088447e+00] [-3.13727367e-03 9.99994607e-01 -9.71206482e-04 1.25914511e-01] [ 5.77206393e-02 1.15067826e-03 9.98332111e-01 -2.54261215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.403133365 meters Centerline goodness : 0.103240 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.13, Z:-0.25 [[ 9.98330957e-01 3.05733341e-03 -5.76710821e-02 -2.25120484e+00] [-3.14892718e-03 9.99993921e-01 -1.49739976e-03 1.29735923e-01] [ 5.76661535e-02 1.67650257e-03 9.98334515e-01 -2.53981669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.433133365 meters Centerline goodness : 0.108509 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.14, Z:-0.26 [[ 9.98373673e-01 -3.84395252e-03 -5.68791072e-02 -2.27024653e+00] [ 3.84950241e-03 9.99992591e-01 -1.19934119e-05 1.39488759e-01] [ 5.68787319e-02 -2.06982354e-04 9.98381073e-01 -2.56429305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.463133365 meters Centerline goodness : 0.098983 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.14, Z:-0.25 [[ 9.98414099e-01 3.91918609e-03 -5.61598335e-02 -2.25041167e+00] [-3.99932346e-03 9.99991139e-01 -1.31463305e-03 1.38451640e-01] [ 5.61541836e-02 1.53714951e-03 9.98420926e-01 -2.54745687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.493133365 meters Centerline goodness : 0.101339 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.14, Z:-0.26 [[ 9.98418993e-01 3.71326515e-03 -5.60867745e-02 -2.25033339e+00] [-3.81555480e-03 9.99991247e-01 -1.71679929e-03 1.40065020e-01] [ 5.60799086e-02 1.92808718e-03 9.98424422e-01 -2.55129507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.523133365 meters Centerline goodness : 0.104491 Centerline is valid? [False, False] Translation: X:-2.23, Y:0.15, Z:-0.25 [[ 9.98319961e-01 -4.20839911e-03 -5.77887999e-02 -2.22970711e+00] [ 4.11909601e-03 9.99990131e-01 -1.66436760e-03 1.45559898e-01] [ 5.77952339e-02 1.42353379e-03 9.98327444e-01 -2.54127767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.553133365 meters Centerline goodness : 0.099194 Centerline is valid? [False, False] Translation: X:-2.23, Y:0.14, Z:-0.25 [[ 9.98312045e-01 -4.15858053e-03 -5.79289747e-02 -2.22911381e+00] [ 4.07710899e-03 9.99990526e-01 -1.52452403e-03 1.44759158e-01] [ 5.79347658e-02 1.28576796e-03 9.98319543e-01 -2.54489095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.583133365 meters Centerline goodness : 0.102437 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 0.99831002 0.00310737 -0.05802965 -2.21018672] [-0.00326594 0.99999119 -0.00263789 0.13914109] [ 0.05802094 0.00282295 0.99831137 -0.25224037] [ 0. 0. 0. 1. ]] SLAMing on 347.613133365 meters Centerline goodness : 0.112280 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 0.99832874 0.0031591 -0.05770402 -2.21119545] [-0.00331597 0.99999106 -0.00262299 0.138787 ] [ 0.05769522 0.00280995 0.99833029 -0.25207193] [ 0. 0. 0. 1. ]] SLAMing on 347.643133365 meters Centerline goodness : 0.101161 Centerline is valid? [False, False] Translation: X:-2.19, Y:0.14, Z:-0.25 [[ 9.98323181e-01 -3.75457650e-03 -5.77644377e-02 -2.19443862e+00] [ 3.68305797e-03 9.99992314e-01 -1.34452087e-03 1.43950269e-01] [ 5.77690419e-02 1.12951658e-03 9.98329335e-01 -2.49726407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67313336499996 meters Centerline goodness : 0.109454 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 9.98315529e-01 5.03459295e-03 -5.77992895e-02 -2.21441926e+00] [-5.16013098e-03 9.99984640e-01 -2.02291882e-03 1.39843845e-01] [ 5.77882172e-02 2.31776318e-03 9.98326174e-01 -2.52081741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.703133365 meters Centerline goodness : 0.106480 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.14, Z:-0.25 [[ 9.98317322e-01 5.17469795e-03 -5.77559273e-02 -2.21442452e+00] [-5.29617149e-03 9.99984073e-01 -1.95034891e-03 1.39892000e-01] [ 5.77449150e-02 2.25295240e-03 9.98328828e-01 -2.52337358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73313336499996 meters Centerline goodness : 0.095453 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98311294e-01 -2.13483335e-03 -5.80517297e-02 -2.19670761e+00] [ 2.07029666e-03 9.99997170e-01 -1.17183022e-03 1.44632722e-01] [ 5.80540671e-02 1.04966704e-03 9.98312889e-01 -2.50550787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.763133365 meters Centerline goodness : 0.112050 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98323186e-01 -2.06218359e-03 -5.78494832e-02 -2.19731202e+00] [ 2.00240245e-03 9.99997400e-01 -1.09133968e-03 1.44063435e-01] [ 5.78515833e-02 9.73671757e-04 9.98324720e-01 -2.50419759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79313336499996 meters Centerline goodness : 0.097873 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98331401e-01 -1.45967373e-03 -5.77259395e-02 -2.19753149e+00] [ 1.43172895e-03 9.99998837e-01 -5.25449423e-04 1.42707402e-01] [ 5.77266393e-02 4.41924760e-04 9.98332329e-01 -2.50572722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.823133365 meters Centerline goodness : 0.148590 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98320802e-01 -1.33696389e-03 -5.79119045e-02 -2.19690288e+00] [ 1.31456915e-03 9.99999046e-01 -4.24798365e-04 1.42173850e-01] [ 5.79124172e-02 3.47955841e-04 9.98321607e-01 -2.50842841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85313336499996 meters Centerline goodness : 0.148590 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98320813e-01 -1.35086400e-03 -5.79113963e-02 -2.19693160e+00] [ 1.32773910e-03 9.99999023e-01 -4.37791307e-04 1.42165716e-01] [ 5.79119311e-02 3.60164948e-04 9.98321631e-01 -2.50829836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.883133365 meters Centerline goodness : 0.123505 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.14, Z:-0.25 [[ 9.98264920e-01 6.53259584e-03 -5.85190165e-02 -2.21531164e+00] [-6.65241819e-03 9.99976156e-01 -1.85299830e-03 1.36523635e-01] [ 5.85055163e-02 2.23907617e-03 9.98284574e-01 -2.53612528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91313336499996 meters Centerline goodness : 0.131587 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98236418e-01 6.62541015e-03 -5.89928675e-02 -2.21425261e+00] [-6.73294481e-03 9.99976014e-01 -1.62425520e-03 1.34767093e-01] [ 5.89806912e-02 2.01858641e-03 9.98257083e-01 -2.53555582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.943133365 meters Centerline goodness : 0.130436 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98228210e-01 6.73908687e-03 -5.91187327e-02 -2.21402895e+00] [-6.83826097e-03 9.99975530e-01 -1.47538757e-03 1.34395899e-01] [ 5.91073433e-02 1.87704281e-03 9.98249868e-01 -2.53489260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97313336499997 meters Centerline goodness : 0.152701 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98222452e-01 6.84801004e-03 -5.92033910e-02 -2.21387644e+00] [-6.94151556e-03 9.99974964e-01 -1.37387555e-03 1.34218762e-01] [ 5.91925005e-02 1.78239468e-03 9.98244995e-01 -2.53435053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.003133365 meters Centerline goodness : 0.300074 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98223906e-01 6.83798799e-03 -5.91800195e-02 -2.21410545e+00] [-6.93388330e-03 9.99974959e-01 -1.41519577e-03 1.34093181e-01] [ 5.91688605e-02 1.82302960e-03 9.98246324e-01 -2.53239768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03313336499997 meters Centerline goodness : 0.170077 Centerline is valid? [False, False] Translation: X:-2.21, Y:0.13, Z:-0.25 [[ 9.98232584e-01 6.72949495e-03 -5.90459409e-02 -2.21463962e+00] [-6.83200835e-03 9.99975484e-01 -1.53445553e-03 1.33861079e-01] [ 5.90341672e-02 1.93514586e-03 9.98254087e-01 -2.52991644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.063133365 meters Centerline goodness : 0.453234 Centerline is valid? [False, False] Translation: X:-2.22, Y:0.13, Z:-0.25 [[ 9.98242181e-01 6.58948387e-03 -5.88992986e-02 -2.21533869e+00] [-6.69555523e-03 9.99976299e-01 -1.60371974e-03 1.32873996e-01] [ 5.88873349e-02 1.99526420e-03 9.98262641e-01 -2.52636983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09313336499997 meters Centerline goodness : 0.099344 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.14, Z:-0.25 [[ 9.98253168e-01 -1.19950014e-03 -5.90692257e-02 -2.19627515e+00] [ 1.18243234e-03 9.99999248e-01 -3.23898095e-04 1.35968132e-01] [ 5.90695699e-02 2.53486937e-04 9.98253836e-01 -2.50134924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.123133365 meters Centerline goodness : 0.153737 Centerline is valid? [False, False] Translation: X:-2.20, Y:0.13, Z:-0.25 [[ 9.98244115e-01 -1.05745489e-03 -5.92247272e-02 -2.19574203e+00] [ 1.05672104e-03 9.99999441e-01 -4.37103923e-05 1.34736571e-01] [ 5.92247403e-02 -1.89503733e-05 9.98244674e-01 -2.50336839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.153133365 meters Centerline goodness : 0.097757 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98081107e-01 -1.20439622e-03 -6.19084210e-02 -2.23966932e+00] [ 1.19103348e-03 9.99999259e-01 -2.52749470e-04 1.32063237e-01] [ 6.19086795e-02 1.78529469e-04 9.98081802e-01 -2.52379055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.183133365 meters Centerline goodness : 0.096639 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98078954e-01 -1.12052484e-03 -6.19447035e-02 -2.23965305e+00] [ 1.13493113e-03 9.99999336e-01 1.97382151e-04 1.28487233e-01] [ 6.19444412e-02 -2.67305944e-04 9.98079563e-01 -2.52270918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.213133365 meters Centerline goodness : 0.403203 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98088234e-01 -1.03490466e-03 -6.17964838e-02 -2.24014156e+00] [ 1.06420392e-03 9.99999336e-01 4.41213405e-04 1.27010598e-01] [ 6.17959862e-02 -5.06133968e-04 9.98088673e-01 -2.52093092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.243133365 meters Centerline goodness : 0.139102 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98096525e-01 -9.03743442e-04 -6.16645037e-02 -2.24053868e+00] [ 9.45333735e-04 9.99999345e-01 6.45289635e-04 1.26112794e-01] [ 6.16638801e-02 -7.02354878e-04 9.98096725e-01 -2.52006013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.273133365 meters Centerline goodness : 0.319216 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98104224e-01 -7.64310985e-04 -6.15416391e-02 -2.24085360e+00] [ 8.18296014e-04 9.99999302e-01 8.52012674e-04 1.25273819e-01] [ 6.15409450e-02 -9.00756727e-04 9.98104153e-01 -2.51977640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.303133365 meters Centerline goodness : 0.455514 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98135482e-01 -4.51788929e-04 -6.10356953e-02 -2.24197337e+00] [ 5.25235757e-04 9.99999157e-01 1.18730354e-03 1.24086766e-01] [ 6.10351074e-02 -1.21714792e-03 9.98134878e-01 -2.52152847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.333133365 meters Centerline goodness : 0.449166 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98152445e-01 -3.55179820e-04 -6.07582913e-02 -2.24266302e+00] [ 4.30725319e-04 9.99999150e-01 1.23028496e-03 1.24037832e-01] [ 6.07578027e-02 -1.25418207e-03 9.98151750e-01 -2.52150259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.363133365 meters Centerline goodness : 0.445883 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98165304e-01 -2.61588964e-04 -6.05471465e-02 -2.24334879e+00] [ 3.35018296e-04 9.99999221e-01 1.20261455e-03 1.24558587e-01] [ 6.05467847e-02 -1.22069252e-03 9.98164614e-01 -2.51992223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.393133365 meters Centerline goodness : 0.188124 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.12, Z:-0.25 [[ 9.98027144e-01 1.12731970e-03 -6.27737978e-02 -2.28859757e+00] [-1.00411876e-03 9.99997508e-01 1.99413000e-03 1.23513271e-01] [ 6.27758894e-02 -1.92716352e-03 9.98025788e-01 -2.53930761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42313336499996 meters Centerline goodness : 0.445072 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.12, Z:-0.25 [[ 9.98003661e-01 9.39534320e-03 -6.24533487e-02 -2.26833346e+00] [-9.34794871e-03 9.99955755e-01 1.05103207e-03 1.22233116e-01] [ 6.24604602e-02 -4.65123150e-04 9.98047331e-01 -2.51994249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.453133365 meters Centerline goodness : 0.451205 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98103006e-01 2.19595628e-03 -6.15269636e-02 -2.28590735e+00] [-2.06575375e-03 9.99995491e-01 2.17971666e-03 1.27672272e-01] [ 6.15314728e-02 -2.04848219e-03 9.98103042e-01 -2.55575537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48313336499996 meters Centerline goodness : 0.371337 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98101692e-01 2.14813451e-03 -6.15499571e-02 -2.28580341e+00] [-2.04321267e-03 9.99996351e-01 1.76755033e-03 1.30111465e-01] [ 6.15535294e-02 -1.63843533e-03 9.98102439e-01 -2.55796495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.513133365 meters Centerline goodness : 0.088989 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98109061e-01 2.15164430e-03 -6.14302326e-02 -2.28631621e+00] [-2.05033514e-03 9.99996432e-01 1.71216243e-03 1.30645247e-01] [ 6.14336974e-02 -1.58297227e-03 9.98109911e-01 -2.55548002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54313336499996 meters Centerline goodness : 0.101830 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98112950e-01 2.16830167e-03 -6.13664190e-02 -2.28659849e+00] [-2.06462191e-03 9.99996332e-01 1.75287807e-03 1.30564362e-01] [ 6.13699947e-02 -1.62287185e-03 9.98113766e-01 -2.55362628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.573133365 meters Centerline goodness : 0.261555 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98103700e-01 1.84568587e-03 -6.15272014e-02 -2.28621325e+00] [-1.74103514e-03 9.99996945e-01 1.75445365e-03 1.29106016e-01] [ 6.15302517e-02 -1.64400566e-03 9.98103865e-01 -2.55332310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60313336499996 meters Centerline goodness : 0.244183 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.26 [[ 9.98107252e-01 1.71185067e-03 -6.14734293e-02 -2.28633684e+00] [-1.60149299e-03 9.99997017e-01 1.84443580e-03 1.27709738e-01] [ 6.14764033e-02 -1.74249548e-03 9.98107016e-01 -2.55279139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.633133365 meters Centerline goodness : 0.280912 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.13, Z:-0.25 [[ 0.99809041 -0.00650274 -0.06142676 -2.26671029] [ 0.00669614 0.99997325 0.00294308 0.13018973] [ 0.06140598 -0.00334878 0.99810725 -0.25277866] [ 0. 0. 0. 1. ]] SLAMing on 348.66313336499996 meters Centerline goodness : 0.449071 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.13, Z:-0.25 [[ 0.99808499 -0.00639805 -0.06152575 -2.26641928] [ 0.0066136 0.99997268 0.0033004 0.1284147 ] [ 0.06150295 -0.00370098 0.99810004 -0.25279167] [ 0. 0. 0. 1. ]] SLAMing on 348.693133365 meters Centerline goodness : 0.297866 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.13, Z:-0.25 [[ 0.99807143 -0.00627238 -0.06175826 -2.26562873] [ 0.00650771 0.99997231 0.00361008 0.12699099] [ 0.06173391 -0.00400502 0.99808461 -0.25306854] [ 0. 0. 0. 1. ]] SLAMing on 348.72313336499997 meters Centerline goodness : 0.197392 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.12, Z:-0.25 [[ 0.9980587 -0.00628465 -0.06196231 -2.26496091] [ 0.00653733 0.99997112 0.00387609 0.12444146] [ 0.06193616 -0.00427364 0.99807096 -0.25321872] [ 0. 0. 0. 1. ]] SLAMing on 348.753133365 meters Centerline goodness : 0.442052 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.12, Z:-0.25 [[ 0.9980635 -0.00628873 -0.06188455 -2.26505056] [ 0.00654552 0.99997079 0.00394768 0.12358954] [ 0.06185792 -0.0043451 0.99807551 -0.25337027] [ 0. 0. 0. 1. ]] SLAMing on 348.78313336499997 meters Centerline goodness : 0.101634 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98107800e-01 1.39194374e-03 -6.14726146e-02 -2.24585403e+00] [-1.22627570e-03 9.99995514e-01 2.73263400e-03 1.20119222e-01] [ 6.14761426e-02 -2.65208094e-03 9.98105030e-01 -2.50985976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.813133365 meters Centerline goodness : 0.092058 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98112290e-01 1.44823789e-03 -6.13983700e-02 -2.24598709e+00] [-1.28393980e-03 9.99995489e-01 2.71530430e-03 1.20571632e-01] [ 6.14020255e-02 -2.63134678e-03 9.98109647e-01 -2.51102518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84313336499997 meters Centerline goodness : 0.110386 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.12, Z:-0.25 [[ 9.98111030e-01 1.47613827e-03 -6.14181879e-02 -2.24583173e+00] [-1.31906213e-03 9.99995755e-01 2.59795264e-03 1.21684048e-01] [ 6.14217621e-02 -2.51203078e-03 9.98108740e-01 -2.51287716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.873133365 meters Centerline goodness : 0.253929 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.12, Z:-0.25 [[ 9.98094637e-01 1.75179548e-03 -6.16767985e-02 -2.24495955e+00] [-1.61112951e-03 9.99995987e-01 2.33035323e-03 1.24426795e-01] [ 6.16806333e-02 -2.22654375e-03 9.98093454e-01 -2.51789447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.903133365 meters Centerline goodness : 0.446485 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98090805e-01 1.72138383e-03 -6.17396338e-02 -2.24462475e+00] [-1.59781048e-03 9.99996621e-01 2.05083929e-03 1.26088837e-01] [ 6.17429555e-02 -1.94827560e-03 9.98090182e-01 -2.52151114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.933133365 meters Centerline goodness : 0.455508 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98092376e-01 1.65884561e-03 -6.17159332e-02 -2.24454931e+00] [-1.55424068e-03 9.99997273e-01 1.74291002e-03 1.27870706e-01] [ 6.17186561e-02 -1.64366379e-03 9.98092233e-01 -2.52418112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.963133365 meters Centerline goodness : 0.126143 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98093253e-01 1.70430594e-03 -6.17005201e-02 -2.24451873e+00] [-1.62527933e-03 9.99997793e-01 1.33097488e-03 1.30862304e-01] [ 6.17026523e-02 -1.22815647e-03 9.98093820e-01 -2.52672687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.993133365 meters Centerline goodness : 0.445885 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98090408e-01 1.64295732e-03 -6.17481804e-02 -2.24448266e+00] [-1.57433810e-03 9.99998088e-01 1.15991142e-03 1.31742957e-01] [ 6.17499681e-02 -1.06048395e-03 9.98091086e-01 -2.52607089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.023133365 meters Centerline goodness : 0.095284 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.13, Z:-0.25 [[ 9.98086968e-01 1.58904173e-03 -6.18051694e-02 -2.24441362e+00] [-1.52587102e-03 9.99998264e-01 1.06927935e-03 1.32058369e-01] [ 6.18067612e-02 -9.72927069e-04 9.98087660e-01 -2.52556053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.053133365 meters Centerline goodness : 0.101485 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97938559e-01 1.41937663e-03 -6.41608722e-02 -2.28916520e+00] [-1.35621668e-03 9.99998552e-01 1.02794200e-03 1.29625660e-01] [ 6.41622383e-02 -9.38806912e-04 9.97939039e-01 -2.54765365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.083133365 meters Centerline goodness : 0.447330 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97952121e-01 1.40442255e-03 -6.39499222e-02 -2.28949363e+00] [-1.32499610e-03 9.99998297e-01 1.28440327e-03 1.27780015e-01] [ 6.39516172e-02 -1.19703957e-03 9.97952282e-01 -2.54947560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.113133365 meters Centerline goodness : 0.099604 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97973543e-01 1.39957547e-03 -6.36148524e-02 -2.29049556e+00] [-1.31117495e-03 9.99998116e-01 1.43134699e-03 1.26672516e-01] [ 6.36167358e-02 -1.34503623e-03 9.97973498e-01 -2.54626406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.143133365 meters Centerline goodness : 0.438349 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.97994106e-01 1.43994587e-03 -6.32905225e-02 -2.29161275e+00] [-1.34227776e-03 9.99997842e-01 1.58566348e-03 1.25801364e-01] [ 6.32926692e-02 -1.49752935e-03 9.97993885e-01 -2.54101288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17313336499996 meters Centerline goodness : 0.443092 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98007495e-01 1.48322835e-03 -6.30780422e-02 -2.29229033e+00] [-1.38005976e-03 9.99997638e-01 1.67910839e-03 1.25405018e-01] [ 6.30803838e-02 -1.58871129e-03 9.98007185e-01 -2.53845821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.203133365 meters Centerline goodness : 0.099098 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98017420e-01 1.57557304e-03 -6.29185711e-02 -2.29241174e+00] [-1.46612790e-03 9.99997331e-01 1.78560398e-03 1.25054767e-01] [ 6.29212166e-02 -1.68981720e-03 9.98017066e-01 -2.54194942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23313336499996 meters Centerline goodness : 0.381658 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98015655e-01 1.54941725e-03 -6.29472187e-02 -2.29219659e+00] [-1.44388505e-03 9.99997475e-01 1.72197367e-03 1.25122553e-01] [ 6.29497278e-02 -1.62766813e-03 9.98015372e-01 -2.54445944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.263133365 meters Centerline goodness : 0.447385 Centerline is valid? [False, False] Translation: X:-2.29, Y:0.13, Z:-0.25 [[ 9.98004801e-01 1.50726588e-03 -6.31200813e-02 -2.29160970e+00] [-1.41117788e-03 9.99997777e-01 1.56685847e-03 1.25634488e-01] [ 6.31223026e-02 -1.47465861e-03 9.98004710e-01 -2.54756269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29313336499996 meters Centerline goodness : 0.446591 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97822695e-01 1.49431346e-03 -6.59366157e-02 -2.33513987e+00] [-1.41344108e-03 9.99998191e-01 1.27314943e-03 1.24269423e-01] [ 6.59383989e-02 -1.17717988e-03 9.97823001e-01 -2.57389123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.323133365 meters Centerline goodness : 0.450492 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.12, Z:-0.26 [[ 9.97813696e-01 1.51861331e-03 -6.60720891e-02 -2.33458521e+00] [-1.44121017e-03 9.99998218e-01 1.21914354e-03 1.24777790e-01] [ 6.60738228e-02 -1.12125436e-03 9.97814107e-01 -2.57781309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35313336499996 meters Centerline goodness : 0.331676 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.13, Z:-0.26 [[ 9.97839041e-01 1.67475813e-03 -6.56844262e-02 -2.33538166e+00] [-1.59182027e-03 9.99997868e-01 1.31498669e-03 1.25038276e-01] [ 6.56864885e-02 -1.20758726e-03 9.97839580e-01 -2.57983844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.383133365 meters Centerline goodness : 0.232395 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.12, Z:-0.26 [[ 9.97880790e-01 9.25960876e-03 -6.44064333e-02 -2.31680919e+00] [-9.27942773e-03 9.99956945e-01 -8.57963815e-06 1.21638010e-01] [ 6.44035809e-02 6.06216299e-04 9.97923750e-01 -2.55554558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41313336499996 meters Centerline goodness : 0.441360 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.12, Z:-0.26 [[ 9.97761132e-01 8.18095113e-03 -6.63761664e-02 -2.36217189e+00] [-8.26103738e-03 9.99965443e-01 -9.32165807e-04 1.18839562e-01] [ 6.63662466e-02 1.47841480e-03 9.97794235e-01 -2.57931213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.443133365 meters Centerline goodness : 0.159379 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97810381e-01 6.87365753e-05 -6.61395474e-02 -2.34233924e+00] [-7.36727883e-05 9.99999995e-01 -7.21942960e-05 1.22157713e-01] [ 6.61395421e-02 7.69089029e-05 9.97810380e-01 -2.55807251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47313336499997 meters Centerline goodness : 0.094226 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97790994e-01 1.91191830e-04 -6.64311420e-02 -2.34126587e+00] [-1.75399668e-04 9.99999955e-01 2.43554628e-04 1.20419126e-01] [ 6.64311856e-02 -2.31364614e-04 9.97790982e-01 -2.56301356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.503133365 meters Centerline goodness : 0.453102 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97713411e-01 7.89705731e-03 -6.71236670e-02 -2.35983421e+00] [-7.99007916e-03 9.99967454e-01 -1.11747222e-03 1.14229080e-01] [ 6.71126577e-02 1.65124044e-03 9.97744038e-01 -2.59233260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53313336499997 meters Centerline goodness : 0.100159 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97706883e-01 7.93811190e-03 -6.72157878e-02 -2.35930891e+00] [-8.02303095e-03 9.99967321e-01 -9.93527093e-04 1.13369140e-01] [ 6.72057045e-02 1.53052316e-03 9.97737967e-01 -2.59697966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.563133365 meters Centerline goodness : 0.117277 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97648079e-01 8.12011451e-03 -6.80615432e-02 -2.35635722e+00] [-8.19293119e-03 9.99966125e-01 -7.90793441e-04 1.12479641e-01] [ 6.80528162e-02 1.34655710e-03 9.97680811e-01 -2.61061102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59313336499997 meters Centerline goodness : 0.160536 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97627187e-01 8.20005450e-03 -6.83575520e-02 -2.35535999e+00] [-8.26996432e-03 9.99965530e-01 -7.39777723e-04 1.12432260e-01] [ 6.83491295e-02 1.30333688e-03 9.97660613e-01 -2.61484627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.623133365 meters Centerline goodness : 0.093510 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97631325e-01 8.25719367e-03 -6.82902548e-02 -2.35564110e+00] [-8.32305488e-03 9.99965132e-01 -6.79958030e-04 1.12140619e-01] [ 6.82822591e-02 1.24673097e-03 9.97665264e-01 -2.61360208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.653133365 meters Centerline goodness : 0.102225 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97639771e-01 8.27681924e-03 -6.81643731e-02 -2.35624240e+00] [-8.34005275e-03 9.99965014e-01 -6.43131363e-04 1.11751418e-01] [ 6.81566653e-02 1.21010789e-03 9.97673897e-01 -2.60995876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.683133365 meters Centerline goodness : 0.103983 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97658656e-01 8.32913892e-03 -6.78810077e-02 -2.35726926e+00] [-8.38130678e-03 9.99964759e-01 -4.83756220e-04 1.10516451e-01] [ 6.78745862e-02 1.05155513e-03 9.97693307e-01 -2.60554488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.713133365 meters Centerline goodness : 0.117365 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97661049e-01 8.38192134e-03 -6.78393368e-02 -2.35736841e+00] [-8.42737785e-03 9.99964415e-01 -3.83900476e-04 1.10032172e-01] [ 6.78337050e-02 9.54710276e-04 9.97696185e-01 -2.60581531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.743133365 meters Centerline goodness : 0.117365 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97661049e-01 8.38192134e-03 -6.78393368e-02 -2.35736841e+00] [-8.42737785e-03 9.99964415e-01 -3.83900476e-04 1.10032172e-01] [ 6.78337050e-02 9.54710276e-04 9.97696185e-01 -2.60581531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.773133365 meters Centerline goodness : 0.255259 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97664505e-01 8.39801658e-03 -6.77865009e-02 -2.35741287e+00] [-8.44095562e-03 9.99964314e-01 -3.47044168e-04 1.09805258e-01] [ 6.77811674e-02 9.18416493e-04 9.97699789e-01 -2.60695388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.803133365 meters Centerline goodness : 0.101697 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97669916e-01 8.41426044e-03 -6.77047967e-02 -2.35767016e+00] [-8.45507715e-03 9.99964205e-01 -3.16327014e-04 1.09664832e-01] [ 6.76997115e-02 8.88039224e-04 9.97705348e-01 -2.60638409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.833133365 meters Centerline goodness : 0.288780 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.11, Z:-0.26 [[ 9.97700628e-01 8.43574767e-03 -6.72480079e-02 -2.35962638e+00] [-8.47128133e-03 9.99964088e-01 -2.43248513e-04 1.09187206e-01] [ 6.72435410e-02 8.12365988e-04 9.97736261e-01 -2.59454514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 349.893133365 meters Centerline goodness : 0.182721 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97774708e-01 7.69635300e-04 -6.66711261e-02 -2.34169387e+00] [-6.96335206e-04 9.99999127e-01 1.12265947e-03 1.13575978e-01] [ 6.66719320e-02 -1.07373578e-03 9.97774374e-01 -2.56130916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92313336499996 meters Centerline goodness : 0.208861 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97770850e-01 7.07961053e-04 -6.67295285e-02 -2.34128103e+00] [-6.32177568e-04 9.99999131e-01 1.15679056e-03 1.12886237e-01] [ 6.67302895e-02 -1.11202699e-03 9.97770430e-01 -2.56475118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.953133365 meters Centerline goodness : 0.093661 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97781561e-01 7.04107394e-04 -6.65692132e-02 -2.34187904e+00] [-6.23101285e-04 9.99999040e-01 1.23762533e-03 1.12270101e-01] [ 6.65700207e-02 -1.19340037e-03 9.97781042e-01 -2.56171607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98313336499996 meters Centerline goodness : 0.097439 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97799577e-01 7.86813623e-04 -6.62977072e-02 -2.34303951e+00] [-6.93579700e-04 9.99998738e-01 1.42929677e-03 1.11431465e-01] [ 6.62987482e-02 -1.38016897e-03 9.97798863e-01 -2.55459360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.013133365 meters Centerline goodness : 0.195991 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.97811654e-01 8.42203908e-04 -6.61150039e-02 -2.34384675e+00] [-7.39907450e-04 9.99998491e-01 1.57172132e-03 1.10840402e-01] [ 6.61162278e-02 -1.51936287e-03 9.97810772e-01 -2.54920571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04313336499996 meters Centerline goodness : 0.440198 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.97809490e-01 7.71699798e-04 -6.61485094e-02 -2.34377486e+00] [-6.70276878e-04 9.99998566e-01 1.55544036e-03 1.10369052e-01] [ 6.61496149e-02 -1.50769534e-03 9.97808576e-01 -2.54881823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.073133365 meters Centerline goodness : 0.434105 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97800648e-01 7.14389527e-04 -6.62824009e-02 -2.34300302e+00] [-6.19559095e-04 9.99998755e-01 1.45124754e-03 1.10684617e-01] [ 6.62833552e-02 -1.40698987e-03 9.97799848e-01 -2.55538917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 350.133133365 meters Centerline goodness : 0.444054 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97807046e-01 9.67863424e-04 -6.61827947e-02 -2.34271565e+00] [-8.75709397e-04 9.99998606e-01 1.42141275e-03 1.12280511e-01] [ 6.61840782e-02 -1.36033876e-03 9.97806503e-01 -2.56345010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16313336499996 meters Centerline goodness : 0.172515 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.26 [[ 9.97787658e-01 1.07191008e-03 -6.64728526e-02 -2.34191516e+00] [-9.96179762e-04 9.99998817e-01 1.17240249e-03 1.14154502e-01] [ 6.64740307e-02 -1.10358982e-03 9.97787545e-01 -2.56643250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.193133365 meters Centerline goodness : 0.115382 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97775467e-01 9.70757528e-04 -6.66571479e-02 -2.34122402e+00] [-9.12775405e-04 9.99999178e-01 9.00305905e-04 1.15306220e-01] [ 6.66579671e-02 -8.37460140e-04 9.97775533e-01 -2.57091228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22313336499997 meters Centerline goodness : 0.118185 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97756324e-01 9.16770703e-04 -6.69438335e-02 -2.34017775e+00] [-8.73421508e-04 9.99999390e-01 6.76810820e-04 1.16447518e-01] [ 6.69444131e-02 -6.16822092e-04 9.97756516e-01 -2.57679806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.253133365 meters Centerline goodness : 0.102641 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97736342e-01 9.04283513e-04 -6.72411659e-02 -2.33901529e+00] [-8.77187356e-04 9.99999522e-01 4.32493638e-04 1.18145954e-01] [ 6.72415248e-02 -3.72531520e-04 9.97736658e-01 -2.58433654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28313336499997 meters Centerline goodness : 0.120393 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.26 [[ 9.97713727e-01 9.42522116e-04 -6.75753637e-02 -2.33787619e+00] [-9.30629089e-04 9.99999545e-01 2.07476060e-04 1.19958754e-01] [ 6.75755285e-02 -1.44114114e-04 9.97714151e-01 -2.59043068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 350.34313336499997 meters Centerline goodness : 0.126095 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97585734e-01 1.11506075e-03 -6.94367313e-02 -2.38407977e+00] [-1.11623563e-03 9.99999377e-01 2.18804271e-05 1.20823350e-01] [ 6.94367124e-02 5.56801519e-05 9.97586357e-01 -2.60422666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 350.403133365 meters Centerline goodness : 0.124048 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97552103e-01 1.08425624e-03 -6.99187167e-02 -2.38300914e+00] [-1.08513450e-03 9.99999411e-01 2.54208180e-05 1.21152852e-01] [ 6.99187031e-02 5.05126215e-05 9.97552692e-01 -2.60301918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.433133365 meters Centerline goodness : 0.103000 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97537680e-01 9.28452416e-04 -7.01264203e-02 -2.38233600e+00] [-9.45068470e-04 9.99999533e-01 -2.03766666e-04 1.21765931e-01] [ 7.01261984e-02 2.69539196e-04 9.97538091e-01 -2.60544960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.463133365 meters Centerline goodness : 0.129067 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97515250e-01 7.61041892e-04 -7.04467639e-02 -2.38135331e+00] [-7.97067427e-04 9.99999566e-01 -4.83277737e-04 1.22757035e-01] [ 7.04463655e-02 5.38227734e-04 9.97515423e-01 -2.60845366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.493133365 meters Centerline goodness : 0.117969 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.12, Z:-0.26 [[ 9.97511264e-01 5.89310695e-04 -7.05048245e-02 -2.38122815e+00] [-6.51987502e-04 9.99999413e-01 -8.65962419e-04 1.24592575e-01] [ 7.05042728e-02 9.09775532e-04 9.97511063e-01 -2.60912547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.523133365 meters Centerline goodness : 0.124357 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.26 [[ 9.97486333e-01 4.53874511e-03 -7.07136180e-02 -2.38124046e+00] [-4.38422952e-03 9.99987651e-01 2.34014377e-03 1.28862874e-01] [ 7.07233661e-02 -2.02423669e-03 9.97493914e-01 -2.60252786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 350.583133365 meters Centerline goodness : 0.129838 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.26 [[ 0.99746198 0.00840965 -0.07070271 -2.38194807] [-0.00804656 0.99995294 0.00541876 0.13351922] [ 0.07074495 -0.00483609 0.99748271 -0.2593405 ] [ 0. 0. 0. 1. ]] SLAMing on 350.613133365 meters Centerline goodness : 0.131712 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.26 [[ 0.9974559 0.00794585 -0.07084195 -2.38185429] [-0.00764417 0.99996053 0.00452849 0.13753547] [ 0.07087513 -0.00397544 0.99747727 -0.2591198 ] [ 0. 0. 0. 1. ]] SLAMing on 350.643133365 meters Centerline goodness : 0.236983 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.14, Z:-0.26 [[ 0.99744897 0.0077434 -0.07096184 -2.38155801] [-0.00746043 0.99996313 0.00425187 0.13835862] [ 0.07099215 -0.00371161 0.99746997 -0.2591472 ] [ 0. 0. 0. 1. ]] SLAMing on 350.67313336499996 meters Centerline goodness : 0.130002 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.26 [[ 9.97478339e-01 -6.57101279e-04 -7.09685301e-02 -2.36230218e+00] [ 1.00743425e-03 9.99987484e-01 4.90077491e-03 1.43871379e-01] [ 7.09644215e-02 -4.95991295e-03 9.97466516e-01 -2.56448227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.703133365 meters Centerline goodness : 0.102343 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.14, Z:-0.26 [[ 9.97362538e-01 -1.72634009e-03 -7.25602322e-02 -2.40910377e+00] [ 2.04264012e-03 9.99988732e-01 4.28515845e-03 1.40914234e-01] [ 7.25520170e-02 -4.42207095e-03 9.97354827e-01 -2.57814130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73313336499996 meters Centerline goodness : 0.089668 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.99742592 -0.01082497 -0.07088273 -2.39040837] [ 0.01119498 0.99992569 0.00482487 0.14431465] [ 0.07082523 -0.00560598 0.99747299 -0.25516462] [ 0. 0. 0. 1. ]] SLAMing on 350.763133365 meters Centerline goodness : 0.416464 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.99743002 -0.01089231 -0.07081468 -2.39049686] [ 0.01127107 0.99992422 0.00495112 0.14313193] [ 0.07075539 -0.00573655 0.9974772 -0.25515592] [ 0. 0. 0. 1. ]] SLAMing on 350.79313336499996 meters Centerline goodness : 0.094024 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.99742239 -0.01095086 -0.07091297 -2.39015199] [ 0.01133447 0.99992321 0.00500946 0.14236642] [ 0.07085267 -0.00580031 0.99746993 -0.25524949] [ 0. 0. 0. 1. ]] SLAMing on 350.823133365 meters Centerline goodness : 0.105461 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.14, Z:-0.26 [[ 0.99742215 -0.00358165 -0.0716675 -2.40821556] [ 0.0038273 0.99998726 0.00329052 0.13625795] [ 0.0716548 -0.00355633 0.99742315 -0.25784798] [ 0. 0. 0. 1. ]] SLAMing on 350.85313336499996 meters Centerline goodness : 0.089667 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.13, Z:-0.25 [[ 9.97380384e-01 3.52330407e-03 -7.22492654e-02 -2.38865404e+00] [-3.40016462e-03 9.99992550e-01 1.82728946e-03 1.33399085e-01] [ 7.22551652e-02 -1.57684326e-03 9.97384933e-01 -2.54969094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.883133365 meters Centerline goodness : 0.139070 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.13, Z:-0.25 [[ 9.97386984e-01 3.52518264e-03 -7.21580006e-02 -2.38901792e+00] [-3.40625677e-03 9.99992630e-01 1.77112023e-03 1.33964595e-01] [ 7.21637123e-02 -1.52070359e-03 9.97391641e-01 -2.54797018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 350.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 350.97313336499997 meters Centerline goodness : 0.099861 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97366912e-01 3.44175676e-03 -7.24389177e-02 -2.38867345e+00] [-3.35592320e-03 9.99993515e-01 1.30658606e-03 1.36328858e-01] [ 7.24429449e-02 -1.06004626e-03 9.97371995e-01 -2.54415319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.003133365 meters Centerline goodness : 0.123787 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97365010e-01 3.47628947e-03 -7.24634490e-02 -2.38852557e+00] [-3.39942074e-03 9.99993521e-01 1.18409548e-03 1.37558755e-01] [ 7.24670957e-02 -9.34641654e-04 9.97370366e-01 -2.54605643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03313336499997 meters Centerline goodness : 0.098527 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97369124e-01 3.48895449e-03 -7.24061975e-02 -2.38864518e+00] [-3.42510598e-03 9.99993628e-01 1.00595401e-03 1.39025611e-01] [ 7.24092458e-02 -7.55308567e-04 9.97374719e-01 -2.54699543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.063133365 meters Centerline goodness : 0.088205 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.25 [[ 9.97378423e-01 3.45088522e-03 -7.22798159e-02 -2.38916539e+00] [-3.42750781e-03 9.99994026e-01 4.47459217e-04 1.42734996e-01] [ 7.22809282e-02 -1.98546535e-04 9.97384293e-01 -2.54533461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 351.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 351.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 351.183133365 meters Centerline goodness : 0.455117 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.26 [[ 9.97256738e-01 5.68622065e-03 -7.38015212e-02 -2.38479842e+00] [-5.61331658e-03 9.99983531e-01 1.19522219e-03 1.54246321e-01] [ 7.38071021e-02 -7.77672076e-04 9.97272233e-01 -2.55504682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.213133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 351.243133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 351.273133365 meters Centerline goodness : 0.094065 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.16, Z:-0.25 [[ 9.97344806e-01 4.41380122e-03 -7.26901397e-02 -2.38918186e+00] [-4.41123121e-03 9.99990251e-01 1.95895410e-04 1.55734171e-01] [ 7.26902957e-02 1.25277742e-04 9.97354553e-01 -2.53309055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.303133365 meters Centerline goodness : 0.317483 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.16, Z:-0.25 [[ 9.97339685e-01 4.41787562e-03 -7.27601188e-02 -2.38884989e+00] [-4.41166514e-03 9.99990238e-01 2.46065729e-04 1.55521121e-01] [ 7.27604957e-02 7.55821633e-05 9.97349440e-01 -2.53509486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.333133365 meters Centerline goodness : 0.449819 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.16, Z:-0.25 [[ 9.97331783e-01 4.38860402e-03 -7.28701228e-02 -2.38843830e+00] [-4.38061042e-03 9.99990369e-01 2.69517287e-04 1.55232543e-01] [ 7.28706038e-02 5.04174628e-05 9.97341402e-01 -2.53656694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.363133365 meters Centerline goodness : 0.466609 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97352105e-01 4.29369840e-03 -7.25971319e-02 -2.38948589e+00] [-4.28477083e-03 9.99990781e-01 2.78710946e-04 1.54493895e-01] [ 7.25976594e-02 3.30891251e-05 9.97361308e-01 -2.53080147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.393133365 meters Centerline goodness : 0.090015 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97367495e-01 4.25699590e-03 -7.23875543e-02 -2.39040579e+00] [-4.24821261e-03 9.99990938e-01 2.75298005e-04 1.54201218e-01] [ 7.23880703e-02 3.29444396e-05 9.97376542e-01 -2.52533262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42313336499996 meters Centerline goodness : 0.101039 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97368003e-01 4.23669998e-03 -7.23817395e-02 -2.39077230e+00] [-4.22781420e-03 9.99991025e-01 2.75972176e-04 1.53946652e-01] [ 7.23822591e-02 3.07707278e-05 9.97376964e-01 -2.52056320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.453133365 meters Centerline goodness : 0.092334 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97365722e-01 4.24055612e-03 -7.24129424e-02 -2.39069358e+00] [-4.23309621e-03 9.99991008e-01 2.56486371e-04 1.53992424e-01] [ 7.24133789e-02 5.07202372e-05 9.97374704e-01 -2.52106161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48313336499996 meters Centerline goodness : 0.105134 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.15, Z:-0.25 [[ 9.97354738e-01 4.21989910e-03 -7.25652734e-02 -2.38989561e+00] [-4.21939834e-03 9.99991085e-01 1.60194436e-04 1.54290373e-01] [ 7.25653025e-02 1.46411115e-04 9.97363653e-01 -2.52771142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.513133365 meters Centerline goodness : 0.442626 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.25 [[ 9.97366084e-01 -3.33445757e-03 -7.24553375e-02 -2.37122637e+00] [ 3.43523837e-03 9.99993298e-01 1.26636662e-03 1.60170353e-01] [ 7.24506293e-02 -1.51193247e-03 9.97370854e-01 -2.50798116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54313336499996 meters Centerline goodness : 0.096632 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.25 [[ 9.97377987e-01 -3.33802656e-03 -7.22911368e-02 -2.37147243e+00] [ 3.42593405e-03 9.99993535e-01 1.09205956e-03 1.61508173e-01] [ 7.22870241e-02 -1.33686084e-03 9.97382975e-01 -2.51093330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.573133365 meters Centerline goodness : 0.365342 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.25 [[ 9.97378866e-01 -3.34371567e-03 -7.22787500e-02 -2.37138834e+00] [ 3.41609744e-03 9.99993780e-01 8.77830813e-04 1.63086914e-01] [ 7.22753652e-02 -1.12244115e-03 9.97384084e-01 -2.51367142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60313336499996 meters Centerline goodness : 0.277085 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97354094e-01 -2.88301422e-03 -7.26395156e-02 -2.37041342e+00] [ 2.94149030e-03 9.99995430e-01 6.98054575e-04 1.66452906e-01] [ 7.26371712e-02 -9.09876019e-04 9.97358017e-01 -2.51746374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.633133365 meters Centerline goodness : 0.334161 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97337372e-01 -2.91291488e-03 -7.28675616e-02 -2.36983005e+00] [ 2.94634872e-03 9.99995598e-01 3.51344748e-04 1.68588652e-01] [ 7.28662174e-02 -5.65102494e-04 9.97341564e-01 -2.51964930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66313336499996 meters Centerline goodness : 0.334161 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97337372e-01 -2.91291488e-03 -7.28675616e-02 -2.36983005e+00] [ 2.94634872e-03 9.99995598e-01 3.51344748e-04 1.68588652e-01] [ 7.28662174e-02 -5.65102494e-04 9.97341564e-01 -2.51964930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.693133365 meters Centerline goodness : 0.199016 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97328661e-01 -2.96290290e-03 -7.29846807e-02 -2.36944110e+00] [ 2.97009503e-03 9.99995589e-01 -9.98753413e-06 1.70734832e-01] [ 7.29843884e-02 -2.06810583e-04 9.97333062e-01 -2.52282146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72313336499997 meters Centerline goodness : 0.092972 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97329396e-01 -2.99344503e-03 -7.29733883e-02 -2.36950917e+00] [ 2.97729745e-03 9.99995513e-01 -3.30056373e-04 1.72734382e-01] [ 7.29740489e-02 1.11911440e-04 9.97333834e-01 -2.52416309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.753133365 meters Centerline goodness : 0.094600 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.17, Z:-0.25 [[ 9.97346587e-01 -3.08243295e-03 -7.27343408e-02 -2.37039790e+00] [ 3.04146000e-03 9.99995148e-01 -6.74072887e-04 1.74754391e-01] [ 7.27360656e-02 4.51065706e-04 9.97351122e-01 -2.52108831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78313336499997 meters Centerline goodness : 0.191446 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.18, Z:-0.25 [[ 9.97467290e-01 4.68689195e-03 -7.09720926e-02 -2.35118522e+00] [-4.85474229e-03 9.99985812e-01 -2.19270959e-03 1.78047732e-01] [ 7.09608087e-02 2.53170731e-03 9.97475891e-01 -2.49682849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.813133365 meters Centerline goodness : 0.446431 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.18, Z:-0.25 [[ 9.97548612e-01 -2.92659082e-03 -6.99156826e-02 -2.37122830e+00] [ 2.83371011e-03 9.99994966e-01 -1.42761247e-03 1.83602526e-01] [ 6.99195087e-02 1.22599206e-03 9.97551883e-01 -2.52677454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84313336499997 meters Centerline goodness : 0.103365 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97551444e-01 -3.03749992e-03 -6.98705284e-02 -2.37154621e+00] [ 2.92105225e-03 9.99994170e-01 -1.76873323e-03 1.85677470e-01] [ 6.98754936e-02 1.56030692e-03 9.97554500e-01 -2.52462136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.873133365 meters Centerline goodness : 0.268196 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97548493e-01 -3.10412141e-03 -6.99097160e-02 -2.37166465e+00] [ 2.96434589e-03 9.99993395e-01 -2.10302854e-03 1.88367126e-01] [ 6.99157823e-02 1.89063637e-03 9.97551106e-01 -2.52245436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.903133365 meters Centerline goodness : 0.440685 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97534866e-01 -3.20801969e-03 -7.00992198e-02 -2.37124664e+00] [ 3.05442406e-03 9.99992694e-01 -2.29819622e-03 1.89186976e-01] [ 7.01060804e-02 2.07841812e-03 9.97537377e-01 -2.52201996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.933133365 meters Centerline goodness : 0.436700 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97520135e-01 -3.31939877e-03 -7.03033620e-02 -2.37073367e+00] [ 3.15548522e-03 9.99992039e-01 -2.44244792e-03 1.89483227e-01] [ 7.03109098e-02 2.21454976e-03 9.97522667e-01 -2.52231989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.963133365 meters Centerline goodness : 0.172270 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97507409e-01 -3.40999731e-03 -7.04793718e-02 -2.37043304e+00] [ 3.23985244e-03 9.99991556e-01 -2.52828167e-03 1.89503971e-01] [ 7.04873981e-02 2.29363693e-03 9.97510033e-01 -2.52075809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.993133365 meters Centerline goodness : 0.438052 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97518028e-01 -3.38348717e-03 -7.03301847e-02 -2.37131486e+00] [ 3.21603550e-03 9.99991718e-01 -2.49403243e-03 1.89772125e-01] [ 7.03380408e-02 2.26165794e-03 9.97520649e-01 -2.51330334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.023133365 meters Centerline goodness : 0.448199 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 9.97523035e-01 -3.42002181e-03 -7.02573728e-02 -2.37153305e+00] [ 3.24693827e-03 9.99991407e-01 -2.57761842e-03 1.90186307e-01] [ 7.02655846e-02 2.34311240e-03 9.97525567e-01 -2.51311126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.053133365 meters Centerline goodness : 0.095261 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 0.99752299 -0.00349393 -0.07025444 -2.3714737 ] [ 0.0033078 0.9999907 -0.00276561 0.19112994] [ 0.07026345 0.00252637 0.99752527 -0.25143683] [ 0. 0. 0. 1. ]] SLAMing on 352.083133365 meters Centerline goodness : 0.107787 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.19, Z:-0.25 [[ 0.99752865 -0.00356785 -0.07017029 -2.37177113] [ 0.00336323 0.99998974 -0.00303394 0.19270099] [ 0.07018039 0.00279044 0.99753041 -0.25141531] [ 0. 0. 0. 1. ]] SLAMing on 352.113133365 meters Centerline goodness : 0.452712 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99752474 -0.00313756 -0.07024631 -2.37170382] [ 0.00292168 0.99999069 -0.00317574 0.19770423] [ 0.07025562 0.00296264 0.99752462 -0.25148546] [ 0. 0. 0. 1. ]] SLAMing on 352.143133365 meters Centerline goodness : 0.205894 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99751323 -0.00327117 -0.07040356 -2.37142584] [ 0.00302067 0.99998872 -0.00366414 0.20044805] [ 0.07041475 0.00344237 0.99751186 -0.25150659] [ 0. 0. 0. 1. ]] SLAMing on 352.17313336499996 meters Centerline goodness : 0.161446 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99750438 -0.00339082 -0.07052314 -2.37120443] [ 0.00311097 0.99998685 -0.00407774 0.20276995] [ 0.07053604 0.00384816 0.99750181 -0.25152105] [ 0. 0. 0. 1. ]] SLAMing on 352.203133365 meters Centerline goodness : 0.096096 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.20, Z:-0.25 [[ 0.99750419 -0.00355775 -0.07051767 -2.37129286] [ 0.00325055 0.99998472 -0.00447059 0.20474767] [ 0.0705325 0.00423021 0.99750051 -0.25153164] [ 0. 0. 0. 1. ]] SLAMing on 352.23313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 352.263133365 meters Centerline goodness : 0.044457 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99749464 -0.00384381 -0.07063759 -2.37129883] [ 0.0034956 0.99998113 -0.00505246 0.20809607] [ 0.07065568 0.00479288 0.99748925 -0.25116576] [ 0. 0. 0. 1. ]] SLAMing on 352.29313336499996 meters Centerline goodness : 0.446585 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99749066 -0.00394861 -0.07068793 -2.37120468] [ 0.00359394 0.99998031 -0.00514388 0.20830358] [ 0.07070684 0.00487692 0.99748522 -0.2510789 ] [ 0. 0. 0. 1. ]] SLAMing on 352.323133365 meters Centerline goodness : 0.099532 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99748261 -0.00404048 -0.07079627 -2.37097855] [ 0.00367858 0.9999795 -0.00524145 0.20850429] [ 0.070816 0.00496783 0.99747702 -0.25099647] [ 0. 0. 0. 1. ]] SLAMing on 352.35313336499996 meters Centerline goodness : 0.157876 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99747855 -0.00408197 -0.07085105 -2.37091055] [ 0.00372 0.99997935 -0.00524009 0.20835952] [ 0.07087098 0.00496332 0.99747314 -0.25084996] [ 0. 0. 0. 1. ]] SLAMing on 352.383133365 meters Centerline goodness : 0.120377 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99747731 -0.00414351 -0.07086499 -2.37135948] [ 0.00376635 0.99997803 -0.00545507 0.20988721] [ 0.07088604 0.0051744 0.997471 -0.25017192] [ 0. 0. 0. 1. ]] SLAMing on 352.41313336499996 meters Centerline goodness : 0.117012 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99749258 -0.00421671 -0.07064539 -2.37229873] [ 0.00382568 0.99997661 -0.00566949 0.21112797] [ 0.07066765 0.00538501 0.99748538 -0.24967531] [ 0. 0. 0. 1. ]] SLAMing on 352.443133365 meters Centerline goodness : 0.116029 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750446 -0.00431878 -0.07047132 -2.37303179] [ 0.00391362 0.99997502 -0.00588626 0.21206507] [ 0.07049498 0.00559578 0.99749644 -0.24927157] [ 0. 0. 0. 1. ]] SLAMing on 352.47313336499997 meters Centerline goodness : 0.104920 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750879 -0.0045167 -0.07039753 -2.37342997] [ 0.00408747 0.99997218 -0.00624009 0.21335835] [ 0.07042375 0.0059368 0.9974995 -0.2490668 ] [ 0. 0. 0. 1. ]] SLAMing on 352.503133365 meters Centerline goodness : 0.107897 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750946 -0.00444455 -0.07039259 -2.37341228] [ 0.00401972 0.99997285 -0.0061756 0.21353835] [ 0.07041813 0.00587726 0.99750025 -0.24913068] [ 0. 0. 0. 1. ]] SLAMing on 352.53313336499997 meters Centerline goodness : 0.114956 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99750974 -0.00433202 -0.0703957 -2.37337566] [ 0.00391451 0.99997393 -0.00606783 0.21372769] [ 0.07042015 0.00577715 0.99750069 -0.24915923] [ 0. 0. 0. 1. ]] SLAMing on 352.563133365 meters Centerline goodness : 0.195244 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99751205 -0.0043237 -0.07036339 -2.37346518] [ 0.00390645 0.99997397 -0.00606643 0.21400367] [ 0.07038779 0.00577646 0.99750298 -0.24913345] [ 0. 0. 0. 1. ]] SLAMing on 352.59313336499997 meters Centerline goodness : 0.117018 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99748581 -0.00457672 -0.07071849 -2.37276661] [ 0.00414179 0.99997161 -0.0062955 0.2141886 ] [ 0.07074529 0.00598677 0.99747645 -0.24886663] [ 0. 0. 0. 1. ]] SLAMing on 352.623133365 meters Centerline goodness : 0.111739 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.9974669 -0.00463295 -0.07098106 -2.37202397] [ 0.00419467 0.99997122 -0.00632233 0.21398927] [ 0.07100831 0.00600857 0.99745763 -0.24902265] [ 0. 0. 0. 1. ]] SLAMing on 352.653133365 meters Centerline goodness : 0.116539 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.9974479 -0.00464316 -0.07124698 -2.37125052] [ 0.00420393 0.99997123 -0.00631371 0.21385994] [ 0.07127424 0.00599808 0.99743872 -0.2491736 ] [ 0. 0. 0. 1. ]] SLAMing on 352.683133365 meters Centerline goodness : 0.110055 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.9974357 -0.00457414 -0.07142207 -2.37065543] [ 0.00414034 0.99997208 -0.00622063 0.21367738] [ 0.07144853 0.00590897 0.99742679 -0.24938742] [ 0. 0. 0. 1. ]] SLAMing on 352.713133365 meters Centerline goodness : 0.145379 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99741922 -0.00456553 -0.07165233 -2.36996235] [ 0.00413367 0.9999724 -0.00617418 0.21334101] [ 0.07167854 0.00586206 0.99741056 -0.24956828] [ 0. 0. 0. 1. ]] SLAMing on 352.743133365 meters Centerline goodness : 0.121176 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99742676 -0.00456274 -0.07154748 -2.37042062] [ 0.00413524 0.99997271 -0.00612198 0.21287366] [ 0.07157346 0.00581036 0.99741841 -0.24929912] [ 0. 0. 0. 1. ]] SLAMing on 352.773133365 meters Centerline goodness : 0.109360 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.21, Z:-0.25 [[ 0.99744247 -0.00455171 -0.07132878 -2.37138507] [ 0.00412889 0.99997303 -0.00607401 0.21258412] [ 0.07135451 0.00576397 0.99743436 -0.24870329] [ 0. 0. 0. 1. ]] SLAMing on 352.803133365 meters Centerline goodness : 0.102681 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.99754558 0.00310151 -0.06995145 -2.39162639] [-0.00361283 0.99996767 -0.00718434 0.20508146] [ 0.06992691 0.00741942 0.99752453 -0.25070093] [ 0. 0. 0. 1. ]] SLAMing on 352.833133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 352.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 352.893133365 meters Centerline goodness : 0.112755 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.20, Z:-0.25 [[ 0.99753945 0.00319582 -0.07003444 -2.39108665] [-0.00369083 0.99996911 -0.00693994 0.20367217] [ 0.0700101 0.00718135 0.99752043 -0.25121704] [ 0. 0. 0. 1. ]] SLAMing on 352.92313336499996 meters Centerline goodness : 0.096378 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.20, Z:-0.25 [[ 0.99753828 0.00329591 -0.07004653 -2.39100196] [-0.00378136 0.99996974 -0.00679902 0.20328692] [ 0.070022 0.00704715 0.99752055 -0.25131009] [ 0. 0. 0. 1. ]] SLAMing on 352.953133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 352.98313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 353.013133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 353.04313336499996 meters Centerline goodness : 0.106440 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.99758001 0.00421992 -0.06939962 -2.39288845] [-0.0046775 0.99996837 -0.00643229 0.20511877] [ 0.06937028 0.00674134 0.9975682 -0.25103852] [ 0. 0. 0. 1. ]] SLAMing on 353.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 353.10313336499996 meters Centerline goodness : 0.112984 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.9975238 0.00451713 -0.07018444 -2.39061906] [-0.00501525 0.99996346 -0.00692267 0.20961138] [ 0.0701506 0.00725752 0.99751001 -0.25183934] [ 0. 0. 0. 1. ]] SLAMing on 353.133133365 meters Centerline goodness : 0.120518 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.22, Z:-0.25 [[ 0.99750656 0.00487445 -0.07040521 -2.38989627] [-0.00541085 0.99995776 -0.0074301 0.21620709] [ 0.07036602 0.00779253 0.9974908 -0.25240145] [ 0. 0. 0. 1. ]] SLAMing on 353.16313336499996 meters Centerline goodness : 0.094607 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.22, Z:-0.25 [[ 0.99753442 0.0048199 -0.07001314 -2.39111798] [-0.00538858 0.99995399 -0.00793585 0.21968506] [ 0.06997167 0.00829356 0.9975145 -0.25214718] [ 0. 0. 0. 1. ]] SLAMing on 353.193133365 meters Centerline goodness : 0.234619 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.23, Z:-0.25 [[ 9.97675077e-01 -1.52048497e-03 -6.81331627e-02 -2.37568764e+00] [ 1.13333438e-03 9.99982995e-01 -5.72055714e-03 2.31929591e-01] [ 6.81407021e-02 5.63003963e-03 9.97659835e-01 -2.49071313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22313336499997 meters Centerline goodness : 0.105884 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.23, Z:-0.25 [[ 9.97690076e-01 -1.77449873e-03 -6.79070177e-02 -2.37648105e+00] [ 1.35388368e-03 9.99979618e-01 -6.23950604e-03 2.34389615e-01] [ 6.79167056e-02 6.13315506e-03 9.97672143e-01 -2.48810792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.253133365 meters Centerline goodness : 0.236201 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97691087e-01 -2.00958628e-03 -6.78856131e-02 -2.37667350e+00] [ 1.55890990e-03 9.99976399e-01 -6.69108397e-03 2.36450480e-01] [ 6.78974573e-02 6.56980728e-03 9.97670674e-01 -2.48639235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28313336499997 meters Centerline goodness : 0.113276 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97681096e-01 -2.20887659e-03 -6.80261139e-02 -2.37645047e+00] [ 1.73368178e-03 9.99973690e-01 -7.04372052e-03 2.38002014e-01] [ 6.80398829e-02 6.90945117e-03 9.97658676e-01 -2.48483250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.313133365 meters Centerline goodness : 0.111514 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97664576e-01 -2.29909825e-03 -6.82649776e-02 -2.37587845e+00] [ 1.80967255e-03 9.99972222e-01 -7.23047461e-03 2.39152611e-01] [ 6.82797049e-02 7.09005113e-03 9.97641024e-01 -2.48475522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34313336499997 meters Centerline goodness : 0.110944 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97649582e-01 -2.36618358e-03 -6.84814787e-02 -2.37532525e+00] [ 1.86380811e-03 9.99970891e-01 -7.39889570e-03 2.40325904e-01] [ 6.84969924e-02 7.25386886e-03 9.97624951e-01 -2.48537310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.373133365 meters Centerline goodness : 0.110332 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97662164e-01 -2.55547567e-03 -6.82911064e-02 -2.37609301e+00] [ 2.03384644e-03 9.99968234e-01 -7.70675533e-03 2.42225178e-01] [ 6.83086315e-02 7.54984458e-03 9.97635670e-01 -2.48007212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.403133365 meters Centerline goodness : 0.111688 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 9.97690113e-01 -2.76059446e-03 -6.78735396e-02 -2.37727002e+00] [ 2.23294928e-03 9.99966706e-01 -7.84858341e-03 2.42188361e-01] [ 6.78929466e-02 7.67889590e-03 9.97663061e-01 -2.47712975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.433133365 meters Centerline goodness : 0.189271 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 0.99770872 -0.0029571 -0.06759118 -2.37804687] [ 0.00242824 0.99996581 -0.00790519 0.24161605] [ 0.06761225 0.00772295 0.99768178 -0.24750979] [ 0. 0. 0. 1. ]] SLAMing on 353.463133365 meters Centerline goodness : 0.105403 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.24, Z:-0.25 [[ 0.99770278 -0.00299995 -0.06767686 -2.37791516] [ 0.00247977 0.99996675 -0.0077689 0.24050317] [ 0.06769792 0.00758323 0.99767705 -0.24736409] [ 0. 0. 0. 1. ]] SLAMing on 353.493133365 meters Centerline goodness : 0.108009 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.24, Z:-0.25 [[ 0.99763087 -0.00300364 -0.06872857 -2.37494116] [ 0.00250738 0.99997017 -0.00730575 0.23777656] [ 0.06874846 0.00711612 0.99760865 -0.24786351] [ 0. 0. 0. 1. ]] SLAMing on 353.523133365 meters Centerline goodness : 0.119253 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.24, Z:-0.25 [[ 0.99760293 -0.00301564 -0.06913242 -2.37363925] [ 0.00253218 0.99997173 -0.00707992 0.23602647] [ 0.06915182 0.0068879 0.99758237 -0.24825801] [ 0. 0. 0. 1. ]] SLAMing on 353.553133365 meters Centerline goodness : 0.119253 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.24, Z:-0.25 [[ 0.99760293 -0.00301564 -0.06913242 -2.37363925] [ 0.00253218 0.99997173 -0.00707992 0.23602647] [ 0.06915182 0.0068879 0.99758237 -0.24825801] [ 0. 0. 0. 1. ]] SLAMing on 353.583133365 meters Centerline goodness : 0.114431 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.23, Z:-0.25 [[ 0.997599 -0.00304707 -0.06918774 -2.3733964 ] [ 0.0025807 0.99997335 -0.00682904 0.23399648] [ 0.0692067 0.00663409 0.99758028 -0.24833476] [ 0. 0. 0. 1. ]] SLAMing on 353.613133365 meters Centerline goodness : 0.114474 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.23, Z:-0.25 [[ 0.9976179 -0.00303674 -0.06891523 -2.37405906] [ 0.00259314 0.99997535 -0.00652545 0.23188327] [ 0.06893335 0.0063312 0.99760118 -0.24820783] [ 0. 0. 0. 1. ]] SLAMing on 353.643133365 meters Centerline goodness : 0.111692 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99752578 -0.00312268 -0.07023227 -2.42023681] [ 0.0026722 0.99997526 -0.00650725 0.22468575] [ 0.07025085 0.00630347 0.99750944 -0.25017421] [ 0. 0. 0. 1. ]] SLAMing on 353.67313336499996 meters Centerline goodness : 0.171027 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99751029 -0.00299624 -0.07045736 -2.41936824] [ 0.00256666 0.99997757 -0.00618682 0.22302104] [ 0.07047432 0.00599058 0.99749561 -0.25062088] [ 0. 0. 0. 1. ]] SLAMing on 353.703133365 meters Centerline goodness : 0.112686 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.22, Z:-0.25 [[ 0.99747817 -0.00374267 -0.07087516 -2.37420059] [ 0.0033384 0.99997748 -0.00582154 0.22305404] [ 0.07089535 0.00557025 0.99746821 -0.24808714] [ 0. 0. 0. 1. ]] SLAMing on 353.73313336499996 meters Centerline goodness : 0.116536 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.22, Z:-0.25 [[ 0.99744921 -0.00366794 -0.07128549 -2.37280446] [ 0.00327503 0.9999788 -0.00562781 0.22179241] [ 0.07130462 0.00537999 0.99744008 -0.24865462] [ 0. 0. 0. 1. ]] SLAMing on 353.763133365 meters Centerline goodness : 0.122930 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.22, Z:-0.25 [[ 0.99743317 -0.00356469 -0.07151478 -2.3719815 ] [ 0.00318535 0.99998025 -0.00541769 0.2205762 ] [ 0.07153268 0.00517598 0.99742483 -0.24904268] [ 0. 0. 0. 1. ]] SLAMing on 353.79313336499996 meters Centerline goodness : 0.109979 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.9974583 0.00503348 -0.07107461 -2.3922611 ] [-0.00547855 0.99996658 -0.00606841 0.21303656] [ 0.07104169 0.00644237 0.99745254 -0.25141604] [ 0. 0. 0. 1. ]] SLAMing on 353.823133365 meters Centerline goodness : 0.137790 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.99748287 0.00506261 -0.07072684 -2.39327745] [-0.00550119 0.99996682 -0.00600766 0.21253141] [ 0.07069407 0.00638162 0.99747763 -0.25119901] [ 0. 0. 0. 1. ]] SLAMing on 353.85313336499996 meters Centerline goodness : 0.119076 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.21, Z:-0.25 [[ 0.9975045 0.00509275 -0.07041902 -2.39424319] [-0.00552187 0.99996735 -0.00590049 0.21172316] [ 0.07038667 0.00627461 0.99750005 -0.2509269 ] [ 0. 0. 0. 1. ]] SLAMing on 353.883133365 meters Centerline goodness : 0.125313 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.22, Z:-0.25 [[ 0.99758903 -0.00287182 -0.06933886 -2.37577359] [ 0.00255487 0.99998588 -0.00465929 0.21547776] [ 0.06935127 0.00447091 0.99758228 -0.24903803] [ 0. 0. 0. 1. ]] SLAMing on 353.91313336499996 meters Centerline goodness : 0.113450 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99760283 -0.00265446 -0.06914877 -2.37613222] [ 0.00237901 0.99998891 -0.00406541 0.211925 ] [ 0.06915879 0.00389116 0.99759808 -0.24910283] [ 0. 0. 0. 1. ]] SLAMing on 353.943133365 meters Centerline goodness : 0.138668 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.21, Z:-0.25 [[ 0.99762451 0.00323328 -0.0688105 -2.39879666] [-0.00372477 0.99996845 -0.00701557 0.20555911] [ 0.06878564 0.00725521 0.99760508 -0.2501394 ] [ 0. 0. 0. 1. ]] SLAMing on 353.97313336499997 meters Centerline goodness : 0.094095 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.9976756 -0.0051114 -0.06795057 -2.37956524] [ 0.00471321 0.99997078 -0.00601914 0.20771395] [ 0.06797935 0.00568488 0.99767053 -0.24797512] [ 0. 0. 0. 1. ]] SLAMing on 354.003133365 meters Centerline goodness : 0.121168 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99769745 -0.00465238 -0.06766206 -2.38064101] [ 0.00429891 0.99997635 -0.00536878 0.20579952] [ 0.06768544 0.00506554 0.99769385 -0.24746446] [ 0. 0. 0. 1. ]] SLAMing on 354.03313336499997 meters Centerline goodness : 0.043342 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.9976944 -0.00448983 -0.06771794 -2.38028106] [ 0.00414312 0.99997759 -0.00525947 0.20586628] [ 0.06774004 0.00496678 0.99769064 -0.24780944] [ 0. 0. 0. 1. ]] SLAMing on 354.063133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.09313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.123133365 meters Centerline goodness : 0.113805 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99765253 -0.00387493 -0.06836963 -2.37804775] [ 0.00353237 0.9999806 -0.00513065 0.20727763] [ 0.06838818 0.0048771 0.99764687 -0.24900962] [ 0. 0. 0. 1. ]] SLAMing on 354.153133365 meters Centerline goodness : 0.176158 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99768708 -0.00362752 -0.06787735 -2.37951271] [ 0.00329168 0.99998179 -0.00505895 0.20846086] [ 0.06789447 0.00482382 0.99768085 -0.24874325] [ 0. 0. 0. 1. ]] SLAMing on 354.183133365 meters Centerline goodness : 0.098667 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99769688 -0.00365045 -0.06773197 -2.37989367] [ 0.00331252 0.9999815 -0.00510091 0.20871126] [ 0.06774934 0.0048648 0.99769051 -0.2487124 ] [ 0. 0. 0. 1. ]] SLAMing on 354.213133365 meters Centerline goodness : 0.117619 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99769617 -0.0037271 -0.06773812 -2.3797242 ] [ 0.00338528 0.99998096 -0.00516024 0.20855238] [ 0.06775607 0.00491904 0.99768979 -0.24891318] [ 0. 0. 0. 1. ]] SLAMing on 354.243133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.273133365 meters Centerline goodness : 0.104703 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.21, Z:-0.25 [[ 0.99767049 -0.00414858 -0.068091 -2.37892014] [ 0.00380145 0.99997911 -0.00522676 0.20691933] [ 0.06811126 0.00495574 0.99766542 -0.24880423] [ 0. 0. 0. 1. ]] SLAMing on 354.303133365 meters Centerline goodness : 0.122789 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99755177 -0.00344897 -0.0698468 -2.42499075] [ 0.00311705 0.99998333 -0.00486045 0.20282338] [ 0.0698624 0.00463084 0.99754589 -0.25054827] [ 0. 0. 0. 1. ]] SLAMing on 354.333133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.363133365 meters Centerline goodness : 0.108227 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.20, Z:-0.25 [[ 0.9975693 -0.00334553 -0.06960093 -2.42563569] [ 0.00302332 0.99998422 -0.00473427 0.20291038] [ 0.06961567 0.00451233 0.99756368 -0.25041302] [ 0. 0. 0. 1. ]] SLAMing on 354.393133365 meters Centerline goodness : 0.136379 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99754361 -0.00352835 -0.06995926 -2.42459696] [ 0.00317462 0.99998161 -0.00516685 0.20460107] [ 0.0699762 0.00493206 0.99753647 -0.25077795] [ 0. 0. 0. 1. ]] SLAMing on 354.42313336499996 meters Centerline goodness : 0.108475 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.21, Z:-0.25 [[ 0.99752062 -0.00353131 -0.07028617 -2.4237011 ] [ 0.00316429 0.99998078 -0.00533259 0.20565808] [ 0.07030365 0.00509696 0.99751262 -0.25100894] [ 0. 0. 0. 1. ]] SLAMing on 354.453133365 meters Centerline goodness : 0.114250 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.21, Z:-0.25 [[ 0.99751133 -0.00348709 -0.07042006 -2.42328888] [ 0.00311149 0.99998035 -0.0054427 0.20677252] [ 0.07043766 0.00521004 0.99750258 -0.25123362] [ 0. 0. 0. 1. ]] SLAMing on 354.48313336499996 meters Centerline goodness : 0.119094 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.20, Z:-0.25 [[ 0.99749451 0.00502546 -0.07056513 -2.44305941] [-0.00548897 0.99996461 -0.00637626 0.20220617] [ 0.07053059 0.00674762 0.99748679 -0.25346336] [ 0. 0. 0. 1. ]] SLAMing on 354.513133365 meters Centerline goodness : 0.194399 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.20, Z:-0.25 [[ 0.99750248 0.0049942 -0.07045468 -2.44329178] [-0.00545941 0.99996454 -0.00641199 0.20220581] [ 0.07042016 0.00678061 0.99749437 -0.25355366] [ 0. 0. 0. 1. ]] SLAMing on 354.54313336499996 meters Centerline goodness : 0.178582 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.20, Z:-0.25 [[ 0.99749799 0.00503142 -0.07051559 -2.44301431] [-0.00548152 0.99996581 -0.00619088 0.20086285] [ 0.07048203 0.00656193 0.99749147 -0.25371588] [ 0. 0. 0. 1. ]] SLAMing on 354.573133365 meters Centerline goodness : 0.112105 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99751808 -0.00292512 -0.07035002 -2.42371124] [ 0.00259247 0.99998503 -0.00481937 0.20467224] [ 0.07036307 0.00462503 0.99751073 -0.251432 ] [ 0. 0. 0. 1. ]] SLAMing on 354.60313336499996 meters Centerline goodness : 0.111647 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99750957 -0.00285317 -0.07047356 -2.42334689] [ 0.00253605 0.99998625 -0.00458896 0.20332558] [ 0.07048568 0.00439881 0.99750309 -0.25147913] [ 0. 0. 0. 1. ]] SLAMing on 354.633133365 meters Centerline goodness : 0.112206 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.9975056 -0.00285321 -0.07052973 -2.42314394] [ 0.00254476 0.9999868 -0.00446273 0.20221761] [ 0.07054153 0.00427212 0.9974997 -0.25151358] [ 0. 0. 0. 1. ]] SLAMing on 354.66313336499996 meters Centerline goodness : 0.136719 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99751957 -0.00289144 -0.07033024 -2.42388396] [ 0.00259202 0.99998719 -0.0043483 0.20084664] [ 0.07034192 0.00415522 0.99751429 -0.25116196] [ 0. 0. 0. 1. ]] SLAMing on 354.693133365 meters Centerline goodness : 0.111797 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 0.99752775 -0.0028276 -0.07021673 -2.42425071] [ 0.00253455 0.9999877 -0.0042623 0.20060928] [ 0.07022791 0.0040738 0.99752265 -0.25105763] [ 0. 0. 0. 1. ]] SLAMing on 354.72313336499997 meters Centerline goodness : 0.117531 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 9.97533810e-01 -2.69580741e-03 -7.01358053e-02 -2.42424863e+00] [ 2.41177326e-03 9.99988546e-01 -4.13413901e-03 2.00593384e-01] [ 7.01461468e-02 3.95479177e-03 9.97528886e-01 -2.51338362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.753133365 meters Centerline goodness : 0.117059 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 9.97538376e-01 -2.66669657e-03 -7.00719419e-02 -2.42418795e+00] [ 2.37953297e-03 9.99988427e-01 -4.18127773e-03 2.01158004e-01] [ 7.00822812e-02 4.00424650e-03 9.97533177e-01 -2.51700357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78313336499997 meters Centerline goodness : 0.118294 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.20, Z:-0.25 [[ 9.97543479e-01 -2.69096236e-03 -6.99983326e-02 -2.42435054e+00] [ 2.39674753e-03 9.99987939e-01 -4.28681691e-03 2.01837650e-01] [ 7.00090240e-02 4.10851792e-03 9.97537897e-01 -2.51783716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.813133365 meters Centerline goodness : 0.186095 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.20, Z:-0.25 [[ 0.99754974 -0.00283885 -0.06990315 -2.42507826] [ 0.00251428 0.99998565 -0.00473069 0.20414487] [ 0.06991558 0.00454334 0.99754257 -0.25120403] [ 0. 0. 0. 1. ]] SLAMing on 354.84313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 354.903133365 meters Centerline goodness : 0.111065 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.21, Z:-0.25 [[ 0.99756088 -0.00301281 -0.06973673 -2.42539632] [ 0.0026299 0.99998096 -0.00558207 0.21023483] [ 0.06975222 0.00538505 0.99754981 -0.25154781] [ 0. 0. 0. 1. ]] SLAMing on 354.933133365 meters Centerline goodness : 0.090204 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.21, Z:-0.25 [[ 0.99754996 -0.00307468 -0.06989007 -2.42493809] [ 0.00266743 0.99997892 -0.00591963 0.21254998] [ 0.06990679 0.0057187 0.99753714 -0.2517638 ] [ 0. 0. 0. 1. ]] SLAMing on 354.963133365 meters Centerline goodness : 0.108586 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99754196 -0.00324025 -0.06999677 -2.4247305 ] [ 0.00280183 0.99997585 -0.0063606 0.21502997] [ 0.07001569 0.00614884 0.99752694 -0.2517821 ] [ 0. 0. 0. 1. ]] SLAMing on 354.993133365 meters Centerline goodness : 0.099102 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99751537 -0.00363967 -0.07035504 -2.42439521] [ 0.00313837 0.99996891 -0.00723446 0.21941908] [ 0.07037918 0.00699569 0.99749578 -0.25117256] [ 0. 0. 0. 1. ]] SLAMing on 355.023133365 meters Centerline goodness : 0.102213 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.22, Z:-0.25 [[ 0.99750438 -0.00374608 -0.07050511 -2.42431728] [ 0.00322373 0.99996652 -0.00752104 0.22110959] [ 0.07053093 0.00727498 0.99748306 -0.25082718] [ 0. 0. 0. 1. ]] SLAMing on 355.053133365 meters Centerline goodness : 0.098286 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.22, Z:-0.25 [[ 0.99753297 -0.00384573 -0.0700941 -2.42602804] [ 0.00330119 0.99996348 -0.00788292 0.22397328] [ 0.07012186 0.00763208 0.99750924 -0.24987066] [ 0. 0. 0. 1. ]] SLAMing on 355.083133365 meters Centerline goodness : 0.175532 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.22, Z:-0.25 [[ 0.99756532 0.00445178 -0.06959601 -2.44626752] [-0.00509386 0.99994606 -0.00905095 0.22007883] [ 0.06955196 0.00938343 0.9975342 -0.25188381] [ 0. 0. 0. 1. ]] SLAMing on 355.113133365 meters Centerline goodness : 0.167699 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.22, Z:-0.25 [[ 0.99757447 0.00424725 -0.06947755 -2.44677346] [-0.0049201 0.99994262 -0.00951613 0.22222669] [ 0.06943315 0.00983489 0.99753813 -0.25164713] [ 0. 0. 0. 1. ]] SLAMing on 355.143133365 meters Centerline goodness : 0.102575 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.23, Z:-0.25 [[ 9.97482660e-01 -1.79001075e-03 -7.08882138e-02 -2.42715291e+00] [ 1.26191138e-03 9.99971125e-01 -7.49383160e-03 2.30286595e-01] [ 7.08995809e-02 7.38551244e-03 9.97456116e-01 -2.49124425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17313336499996 meters Centerline goodness : 0.179157 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.23, Z:-0.25 [[ 0.99739415 0.00702875 -0.07180187 -2.44664725] [-0.00766778 0.99993338 -0.00862815 0.22901336] [ 0.07173644 0.00915623 0.9973816 -0.25121905] [ 0. 0. 0. 1. ]] SLAMing on 355.203133365 meters Centerline goodness : 0.099993 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.23, Z:-0.25 [[ 0.99738882 0.00696017 -0.07188256 -2.44659734] [-0.00763763 0.99992893 -0.00915406 0.23254236] [ 0.07181374 0.00967917 0.99737109 -0.25116105] [ 0. 0. 0. 1. ]] SLAMing on 355.23313336499996 meters Centerline goodness : 0.105315 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.24, Z:-0.25 [[ 0.99743805 0.00711451 -0.07118096 -2.44868359] [-0.00782215 0.99992267 -0.00966763 0.23811402] [ 0.07110667 0.01019965 0.99741657 -0.25076374] [ 0. 0. 0. 1. ]] SLAMing on 355.263133365 meters Centerline goodness : 0.106015 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.24, Z:-0.25 [[ 0.99744394 0.00693236 -0.07111628 -2.44888734] [-0.0076665 0.99992005 -0.01005538 0.23981378] [ 0.07104089 0.01057489 0.99741735 -0.25077711] [ 0. 0. 0. 1. ]] SLAMing on 355.29313336499996 meters Centerline goodness : 0.103888 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97373876e-01 -8.81011396e-04 -7.24194367e-02 -2.43106076e+00] [ 2.04426103e-04 9.99956272e-01 -9.34947366e-03 2.46996567e-01] [ 7.24245070e-02 9.31011636e-03 9.97330443e-01 -2.47756095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.323133365 meters Centerline goodness : 0.108038 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97345743e-01 -9.60324372e-04 -7.28048589e-02 -2.43005085e+00] [ 2.66787146e-04 9.99954504e-01 -9.53510065e-03 2.47946835e-01] [ 7.28107033e-02 9.49036863e-03 9.97300624e-01 -2.47909007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35313336499996 meters Centerline goodness : 0.104084 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97321730e-01 -1.06121350e-03 -7.31316638e-02 -2.42944403e+00] [ 3.39194673e-04 9.99951089e-01 -9.88457440e-03 2.50106183e-01] [ 7.31385765e-02 9.83329498e-03 9.97273310e-01 -2.47745804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.383133365 meters Centerline goodness : 0.103872 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97351282e-01 -1.12134670e-03 -7.27266259e-02 -2.43084639e+00] [ 3.93370842e-04 9.99949688e-01 -1.00233079e-02 2.50873521e-01] [ 7.27342065e-02 9.96815050e-03 9.97301545e-01 -2.47156139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41313336499996 meters Centerline goodness : 0.126205 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.25, Z:-0.25 [[ 0.99758304 -0.0077691 -0.06904874 -2.45149246] [ 0.00713387 0.99992998 -0.00944155 0.25481654] [ 0.06911726 0.00892615 0.99756861 -0.25028836] [ 0. 0. 0. 1. ]] SLAMing on 355.443133365 meters Centerline goodness : 0.101413 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97755759e-01 -2.63085925e-04 -6.69580149e-02 -2.43272775e+00] [-4.41120241e-04 9.99944754e-01 -1.05021281e-02 2.54049297e-01] [ 6.69570787e-02 1.05080954e-02 9.97700521e-01 -2.48003944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47313336499997 meters Centerline goodness : 0.101413 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.25, Z:-0.25 [[ 9.97755759e-01 -2.63085925e-04 -6.69580149e-02 -2.43272775e+00] [-4.41120241e-04 9.99944754e-01 -1.05021281e-02 2.54049297e-01] [ 6.69570787e-02 1.05080954e-02 9.97700521e-01 -2.48003944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.503133365 meters Centerline goodness : 0.146513 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.26, Z:-0.25 [[ 9.97750369e-01 -3.00403297e-04 -6.70381271e-02 -2.43232668e+00] [-4.16102534e-04 9.99942947e-01 -1.06738157e-02 2.55277903e-01] [ 6.70375088e-02 1.06776983e-02 9.97693319e-01 -2.48324623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53313336499997 meters Centerline goodness : 0.103289 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.26, Z:-0.25 [[ 9.97612575e-01 1.42926188e-03 -6.90442483e-02 -2.42416275e+00] [-2.09806092e-03 9.99951574e-01 -9.61498322e-03 2.59372799e-01] [ 6.90271624e-02 9.73688720e-03 9.97567263e-01 -2.52083188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.563133365 meters Centerline goodness : 0.108076 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.26, Z:-0.25 [[ 9.97556067e-01 1.44070559e-03 -6.98556961e-02 -2.42192055e+00] [-2.15154528e-03 9.99946662e-01 -1.01016573e-02 2.62675188e-01] [ 6.98374167e-02 1.02272672e-02 9.97505959e-01 -2.52651155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59313336499997 meters Centerline goodness : 0.173162 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.27, Z:-0.25 [[ 9.97517235e-01 1.54485774e-03 -7.04058166e-02 -2.42074698e+00] [-2.28943783e-03 9.99942294e-01 -1.04960801e-02 2.66171751e-01] [ 7.03855388e-02 1.06312106e-02 9.97463209e-01 -2.52632695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.623133365 meters Centerline goodness : 0.116966 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.27, Z:-0.25 [[ 0.99759997 -0.00300343 -0.06917574 -2.44397534] [ 0.00249299 0.99996904 -0.00746402 0.27074117] [ 0.06919601 0.00727365 0.99757657 -0.25441683] [ 0. 0. 0. 1. ]] SLAMing on 355.653133365 meters Centerline goodness : 0.108777 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99764331 -0.00320064 -0.06853896 -2.44622787] [ 0.0026426 0.99996263 -0.00823107 0.276143 ] [ 0.06856275 0.00803055 0.99761448 -0.25361785] [ 0. 0. 0. 1. ]] SLAMing on 355.683133365 meters Centerline goodness : 0.107432 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99766185 -0.00343217 -0.06825722 -2.4471677 ] [ 0.0028453 0.99995817 -0.00869321 0.27825321] [ 0.0682842 0.00847867 0.99762988 -0.25332397] [ 0. 0. 0. 1. ]] SLAMing on 355.713133365 meters Centerline goodness : 0.109808 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99767699 -0.00360253 -0.06802681 -2.44794846] [ 0.00299151 0.99995428 -0.00908179 0.28037253] [ 0.06805642 0.00885719 0.99764216 -0.25305786] [ 0. 0. 0. 1. ]] SLAMing on 355.743133365 meters Centerline goodness : 0.112178 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.28, Z:-0.25 [[ 0.99768661 -0.00375653 -0.0678772 -2.44857306] [ 0.00312235 0.9999505 -0.00944679 0.28256703] [ 0.06790932 0.009213 0.99764896 -0.25273992] [ 0. 0. 0. 1. ]] SLAMing on 355.773133365 meters Centerline goodness : 0.117010 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.29, Z:-0.26 [[ 0.99776204 -0.01062646 -0.06601503 -2.46840355] [ 0.01006558 0.99991041 -0.00882313 0.29152719] [ 0.06610288 0.00813891 0.99777962 -0.25613384] [ 0. 0. 0. 1. ]] SLAMing on 355.803133365 meters Centerline goodness : 0.239259 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.29, Z:-0.26 [[ 0.99776099 -0.01082111 -0.0659994 -2.46840361] [ 0.01023311 0.99990494 -0.00924069 0.29364095] [ 0.06609312 0.00854462 0.99777687 -0.25622826] [ 0. 0. 0. 1. ]] SLAMing on 355.833133365 meters Centerline goodness : 0.236895 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.29, Z:-0.26 [[ 9.97780171e-01 -2.64193982e-03 -6.65413470e-02 -2.48628684e+00] [ 1.92077503e-03 9.99938754e-01 -1.08994904e-02 2.90214704e-01] [ 6.65660674e-02 1.07474844e-02 9.97724135e-01 -2.58442133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.863133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 355.893133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 355.92313336499996 meters Centerline goodness : 0.109471 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.29, Z:-0.26 [[ 0.99771827 -0.00341632 -0.0674283 -2.48436271] [ 0.00261356 0.9999247 -0.01198998 0.29472527] [ 0.06746419 0.0117864 0.99765208 -0.25821413] [ 0. 0. 0. 1. ]] SLAMing on 355.953133365 meters Centerline goodness : 0.093024 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.30, Z:-0.26 [[ 0.99775055 -0.00402609 -0.06691511 -2.48597605] [ 0.00319504 0.99991649 -0.01252179 0.29569594] [ 0.06695994 0.01227983 0.9976801 -0.25754048] [ 0. 0. 0. 1. ]] SLAMing on 355.98313336499996 meters Centerline goodness : 0.211947 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.30, Z:-0.26 [[ 0.99774954 -0.00406983 -0.06692749 -2.48608104] [ 0.00324101 0.99991677 -0.01248766 0.29539407] [ 0.06697274 0.01224264 0.99767969 -0.25730394] [ 0. 0. 0. 1. ]] SLAMing on 356.013133365 meters Centerline goodness : 0.230870 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.30, Z:-0.26 [[ 0.99773707 -0.00417378 -0.06710683 -2.48569447] [ 0.00333804 0.99991553 -0.01256125 0.29555972] [ 0.06715359 0.01230882 0.99766672 -0.25720097] [ 0. 0. 0. 1. ]] SLAMing on 356.04313336499996 meters Centerline goodness : 0.130118 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.30, Z:-0.26 [[ 0.99772288 -0.00423334 -0.06731374 -2.48494374] [ 0.00338834 0.99991409 -0.01266235 0.29596213] [ 0.06736157 0.01240544 0.9976515 -0.25755543] [ 0. 0. 0. 1. ]] SLAMing on 356.073133365 meters Centerline goodness : 0.133710 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.30, Z:-0.26 [[ 0.9977096 -0.00428819 -0.06750678 -2.48411293] [ 0.00343363 0.99991257 -0.01276971 0.29634453] [ 0.06755564 0.01250866 0.99763709 -0.25806747] [ 0. 0. 0. 1. ]] SLAMing on 356.10313336499996 meters Centerline goodness : 0.135530 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.29, Z:-0.26 [[ 0.99766634 0.00402261 -0.06815936 -2.5026499 ] [-0.004996 0.99988787 -0.01411676 0.29093367] [ 0.06809493 0.01442434 0.99757457 -0.26026075] [ 0. 0. 0. 1. ]] SLAMing on 356.133133365 meters Centerline goodness : 0.139154 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.30, Z:-0.26 [[ 0.99769152 -0.0041638 -0.06778128 -2.48497968] [ 0.00331152 0.9999141 -0.0126815 0.2955799 ] [ 0.06782826 0.01242777 0.99761961 -0.25755969] [ 0. 0. 0. 1. ]] SLAMing on 356.16313336499996 meters Centerline goodness : 0.143209 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.29, Z:-0.26 [[ 9.98078683e-01 -1.99168106e-04 -6.19588865e-02 -2.52025889e+00] [-5.54343450e-04 9.99926105e-01 -1.21440492e-02 2.88345267e-01] [ 6.19567268e-02 1.21550632e-02 9.98004819e-01 -2.62723569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.193133365 meters Centerline goodness : 0.097626 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.29, Z:-0.26 [[ 9.98091710e-01 -1.64251541e-04 -6.17487842e-02 -2.52080891e+00] [-5.76801155e-04 9.99928034e-01 -1.19830727e-02 2.87420572e-01] [ 6.17463086e-02 1.19958223e-02 9.98019786e-01 -2.62632103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22313336499997 meters Centerline goodness : 0.144421 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.29, Z:-0.26 [[ 9.98094021e-01 -1.08384805e-04 -6.17115312e-02 -2.52067901e+00] [-6.19406405e-04 9.99930490e-01 -1.17741869e-02 2.86193962e-01] [ 6.17085177e-02 1.17899701e-02 9.98024577e-01 -2.62919329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.253133365 meters Centerline goodness : 0.164009 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.29, Z:-0.26 [[ 0.9980406 -0.00843726 -0.06199825 -2.5007495 ] [ 0.00779657 0.99991375 -0.01056869 0.28979222] [ 0.06208207 0.01006461 0.9980203 -0.26126936] [ 0. 0. 0. 1. ]] SLAMing on 356.28313336499997 meters Centerline goodness : 0.134612 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97984877e-01 2.54610489e-05 -6.34522271e-02 -2.51845484e+00] [-7.65751821e-04 9.99931929e-01 -1.16426082e-02 2.83111578e-01] [ 6.34476115e-02 1.16677356e-02 9.97916963e-01 -2.63653551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.313133365 meters Centerline goodness : 0.140877 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97964292e-01 5.03578041e-05 -6.37751517e-02 -2.51716307e+00] [-7.63896605e-04 9.99937389e-01 -1.11640171e-02 2.79617507e-01] [ 6.37705965e-02 1.11900080e-02 9.97901846e-01 -2.64272714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34313336499997 meters Centerline goodness : 0.138820 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97975403e-01 1.15481084e-04 -6.36009641e-02 -2.51775320e+00] [-8.07138133e-04 9.99940818e-01 -1.08493600e-02 2.77520951e-01] [ 6.35959472e-02 1.08787292e-02 9.97916434e-01 -2.64011137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.373133365 meters Centerline goodness : 0.135581 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.28, Z:-0.26 [[ 9.97995822e-01 1.69646967e-04 -6.32796188e-02 -2.51879160e+00] [-8.40004903e-04 9.99943814e-01 -1.05671298e-02 2.75753125e-01] [ 6.32742706e-02 1.05991066e-02 9.97939891e-01 -2.63627556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.403133365 meters Centerline goodness : 0.125081 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98005120e-01 3.16058292e-04 -6.31322493e-02 -2.51925275e+00] [-9.62660932e-04 9.99947394e-01 -1.02118787e-02 2.74071084e-01] [ 6.31257007e-02 1.02522822e-02 9.97952923e-01 -2.63453559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.433133365 meters Centerline goodness : 0.135369 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98010063e-01 6.56488578e-04 -6.30514271e-02 -2.51896868e+00] [-1.25049626e-03 9.99955206e-01 -9.38200299e-03 2.70101966e-01] [ 6.30424436e-02 9.44217897e-03 9.97966180e-01 -2.64035342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.463133365 meters Centerline goodness : 0.121257 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98005479e-01 7.44204284e-04 -6.31229680e-02 -2.51860185e+00] [-1.31956582e-03 9.99957962e-01 -9.07373242e-03 2.68083597e-01] [ 6.31135618e-02 9.13892958e-03 9.97964508e-01 -2.64274841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.493133365 meters Centerline goodness : 0.121165 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.27, Z:-0.26 [[ 9.98004334e-01 7.99417924e-04 -6.31404011e-02 -2.51860675e+00] [-1.35663468e-03 9.99960511e-01 -8.78266404e-03 2.65912730e-01] [ 6.31308868e-02 8.85079523e-03 9.97966009e-01 -2.64202381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.523133365 meters Centerline goodness : 0.139861 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98003011e-01 8.43227826e-04 -6.31607315e-02 -2.51879295e+00] [-1.38795643e-03 9.99962218e-01 -8.58110279e-03 2.64400695e-01] [ 6.31511094e-02 8.65163077e-03 9.97966476e-01 -2.63886085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.553133365 meters Centerline goodness : 0.172576 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98000388e-01 9.91592746e-04 -6.32000247e-02 -2.51870529e+00] [-1.51865784e-03 9.99964466e-01 -8.29214242e-03 2.63088836e-01] [ 6.31895566e-02 8.37154056e-03 9.97966431e-01 -2.63892452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.583133365 meters Centerline goodness : 0.093713 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.97985258e-01 1.34760361e-03 -6.34319253e-02 -2.51762267e+00] [-1.84921947e-03 9.99967479e-01 -7.84989547e-03 2.61448400e-01] [ 6.34192839e-02 7.95137951e-03 9.97955295e-01 -2.64684068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.613133365 meters Centerline goodness : 0.244250 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.97993740e-01 1.39956516e-03 -6.32972119e-02 -2.51786005e+00] [-1.89715523e-03 9.99967766e-01 -7.80174959e-03 2.61133288e-01] [ 6.32842525e-02 7.90618188e-03 9.97964226e-01 -2.64881918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.643133365 meters Centerline goodness : 0.098019 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98009376e-01 1.48866529e-03 -6.30481535e-02 -2.51860526e+00] [-1.98012760e-03 9.99968137e-01 -7.73326453e-03 2.60948762e-01] [ 6.30346324e-02 7.84271389e-03 9.97980524e-01 -2.64763671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67313336499996 meters Centerline goodness : 0.098902 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98015656e-01 1.61569983e-03 -6.29455264e-02 -2.51896584e+00] [-2.09934321e-03 9.99968778e-01 -7.61814267e-03 2.60851814e-01] [ 6.29312525e-02 7.73516992e-03 9.97987888e-01 -2.64719754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.703133365 meters Centerline goodness : 0.107343 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 9.98005894e-01 1.80506808e-03 -6.30949806e-02 -2.51850252e+00] [-2.28092132e-03 9.99969493e-01 -7.47064042e-03 2.60764568e-01] [ 6.30795708e-02 7.59965786e-03 9.97979565e-01 -2.64970723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73313336499996 meters Centerline goodness : 0.104751 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 9.97973854e-01 2.27343118e-03 -6.35847382e-02 -2.51712896e+00] [-2.73468453e-03 9.99970570e-01 -7.16806257e-03 2.60382491e-01] [ 6.35665708e-02 7.32742323e-03 9.97950700e-01 -2.65417231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.763133365 meters Centerline goodness : 0.170587 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 9.97978129e-01 2.32590376e-03 -6.35156987e-02 -2.51755757e+00] [-2.78579063e-03 9.99970537e-01 -7.15292267e-03 2.60309153e-01] [ 6.34971903e-02 7.31540183e-03 9.97955205e-01 -2.65171776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79313336499996 meters Centerline goodness : 0.102665 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 9.97997438e-01 2.34900340e-03 -6.32107308e-02 -2.51844626e+00] [-2.80832417e-03 9.99970290e-01 -7.17863418e-03 2.60395833e-01] [ 6.31919902e-02 7.34177474e-03 9.97974384e-01 -2.65065754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.823133365 meters Centerline goodness : 0.112350 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 0.99803672 0.00267419 -0.06257445 -2.52032828] [-0.0031112 0.99997144 -0.00688743 0.26002928] [ 0.06255425 0.00706859 0.99801653 -0.26466011] [ 0. 0. 0. 1. ]] SLAMing on 356.85313336499996 meters Centerline goodness : 0.106738 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 0.99805559 0.00271667 -0.0622708 -2.52097882] [-0.00314828 0.99997169 -0.00683424 0.2597673 ] [ 0.06225047 0.007017 0.99803589 -0.26483754] [ 0. 0. 0. 1. ]] SLAMing on 356.883133365 meters Centerline goodness : 0.115453 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 0.99806013 0.00269906 -0.06219882 -2.52096703] [-0.00312911 0.99997186 -0.0068177 0.25933682] [ 0.06217867 0.0069991 0.99804049 -0.26512175] [ 0. 0. 0. 1. ]] SLAMing on 356.91313336499996 meters Centerline goodness : 0.116936 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.27 [[ 0.99804896 0.00276174 -0.062375 -2.52057668] [-0.00318071 0.99997304 -0.0066187 0.25806421] [ 0.06235504 0.00680418 0.99803084 -0.26511542] [ 0. 0. 0. 1. ]] SLAMing on 356.943133365 meters Centerline goodness : 0.116791 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.26, Z:-0.26 [[ 0.99804428 0.00291758 -0.06244283 -2.52094431] [-0.00331993 0.99997439 -0.0063407 0.25716074] [ 0.06242273 0.00653561 0.9980284 -0.26435445] [ 0. 0. 0. 1. ]] SLAMing on 356.97313336499997 meters Centerline goodness : 0.102475 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.26, Z:-0.26 [[ 0.99807414 -0.00497951 -0.06183214 -2.50342475] [ 0.00470966 0.99997874 -0.0045092 0.26084771] [ 0.06185328 0.00420931 0.99807638 -0.26127224] [ 0. 0. 0. 1. ]] SLAMing on 357.003133365 meters Centerline goodness : 0.096586 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.25, Z:-0.26 [[ 9.98171025e-01 1.35019949e-03 -6.04382487e-02 -2.52366785e+00] [-1.76597112e-03 9.99975141e-01 -6.82639362e-03 2.53162325e-01] [ 6.04275293e-02 6.92064052e-03 9.98148595e-01 -2.63433352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03313336499997 meters Centerline goodness : 0.099722 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.25, Z:-0.26 [[ 9.98176513e-01 -2.62511189e-03 -6.03055344e-02 -2.52381907e+00] [ 2.02756502e-03 9.99948265e-01 -9.96771359e-03 2.48613580e-01] [ 6.03285808e-02 9.82726420e-03 9.98130196e-01 -2.63443410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.063133365 meters Centerline goodness : 0.097336 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.25, Z:-0.26 [[ 9.98188448e-01 -2.67565689e-03 -6.01054296e-02 -2.52409785e+00] [ 2.10710661e-03 9.99952458e-01 -9.52060744e-03 2.45302776e-01] [ 6.01280459e-02 9.37671182e-03 9.98146630e-01 -2.63530436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09313336499997 meters Centerline goodness : 0.139623 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.24, Z:-0.26 [[ 9.98189618e-01 -2.53601835e-03 -6.00920540e-02 -2.52402669e+00] [ 2.00422224e-03 9.99958312e-01 -8.90831254e-03 2.41812888e-01] [ 6.01121405e-02 8.77174726e-03 9.98153088e-01 -2.63521279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.123133365 meters Centerline goodness : 0.104590 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.24, Z:-0.26 [[ 9.98175299e-01 -2.36017233e-03 -6.03365735e-02 -2.52324407e+00] [ 1.85977283e-03 9.99963423e-01 -8.34828156e-03 2.38697887e-01] [ 6.03540700e-02 8.22083612e-03 9.98143178e-01 -2.63678750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.153133365 meters Centerline goodness : 0.106992 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.24, Z:-0.26 [[ 9.98155825e-01 -2.20582833e-03 -6.06636864e-02 -2.52212492e+00] [ 1.73275706e-03 9.99967689e-01 -7.84976202e-03 2.35767956e-01] [ 6.06790415e-02 7.73017026e-03 9.98127396e-01 -2.64054918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.183133365 meters Centerline goodness : 0.107415 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.26 [[ 9.98146234e-01 -2.06282530e-03 -6.08263184e-02 -2.52143912e+00] [ 1.61611947e-03 9.99971371e-01 -7.39223890e-03 2.32967570e-01] [ 6.08398259e-02 7.28023282e-03 9.98120992e-01 -2.64412802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.213133365 meters Centerline goodness : 0.109081 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.26 [[ 9.98139716e-01 -1.64321349e-03 -6.09459369e-02 -2.52074319e+00] [ 1.24766007e-03 9.99977916e-01 -6.52772197e-03 2.28804140e-01] [ 6.09553174e-02 6.43953874e-03 9.98119723e-01 -2.64935284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.243133365 meters Centerline goodness : 0.111394 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98139829e-01 -1.41349651e-03 -6.09498425e-02 -2.52068069e+00] [ 1.03857253e-03 9.99980348e-01 -6.18259389e-03 2.27581438e-01] [ 6.09573838e-02 6.10779238e-03 9.98121682e-01 -2.65041317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.273133365 meters Centerline goodness : 0.150397 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98141475e-01 -1.24463864e-03 -6.09265710e-02 -2.52062932e+00] [ 8.79012892e-04 9.99981448e-01 -6.02752330e-03 2.27213039e-01] [ 6.09329428e-02 5.96276576e-03 9.98124051e-01 -2.65282884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.303133365 meters Centerline goodness : 0.124132 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98125191e-01 -1.02681752e-03 -6.11968106e-02 -2.51978078e+00] [ 6.67954870e-04 9.99982465e-01 -5.88424344e-03 2.26344759e-01] [ 6.12017795e-02 5.83233490e-03 9.98108374e-01 -2.65749877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.333133365 meters Centerline goodness : 0.117617 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98134335e-01 -8.98532405e-04 -6.10495090e-02 -2.52037168e+00] [ 5.52416364e-04 9.99983682e-01 -5.68607362e-03 2.25574590e-01] [ 6.10536218e-02 5.64174056e-03 9.98118543e-01 -2.65479343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.363133365 meters Centerline goodness : 0.117617 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.23, Z:-0.27 [[ 9.98134335e-01 -8.98532405e-04 -6.10495090e-02 -2.52037168e+00] [ 5.52416364e-04 9.99983682e-01 -5.68607362e-03 2.25574590e-01] [ 6.10536218e-02 5.64174056e-03 9.98118543e-01 -2.65479343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.393133365 meters Centerline goodness : 0.113866 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.22, Z:-0.26 [[ 9.98150577e-01 -7.07456338e-04 -6.07859031e-02 -2.52135427e+00] [ 3.84183917e-04 9.99985723e-01 -5.32973637e-03 2.24158854e-01] [ 6.07888059e-02 5.29652647e-03 9.98136598e-01 -2.64991920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42313336499996 meters Centerline goodness : 0.106008 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.22, Z:-0.26 [[ 9.98159738e-01 -5.43159505e-04 -6.06369787e-02 -2.52191412e+00] [ 2.45504126e-04 9.99987886e-01 -4.91615178e-03 2.22135230e-01] [ 6.06389144e-02 4.89221815e-03 9.98147779e-01 -2.64615334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.453133365 meters Centerline goodness : 0.106414 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.22, Z:-0.26 [[ 0.99813211 -0.00989777 -0.06028531 -2.50040041] [ 0.00963809 0.99994299 -0.00459688 0.22061279] [ 0.06032738 0.00400725 0.9981706 -0.2636406 ] [ 0. 0. 0. 1. ]] SLAMing on 357.48313336499996 meters Centerline goodness : 0.111065 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.21, Z:-0.27 [[ 9.98149694e-01 -2.67124064e-03 -6.07458037e-02 -2.51790035e+00] [ 2.29782096e-03 9.99978039e-01 -6.21627614e-03 2.10816355e-01] [ 6.07610748e-02 6.06519115e-03 9.98133911e-01 -2.66430735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.513133365 meters Centerline goodness : 0.101422 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.21, Z:-0.27 [[ 9.98126312e-01 -2.44673283e-03 -6.11382016e-02 -2.51679964e+00] [ 2.10809056e-03 9.99982082e-01 -5.60285263e-03 2.07565004e-01] [ 6.11508148e-02 5.46346977e-03 9.98113585e-01 -2.66540712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54313336499996 meters Centerline goodness : 0.104438 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.20, Z:-0.27 [[ 9.98119373e-01 -2.18900752e-03 -6.12611184e-02 -2.51627408e+00] [ 1.88715471e-03 9.99985795e-01 -4.98473999e-03 2.04552715e-01] [ 6.12711599e-02 4.85975634e-03 9.98109327e-01 -2.66748214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.573133365 meters Centerline goodness : 0.105548 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.20, Z:-0.27 [[ 9.98119269e-01 -1.94257705e-03 -6.12711220e-02 -2.51611811e+00] [ 1.67674074e-03 9.99988959e-01 -4.38980633e-03 2.01560957e-01] [ 6.12789731e-02 4.27881450e-03 9.98111506e-01 -2.66833545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60313336499996 meters Centerline goodness : 0.134210 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.20, Z:-0.27 [[ 9.98138003e-01 -1.65098565e-03 -6.09737686e-02 -2.51684862e+00] [ 1.43612028e-03 9.99992605e-01 -3.56755399e-03 1.96390218e-01] [ 6.09792077e-02 3.47334555e-03 9.98132993e-01 -2.66676216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.633133365 meters Centerline goodness : 0.104803 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98132095e-01 -1.44452563e-03 -6.10756419e-02 -2.51652850e+00] [ 1.25449172e-03 9.99994253e-01 -3.14968236e-03 1.94412416e-01] [ 6.10798407e-02 3.06718017e-03 9.98128171e-01 -2.66755942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66313336499996 meters Centerline goodness : 0.122089 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98126031e-01 -1.22342714e-03 -6.11794862e-02 -2.51597743e+00] [ 1.05686772e-03 9.99995647e-01 -2.75475734e-03 1.92735417e-01] [ 6.11825902e-02 2.68493638e-03 9.98122979e-01 -2.67162929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.693133365 meters Centerline goodness : 0.121828 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98118386e-01 -1.08949156e-03 -6.13066060e-02 -2.51531263e+00] [ 9.38795349e-04 9.99996467e-01 -2.48682522e-03 1.91362919e-01] [ 6.13090988e-02 2.42459162e-03 9.98115883e-01 -2.67678220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72313336499997 meters Centerline goodness : 0.177835 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98116849e-01 -9.55597525e-04 -6.13338577e-02 -2.51508042e+00] [ 8.30372643e-04 9.99997519e-01 -2.06714907e-03 1.88152583e-01] [ 6.13356808e-02 2.01232636e-03 9.98115166e-01 -2.67885424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.753133365 meters Centerline goodness : 0.106725 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.19, Z:-0.27 [[ 9.98122727e-01 -8.32027075e-04 -6.12399421e-02 -2.51551776e+00] [ 7.26302386e-04 9.99998207e-01 -1.74864086e-03 1.86344123e-01] [ 6.12412872e-02 1.70087946e-03 9.98121542e-01 -2.67558696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78313336499997 meters Centerline goodness : 0.158720 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.18, Z:-0.27 [[ 0.99815233 0.00696246 -0.06036095 -2.53457925] [-0.00713658 0.99997097 -0.00266956 0.17830995] [ 0.06034061 0.0030954 0.99817305 -0.26997189] [ 0. 0. 0. 1. ]] SLAMing on 357.813133365 meters Centerline goodness : 0.108670 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98223043e-01 -9.78657487e-04 -5.95801897e-02 -2.51684144e+00] [ 9.01225410e-04 9.99998714e-01 -1.32648550e-03 1.82098202e-01] [ 5.95814112e-02 1.27043321e-03 9.98222641e-01 -2.67650640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84313336499997 meters Centerline goodness : 0.196093 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98256582e-01 -9.79769982e-04 -5.90155653e-02 -2.51853067e+00] [ 9.19642381e-04 9.99999030e-01 -1.04599477e-03 1.79654633e-01] [ 5.90165329e-02 9.89897944e-04 9.98256515e-01 -2.67104459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.873133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 357.903133365 meters Centerline goodness : 0.455547 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98244214e-01 -8.12394231e-04 -5.92269250e-02 -2.51828511e+00] [ 7.72790956e-04 9.99999462e-01 -6.91572176e-04 1.78064938e-01] [ 5.92274550e-02 6.44587891e-04 9.98244305e-01 -2.66705725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.933133365 meters Centerline goodness : 0.238710 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98225421e-01 -7.24247111e-04 -5.95439712e-02 -2.51751060e+00] [ 6.93971597e-04 9.99999619e-01 -5.29134108e-04 1.77441560e-01] [ 5.95443318e-02 4.86873293e-04 9.98225543e-01 -2.66725740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.963133365 meters Centerline goodness : 0.105237 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.18, Z:-0.27 [[ 9.98210178e-01 -6.89616327e-04 -5.97993795e-02 -2.51691272e+00] [ 6.65098233e-04 9.99999686e-01 -4.29908902e-04 1.76824514e-01] [ 5.97996573e-02 3.89366979e-04 9.98210323e-01 -2.66673994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.993133365 meters Centerline goodness : 0.143465 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.17, Z:-0.27 [[ 9.98192429e-01 -5.49689219e-04 -6.00963631e-02 -2.51645509e+00] [ 5.51804679e-04 9.99999848e-01 1.86054148e-05 1.74204002e-01] [ 6.00963437e-02 -5.17332385e-05 9.98192580e-01 -2.66267184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.023133365 meters Centerline goodness : 0.200511 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.18, Z:-0.26 [[ 9.98192817e-01 -8.57229915e-03 -5.94778559e-02 -2.49769670e+00] [ 8.66262556e-03 9.99961684e-01 1.26097219e-03 1.77805520e-01] [ 5.94647675e-02 -1.77392777e-03 9.98228829e-01 -2.63855201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.053133365 meters Centerline goodness : 0.102372 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.17, Z:-0.27 [[ 9.98093822e-01 -8.81876459e-03 -6.10815220e-02 -2.54355625e+00] [ 8.89986792e-03 9.99959838e-01 1.05584765e-03 1.71730977e-01] [ 6.10697576e-02 -1.59745249e-03 9.98132222e-01 -2.65298723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.083133365 meters Centerline goodness : 0.124669 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.17, Z:-0.27 [[ 9.98106258e-01 -8.74845647e-03 -6.08881176e-02 -2.54394893e+00] [ 8.84964394e-03 9.99959872e-01 1.39238308e-03 1.69766598e-01] [ 6.08734931e-02 -1.92858443e-03 9.98143626e-01 -2.65252423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.113133365 meters Centerline goodness : 0.151809 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.16, Z:-0.27 [[ 9.98324011e-01 -4.75253521e-03 -5.76765367e-02 -2.56210629e+00] [ 4.70627618e-03 9.99988486e-01 -9.37850598e-04 1.59815855e-01] [ 5.76803297e-02 6.64837060e-04 9.98334882e-01 -2.67664398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.143133365 meters Centerline goodness : 0.133496 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.16, Z:-0.27 [[ 9.98311489e-01 -4.74273332e-03 -5.78936658e-02 -2.56172081e+00] [ 4.71758988e-03 9.99988709e-01 -5.70970832e-04 1.57283216e-01] [ 5.78957201e-02 2.96888170e-04 9.98322592e-01 -2.67340246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17313336499996 meters Centerline goodness : 0.163208 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.15, Z:-0.27 [[ 9.98298371e-01 -4.66771395e-03 -5.81255177e-02 -2.56109873e+00] [ 4.66595752e-03 9.99989101e-01 -1.65938877e-04 1.54713124e-01] [ 5.81256588e-02 -1.05554686e-04 9.98309269e-01 -2.67340543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.203133365 meters Centerline goodness : 0.103264 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.15, Z:-0.27 [[ 9.98282689e-01 -4.56062211e-03 -5.84026865e-02 -2.56039988e+00] [ 4.58617959e-03 9.99989437e-01 3.03577766e-04 1.51850939e-01] [ 5.84006851e-02 -5.70901638e-04 9.98293060e-01 -2.67290964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23313336499996 meters Centerline goodness : 0.098349 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.14, Z:-0.27 [[ 9.98404458e-01 7.81493655e-04 -5.64617317e-02 -2.58231944e+00] [-8.90292120e-04 9.99997795e-01 -1.90181360e-03 1.41167568e-01] [ 5.64601209e-02 1.94904661e-03 9.98402953e-01 -2.68711004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.263133365 meters Centerline goodness : 0.487296 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.14, Z:-0.27 [[ 9.98413209e-01 9.71849543e-04 -5.63038099e-02 -2.58280404e+00] [-1.04859537e-03 9.99998561e-01 -1.33353891e-03 1.38214093e-01] [ 5.63024328e-02 1.39046277e-03 9.98412792e-01 -2.68452132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29313336499996 meters Centerline goodness : 0.243998 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.13, Z:-0.27 [[ 9.98420396e-01 1.23564281e-03 -5.61710342e-02 -2.58315659e+00] [-1.27108769e-03 9.99999015e-01 -5.95293993e-04 1.34294734e-01] [ 5.61702433e-02 6.65751975e-04 9.98420984e-01 -2.68257499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.323133365 meters Centerline goodness : 0.113333 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.13, Z:-0.27 [[ 9.98424278e-01 -2.34207339e-03 -5.60667139e-02 -2.58339550e+00] [ 2.16840427e-03 9.99992662e-01 -3.15817946e-03 1.27138961e-01] [ 5.60736992e-02 3.03162774e-03 9.98422030e-01 -2.68124650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35313336499996 meters Centerline goodness : 0.449701 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.12, Z:-0.27 [[ 9.98417385e-01 -2.22709658e-03 -5.61939991e-02 -2.58297592e+00] [ 2.08696611e-03 9.99994565e-01 -2.55225165e-03 1.21818347e-01] [ 5.61993778e-02 2.43093745e-03 9.98416607e-01 -2.68206270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.383133365 meters Centerline goodness : 0.452177 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.12, Z:-0.27 [[ 9.98407526e-01 -1.92166388e-03 -5.63801391e-02 -2.58231349e+00] [ 1.82653736e-03 9.99996820e-01 -1.73871725e-03 1.16957013e-01] [ 5.63833010e-02 1.63296796e-03 9.98407861e-01 -2.68443497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41313336499996 meters Centerline goodness : 0.346786 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.11, Z:-0.27 [[ 9.98404922e-01 -1.51886676e-03 -5.64384976e-02 -2.58191026e+00] [ 1.47365573e-03 9.99998559e-01 -8.42677190e-04 1.12507264e-01] [ 5.64396962e-02 7.58162139e-04 9.98405722e-01 -2.68763497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.443133365 meters Centerline goodness : 0.093144 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.11, Z:-0.27 [[ 9.98404655e-01 -1.12333223e-03 -5.64524928e-02 -2.58157590e+00] [ 1.12616198e-03 9.99999366e-01 1.83135683e-05 1.08338649e-01] [ 5.64524364e-02 -8.18590028e-05 9.98405286e-01 -2.69106045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47313336499997 meters Centerline goodness : 0.449833 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.10, Z:-0.27 [[ 9.98348304e-01 6.14489871e-03 -5.71218368e-02 -2.56276516e+00] [-6.18158085e-03 9.99980786e-01 -4.65498305e-04 9.50729361e-02] [ 5.71178788e-02 8.17832696e-04 9.98367106e-01 -2.66504759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.503133365 meters Centerline goodness : 0.454978 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.09, Z:-0.27 [[ 9.98340590e-01 6.42893836e-03 -5.72253045e-02 -2.56223004e+00] [-6.42937676e-03 9.99979316e-01 1.76453278e-04 9.14382989e-02] [ 5.72252553e-02 1.91762574e-04 9.98361274e-01 -2.66906972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53313336499997 meters Centerline goodness : 0.212329 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.09, Z:-0.27 [[ 9.98323428e-01 6.73435645e-03 -5.74889644e-02 -2.56117741e+00] [-6.69777552e-03 9.99977226e-01 8.28974177e-04 8.80447874e-02] [ 5.74932378e-02 -4.42536164e-04 9.98345798e-01 -2.67486648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.563133365 meters Centerline goodness : 0.257095 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 9.98299967e-01 -4.81944039e-04 -5.82833066e-02 -2.54172317e+00] [ 6.14592660e-04 9.99997262e-01 2.25802413e-03 8.86621473e-02] [ 5.82820588e-02 -2.29000591e-03 9.98297530e-01 -2.65929369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59313336499997 meters Centerline goodness : 0.451803 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 9.98295749e-01 -1.61556016e-04 -5.83572778e-02 -2.54112527e+00] [ 3.33292017e-04 9.99995643e-01 2.93311646e-03 8.50480282e-02] [ 5.83565496e-02 -2.94756771e-03 9.98291453e-01 -2.66459239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.623133365 meters Centerline goodness : 0.216867 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.08, Z:-0.27 [[ 9.98299657e-01 -7.43380981e-04 -5.82858642e-02 -2.54054257e+00] [ 9.21770387e-04 9.99994973e-01 3.03376847e-03 7.60668787e-02] [ 5.82833160e-02 -3.08233621e-03 9.98295324e-01 -2.67229288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.653133365 meters Centerline goodness : 0.453867 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.07, Z:-0.27 [[ 9.98297150e-01 -6.04748970e-04 -5.83303981e-02 -2.54013988e+00] [ 7.98859767e-04 9.99994221e-01 3.30451976e-03 7.44797700e-02] [ 5.83280626e-02 -3.34549046e-03 9.98291864e-01 -2.67672463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.683133365 meters Centerline goodness : 0.451530 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.07, Z:-0.27 [[ 9.98287907e-01 -4.38023191e-04 -5.84898498e-02 -2.53944144e+00] [ 6.39585303e-04 9.99993922e-01 3.42742793e-03 7.41872181e-02] [ 5.84879930e-02 -3.45896910e-03 9.98282120e-01 -2.68194425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.713133365 meters Centerline goodness : 0.093837 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.07, Z:-0.27 [[ 9.98274780e-01 -2.26758359e-04 -5.87146750e-02 -2.53855368e+00] [ 4.28850806e-04 9.99994028e-01 3.42936309e-03 7.49853593e-02] [ 5.87135467e-02 -3.44862652e-03 9.98268915e-01 -2.68820020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.743133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 358.773133365 meters Centerline goodness : 0.395828 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.08, Z:-0.27 [[ 0.99824043 0.00458258 -0.05911894 -2.53689844] [-0.00418505 0.99996781 0.00684636 0.08151763] [ 0.05914841 -0.00658689 0.99822747 -0.27030813] [ 0. 0. 0. 1. ]] SLAMing on 358.803133365 meters Centerline goodness : 0.167824 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.08, Z:-0.27 [[ 0.99826447 0.00483301 -0.05869147 -2.53785375] [-0.00445212 0.99996818 0.00661876 0.0844369 ] [ 0.05872159 -0.00634598 0.99825423 -0.27062048] [ 0. 0. 0. 1. ]] SLAMing on 358.833133365 meters Centerline goodness : 0.271090 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 0.99828155 0.00479879 -0.058403 -2.53847484] [-0.00444555 0.99997104 0.00617686 0.08735297] [ 0.05843095 -0.00590661 0.99827398 -0.27093162] [ 0. 0. 0. 1. ]] SLAMing on 358.863133365 meters Centerline goodness : 0.450571 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 0.99828735 0.0045547 -0.05832335 -2.5385499 ] [-0.00423607 0.99997543 0.00558562 0.09017841] [ 0.05834735 -0.00532899 0.99828212 -0.27126131] [ 0. 0. 0. 1. ]] SLAMing on 358.893133365 meters Centerline goodness : 0.381710 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.09, Z:-0.27 [[ 0.99826419 0.00404621 -0.05875579 -2.53777674] [-0.00378096 0.99998216 0.00462495 0.09411308] [ 0.05877346 -0.00439477 0.99826167 -0.27114496] [ 0. 0. 0. 1. ]] SLAMing on 358.92313336499996 meters Centerline goodness : 0.173847 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.10, Z:-0.27 [[ 0.99825682 -0.00311789 -0.05893725 -2.51979059] [ 0.00347665 0.99997604 0.00598555 0.10264883] [ 0.05891717 -0.00618002 0.99824374 -0.26808821] [ 0. 0. 0. 1. ]] SLAMing on 358.953133365 meters Centerline goodness : 0.458125 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.10, Z:-0.27 [[ 0.99827198 -0.00311458 -0.05868004 -2.52072862] [ 0.00346528 0.99997673 0.00587556 0.10420213] [ 0.05866037 -0.00606875 0.99825955 -0.26767807] [ 0. 0. 0. 1. ]] SLAMing on 358.98313336499996 meters Centerline goodness : 0.101699 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99829284 -0.00319426 -0.05831985 -2.52197053] [ 0.00353426 0.99997735 0.00572773 0.10539329] [ 0.05830023 -0.00592407 0.99828152 -0.26709661] [ 0. 0. 0. 1. ]] SLAMing on 359.013133365 meters Centerline goodness : 0.096699 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99830262 -0.00350642 -0.05813411 -2.52261894] [ 0.00382827 0.99997795 0.00542579 0.10595639] [ 0.05811381 -0.00563914 0.99829404 -0.26668105] [ 0. 0. 0. 1. ]] SLAMing on 359.04313336499996 meters Centerline goodness : 0.172975 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99828255 -0.00396319 -0.05844863 -2.52209271] [ 0.00426252 0.99997843 0.00499749 0.10640923] [ 0.05842756 -0.00523804 0.99827791 -0.26631204] [ 0. 0. 0. 1. ]] SLAMing on 359.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 359.10313336499996 meters Centerline goodness : 0.455255 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99826744 -0.00472267 -0.05864995 -2.52206466] [ 0.00499564 0.99997736 0.00450846 0.10764448] [ 0.05862733 -0.00479365 0.99826843 -0.26565207] [ 0. 0. 0. 1. ]] SLAMing on 359.133133365 meters Centerline goodness : 0.341150 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99828331 -0.00474711 -0.05837723 -2.52292288] [ 0.00501466 0.99997758 0.00443748 0.10851557] [ 0.05835486 -0.00472261 0.99828473 -0.26531408] [ 0. 0. 0. 1. ]] SLAMing on 359.16313336499996 meters Centerline goodness : 0.106693 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99826471 -0.00545204 -0.05863316 -2.52220222] [ 0.00566692 0.99997782 0.00349915 0.1112772 ] [ 0.05861279 -0.00382535 0.99827346 -0.26546554] [ 0. 0. 0. 1. ]] SLAMing on 359.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 359.22313336499997 meters Centerline goodness : 0.127717 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.27 [[ 0.99823665 -0.00573039 -0.05908257 -2.52124051] [ 0.00592504 0.99997758 0.00311996 0.11276303] [ 0.05906336 -0.00346453 0.99824822 -0.26540113] [ 0. 0. 0. 1. ]] SLAMing on 359.253133365 meters Centerline goodness : 0.135715 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.26 [[ 0.99824727 -0.0055353 -0.05892161 -2.52206606] [ 0.00574744 0.9999776 0.00343156 0.11214119] [ 0.05890129 -0.0037642 0.99825671 -0.2647512 ] [ 0. 0. 0. 1. ]] SLAMing on 359.28313336499997 meters Centerline goodness : 0.135715 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.26 [[ 0.99824727 -0.0055353 -0.05892161 -2.52206606] [ 0.00574744 0.9999776 0.00343156 0.11214119] [ 0.05890129 -0.0037642 0.99825671 -0.2647512 ] [ 0. 0. 0. 1. ]] SLAMing on 359.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 359.34313336499997 meters Centerline goodness : 0.099098 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.11, Z:-0.26 [[ 9.98271094e-01 -9.58226495e-03 -5.79914121e-02 -2.52450963e+00] [ 9.61354321e-03 9.99953755e-01 2.60391538e-04 1.07757191e-01] [ 5.79862351e-02 -8.17444291e-04 9.98317048e-01 -2.63941027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.373133365 meters Centerline goodness : 0.094700 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.10, Z:-0.26 [[ 9.98245258e-01 -3.14331045e-03 -5.91314216e-02 -2.50623445e+00] [ 3.06603946e-03 9.99994323e-01 -1.39745082e-03 1.01750643e-01] [ 5.91354785e-02 1.21369938e-03 9.98249228e-01 -2.61114160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.403133365 meters Centerline goodness : 0.447747 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.10, Z:-0.26 [[ 9.98234963e-01 -2.75387964e-03 -5.93243173e-02 -2.50455186e+00] [ 2.71384065e-03 9.99996032e-01 -7.55475972e-04 9.95018862e-02] [ 5.93261624e-02 5.93145785e-04 9.98238476e-01 -2.62757453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.433133365 meters Centerline goodness : 0.096492 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.10, Z:-0.26 [[ 9.98228536e-01 -2.66903796e-03 -5.94362404e-02 -2.50383217e+00] [ 2.62979192e-03 9.99996269e-01 -7.38516765e-04 9.97520438e-02] [ 5.94379898e-02 5.80903564e-04 9.98231831e-01 -2.63443890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.463133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 359.493133365 meters Centerline goodness : 0.180034 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98146152e-01 5.95745177e-03 -6.05703482e-02 -2.48201719e+00] [-6.07763651e-03 9.99979911e-01 -1.80017796e-03 9.86532205e-02] [ 6.05584069e-02 2.16496526e-03 9.98162308e-01 -2.61220355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.523133365 meters Centerline goodness : 0.100273 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98117274e-01 6.16473219e-03 -6.10238019e-02 -2.48094704e+00] [-6.28959686e-03 9.99978501e-01 -1.85428652e-03 9.97023301e-02] [ 6.10110588e-02 2.23461052e-03 9.98134589e-01 -2.61343676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.553133365 meters Centerline goodness : 0.200852 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98053562e-01 6.94667202e-03 -6.19744424e-02 -2.47806547e+00] [-7.06578492e-03 9.99973587e-01 -1.70301279e-03 1.01806709e-01] [ 6.19609752e-02 2.13759606e-03 9.98076284e-01 -2.62518524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.583133365 meters Centerline goodness : 0.230102 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98064449e-01 6.87933584e-03 -6.18063893e-02 -2.47854427e+00] [-7.01004937e-03 9.99973627e-01 -1.89829314e-03 1.02596625e-01] [ 6.17917004e-02 2.32788474e-03 9.98086352e-01 -2.62538011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.613133365 meters Centerline goodness : 0.098681 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.26 [[ 9.98090400e-01 6.85787069e-03 -6.13882963e-02 -2.47989315e+00] [-6.99093978e-03 9.99973656e-01 -1.95313885e-03 1.02717762e-01] [ 6.13732847e-02 2.37857102e-03 9.98112049e-01 -2.62104183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.643133365 meters Centerline goodness : 0.090036 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.26 [[ 9.98215445e-01 -5.53764200e-04 -5.97128090e-02 -2.46343996e+00] [ 5.34752434e-04 9.99999801e-01 -3.34366293e-04 1.07557875e-01] [ 5.97129823e-02 3.01838027e-04 9.98215542e-01 -2.59092866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67313336499996 meters Centerline goodness : 0.456242 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.11, Z:-0.26 [[ 9.98239949e-01 -4.33202075e-04 -5.93027543e-02 -2.46507337e+00] [ 4.27137167e-04 9.99999902e-01 -1.14946579e-04 1.06912479e-01] [ 5.93027983e-02 8.94138564e-05 9.98240036e-01 -2.58171766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.703133365 meters Centerline goodness : 0.097926 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.10, Z:-0.26 [[ 9.98261288e-01 -5.67113729e-04 -5.89413284e-02 -2.46660893e+00] [ 5.74451471e-04 9.99999829e-01 1.07548179e-04 1.04709010e-01] [ 5.89412574e-02 -1.41220117e-04 9.98261443e-01 -2.57104136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73313336499996 meters Centerline goodness : 0.103952 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.10, Z:-0.26 [[ 0.99824891 0.00474655 -0.05896258 -2.48860141] [-0.0049323 0.99998332 -0.00300516 0.09905014] [ 0.05894733 0.00329072 0.99825567 -0.25813091] [ 0. 0. 0. 1. ]] SLAMing on 359.763133365 meters Centerline goodness : 0.453783 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.10, Z:-0.26 [[ 9.98254743e-01 -3.38776504e-03 -5.89575432e-02 -2.46855068e+00] [ 3.27791767e-03 9.99992707e-01 -1.95977417e-03 1.01539752e-01] [ 5.89637525e-02 1.76309588e-03 9.98258567e-01 -2.55992237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79313336499996 meters Centerline goodness : 0.385516 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.10, Z:-0.26 [[ 9.98250298e-01 -3.24947227e-03 -5.90405247e-02 -2.46834138e+00] [ 3.16551877e-03 9.99993841e-01 -1.51543712e-03 9.92441412e-02] [ 5.90450855e-02 1.32589167e-03 9.98254436e-01 -2.55920904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.823133365 meters Centerline goodness : 0.447687 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.25 [[ 9.98394543e-01 1.43304841e-03 -5.66240439e-02 -2.44890574e+00] [-1.69755931e-03 9.99987871e-01 -4.62352921e-03 9.41185708e-02] [ 5.66167314e-02 4.71222901e-03 9.98384866e-01 -2.54536561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85313336499996 meters Centerline goodness : 0.451251 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.25 [[ 9.98406962e-01 1.48585279e-03 -5.64032914e-02 -2.44965389e+00] [-1.73187660e-03 9.99989198e-01 -4.31323954e-03 9.19247242e-02] [ 5.63962734e-02 4.40405192e-03 9.98398750e-01 -2.54180907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.883133365 meters Centerline goodness : 0.453409 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.25 [[ 9.98406476e-01 1.58538576e-03 -5.64091818e-02 -2.44973130e+00] [-1.81267903e-03 9.99990443e-01 -3.97842816e-03 8.98459170e-02] [ 5.64023354e-02 4.07434017e-03 9.98399808e-01 -2.54029611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91313336499996 meters Centerline goodness : 0.448617 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98381825e-01 -5.92470109e-03 -5.65564219e-02 -2.43035953e+00] [ 5.78924022e-03 9.99979969e-01 -2.55868734e-03 9.27080381e-02] [ 5.65704485e-02 2.22712823e-03 9.98396126e-01 -2.51859794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.943133365 meters Centerline goodness : 0.273242 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98348607e-01 -5.53414947e-03 -5.71789477e-02 -2.42827806e+00] [ 5.43902904e-03 9.99983554e-01 -1.81905041e-03 8.95047183e-02] [ 5.71880742e-02 1.50504849e-03 9.98362288e-01 -2.52660537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97313336499997 meters Centerline goodness : 0.103968 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 9.98358057e-01 1.99503476e-03 -5.72469225e-02 -2.44580083e+00] [-2.16806024e-03 9.99993267e-01 -2.96049245e-03 8.15668119e-02] [ 5.72406308e-02 3.07974626e-03 9.98355661e-01 -2.55650337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.003133365 meters Centerline goodness : 0.455643 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 9.98364751e-01 2.15456989e-03 -5.71242620e-02 -2.44621764e+00] [-2.30451084e-03 9.99994070e-01 -2.55907525e-03 7.93742292e-02] [ 5.71184095e-02 2.68653400e-03 9.98363796e-01 -2.55462848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03313336499997 meters Centerline goodness : 0.331772 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98407272e-01 -5.25911569e-03 -5.61717071e-02 -2.42887813e+00] [ 5.21533128e-03 9.99985971e-01 -9.26039858e-04 8.20793566e-02] [ 5.61757893e-02 6.31610867e-04 9.98420694e-01 -2.52789685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.063133365 meters Centerline goodness : 0.449287 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98430446e-01 -5.04513468e-03 -5.57780548e-02 -2.42997118e+00] [ 5.02468492e-03 9.99987248e-01 -5.06864946e-04 8.02027363e-02] [ 5.57799008e-02 2.25802243e-04 9.98443064e-01 -2.52567484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09313336499997 meters Centerline goodness : 0.090656 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98452237e-01 -4.82167607e-03 -5.54065101e-02 -2.43081712e+00] [ 4.82972934e-03 9.99988337e-01 1.14469829e-05 7.73484048e-02] [ 5.54058087e-02 -2.79027713e-04 9.98463879e-01 -2.52574455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.123133365 meters Centerline goodness : 0.091976 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98446316e-01 2.49835844e-03 -5.56660850e-02 -2.44833166e+00] [-2.58530335e-03 9.99995548e-01 -1.48994299e-03 7.00142093e-02] [ 5.56621147e-02 1.63154180e-03 9.98448330e-01 -2.55542445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.153133365 meters Centerline goodness : 0.455917 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98431797e-01 2.53708686e-03 -5.59241375e-02 -2.44740809e+00] [-2.61449923e-03 9.99995723e-01 -1.31111817e-03 6.85845459e-02] [ 5.59205719e-02 1.45527569e-03 9.98434160e-01 -2.56019360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.183133365 meters Centerline goodness : 0.450897 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98399569e-01 2.64962857e-03 -5.64914196e-02 -2.44525217e+00] [-2.70357234e-03 9.99995959e-01 -8.78497827e-04 6.55288432e-02] [ 5.64888637e-02 1.02982049e-03 9.98402698e-01 -2.57131273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.213133365 meters Centerline goodness : 0.114721 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.06, Z:-0.26 [[ 9.98391287e-01 2.71417142e-03 -5.66345422e-02 -2.44467306e+00] [-2.75845676e-03 9.99995948e-01 -7.03789079e-04 6.43394243e-02] [ 5.66324025e-02 8.58880820e-04 9.98394728e-01 -2.57481678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.243133365 meters Centerline goodness : 0.102346 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.06, Z:-0.26 [[ 9.98379911e-01 2.73172060e-03 -5.68338809e-02 -2.44382959e+00] [-2.77476868e-03 9.99995920e-01 -6.78536368e-04 6.40213692e-02] [ 5.68317955e-02 8.35137952e-04 9.98383418e-01 -2.58027315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.273133365 meters Centerline goodness : 0.100689 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.06, Z:-0.26 [[ 9.98363411e-01 2.76179111e-03 -5.71215559e-02 -2.44282430e+00] [-2.81220861e-03 9.99995724e-01 -8.02269391e-04 6.49256570e-02] [ 5.71190959e-02 9.61594137e-04 9.98366909e-01 -2.58547400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.303133365 meters Centerline goodness : 0.102892 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.98347167e-01 2.83173573e-03 -5.74013452e-02 -2.44187911e+00] [-2.89529874e-03 9.99995284e-01 -1.02420792e-03 6.66840593e-02] [ 5.73981742e-02 1.18870912e-03 9.98350658e-01 -2.59080914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.333133365 meters Centerline goodness : 0.322305 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.98323480e-01 6.74165530e-03 -5.74872039e-02 -2.44206664e+00] [-6.62860439e-03 9.99975704e-01 2.15700343e-03 7.03036866e-02] [ 5.75003490e-02 -1.77232724e-03 9.98343913e-01 -2.58735753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.363133365 meters Centerline goodness : 0.449592 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98371453e-01 1.32228950e-04 -5.70475663e-02 -2.42671746e+00] [ 7.82387189e-05 9.99993200e-01 3.68708725e-03 7.85733098e-02] [ 5.70476659e-02 -3.68554598e-03 9.98364653e-01 -2.55449157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.393133365 meters Centerline goodness : 0.224098 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98374430e-01 7.95452216e-03 -5.64377754e-02 -2.44668097e+00] [-7.81918620e-03 9.99966002e-01 2.61839082e-03 7.46129158e-02] [ 5.64566847e-02 -2.17283696e-03 9.98402685e-01 -2.57449091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42313336499996 meters Centerline goodness : 0.107780 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98397814e-01 2.89625670e-04 -5.65837520e-02 -2.42832996e+00] [-1.00408724e-04 9.99994394e-01 3.34682995e-03 8.12461287e-02] [ 5.65844042e-02 -3.33578621e-03 9.98392246e-01 -2.55240688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.453133365 meters Centerline goodness : 0.448886 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98371839e-01 1.11153397e-04 -5.70408497e-02 -2.42691625e+00] [ 7.01148702e-05 9.99994954e-01 3.17585641e-03 8.13702255e-02] [ 5.70409149e-02 -3.17468502e-03 9.98366794e-01 -2.55674853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48313336499996 meters Centerline goodness : 0.095261 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98317184e-01 -2.82208150e-03 -5.79209400e-02 -2.42368375e+00] [ 2.86389675e-03 9.99995695e-01 6.38939845e-04 7.98070102e-02] [ 5.79188875e-02 -8.03744219e-04 9.98320969e-01 -2.56842905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.513133365 meters Centerline goodness : 0.184599 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98313657e-01 -2.81779996e-03 -5.79819184e-02 -2.42385907e+00] [ 2.87777988e-03 9.99995407e-01 9.50985128e-04 7.80128489e-02] [ 5.79789724e-02 -1.11624064e-03 9.98317180e-01 -2.56235043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54313336499996 meters Centerline goodness : 0.092126 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98328358e-01 -2.87449588e-03 -5.77254464e-02 -2.42476169e+00] [ 2.95019707e-03 9.99994896e-01 1.22622151e-03 7.62441484e-02] [ 5.77216270e-02 -1.39447315e-03 9.98331743e-01 -2.55637106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.573133365 meters Centerline goodness : 0.105902 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98350480e-01 -3.32169795e-03 -5.73174106e-02 -2.42568146e+00] [ 3.40452421e-03 9.99993297e-01 1.34745610e-03 7.35254053e-02] [ 5.73125506e-02 -1.54037195e-03 9.98355097e-01 -2.55393916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60313336499996 meters Centerline goodness : 0.450164 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98345500e-01 -3.34040250e-03 -5.74029979e-02 -2.42513561e+00] [ 3.42596035e-03 9.99993162e-01 1.39212998e-03 7.30487910e-02] [ 5.73979551e-02 -1.58648709e-03 9.98350118e-01 -2.55873322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.633133365 meters Centerline goodness : 0.195571 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.07, Z:-0.26 [[ 9.98340633e-01 -3.33812000e-03 -5.74877200e-02 -2.42463281e+00] [ 3.42133642e-03 9.99993237e-01 1.34918802e-03 7.33819775e-02] [ 5.74828274e-02 -1.54363406e-03 9.98345302e-01 -2.56323812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66313336499996 meters Centerline goodness : 0.422704 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98358015e-01 -3.26688416e-03 -5.71891736e-02 -2.42585560e+00] [ 3.34137585e-03 9.99993689e-01 1.20697356e-03 7.48001730e-02] [ 5.71848697e-02 -1.39608225e-03 9.98362630e-01 -2.55688078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.693133365 meters Centerline goodness : 0.092510 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98374783e-01 -3.24193717e-03 -5.68971209e-02 -2.42705948e+00] [ 3.31050584e-03 9.99993903e-01 1.11091989e-03 7.57485926e-02] [ 5.68931725e-02 -1.29747265e-03 9.98379429e-01 -2.55065978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72313336499997 meters Centerline goodness : 0.106674 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98389980e-01 -3.21515494e-03 -5.66313485e-02 -2.42788715e+00] [ 3.27814815e-03 9.99994107e-01 1.01947561e-03 7.66778093e-02] [ 5.66277370e-02 -1.20348018e-03 9.98394637e-01 -2.54844759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.753133365 meters Centerline goodness : 0.451917 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.25 [[ 9.98398068e-01 -3.24609342e-03 -5.64868136e-02 -2.42828857e+00] [ 3.30050901e-03 9.99994175e-01 8.70067097e-04 7.76184890e-02] [ 5.64836603e-02 -1.05510855e-03 9.98402966e-01 -2.54832801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78313336499997 meters Centerline goodness : 0.455672 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98396238e-01 -3.29689558e-03 -5.65162106e-02 -2.42800645e+00] [ 3.33941748e-03 9.99994208e-01 6.57959353e-04 7.87922625e-02] [ 5.65137140e-02 -8.45635365e-04 9.98401465e-01 -2.55204810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.813133365 meters Centerline goodness : 0.197053 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98384944e-01 -3.42943839e-03 -5.67075210e-02 -2.42744968e+00] [ 3.44937547e-03 9.99994019e-01 2.53699321e-04 8.08145428e-02] [ 5.67063117e-02 -4.48895115e-04 9.98390802e-01 -2.55484840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84313336499997 meters Centerline goodness : 0.100975 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98378528e-01 -3.50602608e-03 -5.68156943e-02 -2.42709554e+00] [ 3.51422244e-03 9.99993824e-01 4.43505168e-05 8.19408239e-02] [ 5.68151879e-02 -2.43941592e-04 9.98384683e-01 -2.55685659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.873133365 meters Centerline goodness : 0.448463 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98370222e-01 -3.61681504e-03 -5.69545318e-02 -2.42660384e+00] [ 3.61016793e-03 9.99993459e-01 -2.19600192e-04 8.33002002e-02] [ 5.69549536e-02 1.36268686e-05 9.98376749e-01 -2.55969375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.903133365 meters Centerline goodness : 0.203548 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98362722e-01 -3.76145630e-03 -5.70765043e-02 -2.42621204e+00] [ 3.73759514e-03 9.99992877e-01 -5.24801873e-04 8.45975356e-02] [ 5.70780718e-02 3.10613762e-04 9.98369670e-01 -2.56161078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.933133365 meters Centerline goodness : 0.101182 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98351531e-01 -3.88258825e-03 -5.72638224e-02 -2.42573103e+00] [ 3.84462323e-03 9.99992311e-01 -7.73139335e-04 8.56927972e-02] [ 5.72663839e-02 5.51707018e-04 9.98358782e-01 -2.56274294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.963133365 meters Centerline goodness : 0.105718 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98347486e-01 -3.97119421e-03 -5.73282369e-02 -2.42572616e+00] [ 3.92278136e-03 9.99991848e-01 -9.56996598e-04 8.65957016e-02] [ 5.73315700e-02 7.30529008e-04 9.98354926e-01 -2.56085468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.993133365 meters Centerline goodness : 0.090559 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.09, Z:-0.25 [[ 9.98511255e-01 3.53168488e-03 -5.44316141e-02 -2.40767171e+00] [-3.66396873e-03 9.99990572e-01 -2.33067566e-03 8.69083692e-02] [ 5.44228697e-02 2.52664161e-03 9.98514781e-01 -2.53855923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.023133365 meters Centerline goodness : 0.354871 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98563354e-01 -4.69763464e-03 -5.33775243e-02 -2.42942369e+00] [ 4.62144380e-03 9.99988119e-01 -1.55073513e-03 9.05013128e-02] [ 5.33841749e-02 1.30182605e-03 9.98573200e-01 -2.55758956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.053133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 361.083133365 meters Centerline goodness : 0.336485 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98599996e-01 -4.76697327e-03 -5.26813421e-02 -2.43172862e+00] [ 4.68731885e-03 9.99987677e-01 -1.63545455e-03 9.11581984e-02] [ 5.26884891e-02 1.38623066e-03 9.98610035e-01 -2.54756218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.113133365 meters Centerline goodness : 0.106193 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.25 [[ 9.98591585e-01 -4.79093561e-03 -5.28383777e-02 -2.43125232e+00] [ 4.70835892e-03 9.99987492e-01 -1.68718444e-03 9.13861137e-02] [ 5.28458000e-02 1.43602613e-03 9.98601652e-01 -2.54947325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.143133365 meters Centerline goodness : 0.119895 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99858542 0.00281977 -0.05309628 -2.44903434] [-0.00299029 0.99999062 -0.00313244 0.0862889 ] [ 0.05308695 0.00328678 0.99858448 -0.2578389 ] [ 0. 0. 0. 1. ]] SLAMing on 361.17313336499996 meters Centerline goodness : 0.119895 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99858542 0.00281977 -0.05309628 -2.44903434] [-0.00299029 0.99999062 -0.00313244 0.0862889 ] [ 0.05308695 0.00328678 0.99858448 -0.2578389 ] [ 0. 0. 0. 1. ]] SLAMing on 361.203133365 meters Centerline goodness : 0.229202 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98567536e-01 -4.68542270e-03 -5.33003175e-02 -2.43013200e+00] [ 4.57872200e-03 9.99987262e-01 -2.12381226e-03 9.19830791e-02] [ 5.33095896e-02 1.87672263e-03 9.98576269e-01 -2.55804833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23313336499996 meters Centerline goodness : 0.453546 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98577549e-01 -4.71013115e-03 -5.31102007e-02 -2.43065902e+00] [ 4.60064591e-03 9.99987033e-01 -2.18354200e-03 9.23735038e-02] [ 5.31197968e-02 1.93609479e-03 9.98586270e-01 -2.55731403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.263133365 meters Centerline goodness : 0.182084 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98608418e-01 -4.66508452e-03 -5.25306014e-02 -2.43248239e+00] [ 4.55767249e-03 9.99987272e-01 -2.16435787e-03 9.28296944e-02] [ 5.25400297e-02 1.92192872e-03 9.98616969e-01 -2.55104807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29313336499996 meters Centerline goodness : 0.443880 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98604729e-01 -4.69224699e-03 -5.25982787e-02 -2.43227767e+00] [ 4.58217427e-03 9.99987053e-01 -2.21310193e-03 9.30083911e-02] [ 5.26079822e-02 1.96899957e-03 9.98613300e-01 -2.55173499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.323133365 meters Centerline goodness : 0.452940 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98589707e-01 -4.73758362e-03 -5.28786598e-02 -2.43123133e+00] [ 4.62442957e-03 9.99986749e-01 -2.26202923e-03 9.30003666e-02] [ 5.28886756e-02 2.01430547e-03 9.98598383e-01 -2.55755684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35313336499996 meters Centerline goodness : 0.299469 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98570759e-01 -4.74439686e-03 -5.32346633e-02 -2.42991938e+00] [ 4.62999662e-03 9.99986700e-01 -2.27210088e-03 9.29823786e-02] [ 5.32447351e-02 2.02237719e-03 9.98579445e-01 -2.56434397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.383133365 meters Centerline goodness : 0.258303 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98539620e-01 -4.80834318e-03 -5.38099130e-02 -2.42795762e+00] [ 4.69107638e-03 9.99986339e-01 -2.30537199e-03 9.26852273e-02] [ 5.38202630e-02 2.04957886e-03 9.98548536e-01 -2.57333518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41313336499996 meters Centerline goodness : 0.449146 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98528614e-01 -4.84031377e-03 -5.40109017e-02 -2.42734822e+00] [ 4.72260707e-03 9.99986188e-01 -2.30673109e-03 9.22946571e-02] [ 5.40213210e-02 2.04826473e-03 9.98537682e-01 -2.57505286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.443133365 meters Centerline goodness : 0.453047 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.09, Z:-0.26 [[ 9.98525344e-01 -4.84017708e-03 -5.40713436e-02 -2.42715847e+00] [ 4.72437094e-03 9.99986265e-01 -2.26934404e-03 9.19966654e-02] [ 5.40815850e-02 2.01054446e-03 9.98534496e-01 -2.57570798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47313336499997 meters Centerline goodness : 0.118581 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852702 0.00301707 -0.05417281 -2.44636691] [-0.00319871 0.99998955 -0.00326646 0.086462 ] [ 0.05416239 0.00343493 0.99852623 -0.25954214] [ 0. 0. 0. 1. ]] SLAMing on 361.503133365 meters Centerline goodness : 0.449236 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852599 0.00303747 -0.05419058 -2.44632518] [-0.00321914 0.99998949 -0.0032656 0.08670508] [ 0.05418009 0.00343523 0.99852527 -0.25955847] [ 0. 0. 0. 1. ]] SLAMing on 361.53313336499997 meters Centerline goodness : 0.421532 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852134 0.00298344 -0.05427918 -2.44602449] [-0.00317098 0.9999893 -0.00336934 0.08711785] [ 0.05426854 0.00353648 0.99852011 -0.25969611] [ 0. 0. 0. 1. ]] SLAMing on 361.563133365 meters Centerline goodness : 0.097761 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99851908 0.00286682 -0.05432707 -2.44611061] [-0.00306088 0.99998923 -0.00348922 0.0870535 ] [ 0.05431648 0.00365034 0.9985171 -0.25942791] [ 0. 0. 0. 1. ]] SLAMing on 361.59313336499997 meters Centerline goodness : 0.194738 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852132 0.00291193 -0.05428346 -2.44647001] [-0.00309857 0.99998957 -0.00335435 0.08634582] [ 0.05427313 0.00351759 0.99851993 -0.25905432] [ 0. 0. 0. 1. ]] SLAMing on 361.623133365 meters Centerline goodness : 0.225481 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.09, Z:-0.26 [[ 0.99852642 0.00299308 -0.05418517 -2.44682288] [-0.00316874 0.99999 -0.00315612 0.08544777] [ 0.05417519 0.00332316 0.99852592 -0.25884112] [ 0. 0. 0. 1. ]] SLAMing on 361.653133365 meters Centerline goodness : 0.453803 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 0.99853029 0.00307277 -0.05410941 -2.44709968] [-0.00323333 0.99999063 -0.00287998 0.08394113] [ 0.05410005 0.0030507 0.99853086 -0.25865465] [ 0. 0. 0. 1. ]] SLAMing on 361.683133365 meters Centerline goodness : 0.160691 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 0.99852522 0.00303926 -0.05420474 -2.4468212 ] [-0.00318906 0.99999133 -0.00267734 0.08220901] [ 0.05419614 0.00284625 0.99852625 -0.25870097] [ 0. 0. 0. 1. ]] SLAMing on 361.713133365 meters Centerline goodness : 0.097458 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.08, Z:-0.26 [[ 0.99848921 0.00272962 -0.05488021 -2.44475152] [-0.00286961 0.99999283 -0.00247219 0.07887431] [ 0.05487307 0.00262594 0.99848989 -0.25927069] [ 0. 0. 0. 1. ]] SLAMing on 361.743133365 meters Centerline goodness : 0.447706 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.08, Z:-0.26 [[ 9.98486693e-01 2.87542907e-03 -5.49186329e-02 -2.44457052e+00] [-2.99649765e-03 9.99993258e-01 -2.12229134e-03 7.72310164e-02] [ 5.49121601e-02 2.28364321e-03 9.98488578e-01 -2.59365236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.773133365 meters Centerline goodness : 0.334318 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.08, Z:-0.26 [[ 9.98498078e-01 3.03694392e-03 -5.47025208e-02 -2.44533957e+00] [-3.13785386e-03 9.99993530e-01 -1.75890945e-03 7.56459434e-02] [ 5.46968252e-02 1.92791622e-03 9.98501147e-01 -2.58949148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.803133365 meters Centerline goodness : 0.452858 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98576092e-01 -4.37701846e-03 -5.31660704e-02 -2.42830942e+00] [ 4.37849914e-03 9.99990410e-01 -8.86265714e-05 7.89907703e-02] [ 5.31659485e-02 -1.44287218e-04 9.98585680e-01 -2.56101722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.833133365 meters Centerline goodness : 0.092189 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98597391e-01 -4.29723434e-03 -5.27710497e-02 -2.42964210e+00] [ 4.30914302e-03 9.99990709e-01 1.11890237e-04 7.77452219e-02] [ 5.27700786e-02 -3.39131299e-04 9.98606631e-01 -2.55511694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.863133365 meters Centerline goodness : 0.091555 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98590585e-01 -4.21330043e-03 -5.29064378e-02 -2.42903644e+00] [ 4.23220083e-03 9.99991014e-01 2.45212884e-04 7.71643530e-02] [ 5.29049293e-02 -4.68777948e-04 9.98599444e-01 -2.55967030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.893133365 meters Centerline goodness : 0.095374 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98580331e-01 -4.13622655e-03 -5.31056823e-02 -2.42795438e+00] [ 4.15940356e-03 9.99991297e-01 3.25916810e-04 7.69841804e-02] [ 5.31038720e-02 -5.46342080e-04 9.98588844e-01 -2.56908602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92313336499996 meters Centerline goodness : 0.095912 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98571960e-01 -4.08277858e-03 -5.32669852e-02 -2.42695802e+00] [ 4.10938330e-03 9.99991480e-01 3.89944064e-04 7.67384713e-02] [ 5.32649393e-02 -6.08281667e-04 9.98580230e-01 -2.57807717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.953133365 meters Centerline goodness : 0.141267 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.98568166e-01 -4.06287739e-03 -5.33395757e-02 -2.42653613e+00] [ 4.09342813e-03 9.99991514e-01 4.63522699e-04 7.60727155e-02] [ 5.33372399e-02 -6.81200731e-04 9.98576324e-01 -2.58166231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98313336499996 meters Centerline goodness : 0.187401 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98574230e-01 3.38821233e-03 -5.32731311e-02 -2.44523813e+00] [-3.44129812e-03 9.99993669e-01 -9.04785245e-04 6.93722867e-02] [ 5.32697282e-02 1.08682396e-03 9.98579569e-01 -2.60518820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.013133365 meters Centerline goodness : 0.107756 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98588271e-01 3.56506137e-03 -5.29977002e-02 -2.44642285e+00] [-3.59550685e-03 9.99993421e-01 -4.79134936e-04 6.73366757e-02] [ 5.29956434e-02 6.69012122e-04 9.98594519e-01 -2.59741428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04313336499996 meters Centerline goodness : 0.107307 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.07, Z:-0.26 [[ 9.98594260e-01 3.68670051e-03 -5.28763901e-02 -2.44690269e+00] [-3.70342810e-03 9.99993118e-01 -2.18375332e-04 6.62167751e-02] [ 5.28752211e-02 4.13892262e-04 9.98601041e-01 -2.59449364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.073133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 362.10313336499996 meters Centerline goodness : 0.107358 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98600971e-01 3.73775839e-03 -5.27458939e-02 -2.44682114e+00] [-3.73272540e-03 9.99993015e-01 1.93931261e-04 6.31861551e-02] [ 5.27462503e-02 3.22599163e-06 9.98607948e-01 -2.59924867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.133133365 meters Centerline goodness : 0.113512 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98599189e-01 3.82025165e-03 -5.27737119e-02 -2.44662778e+00] [-3.79496226e-03 9.99992631e-01 5.79403289e-04 6.08726447e-02] [ 5.27755365e-02 -3.78317410e-04 9.98606329e-01 -2.60057593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16313336499996 meters Centerline goodness : 0.107796 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98595797e-01 3.94559111e-03 -5.28286573e-02 -2.44645821e+00] [-3.89578147e-03 9.99991865e-01 1.04579618e-03 5.82937948e-02] [ 5.28323538e-02 -8.38518766e-04 9.98603044e-01 -2.60028675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.193133365 meters Centerline goodness : 0.109245 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98609727e-01 3.35349448e-04 -5.27114783e-02 -2.44668749e+00] [-4.31040215e-04 9.99998280e-01 -1.80401089e-03 5.41511641e-02] [ 5.27107827e-02 1.82422359e-03 9.98608154e-01 -2.60048851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22313336499997 meters Centerline goodness : 0.107999 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98601441e-01 3.95199986e-04 -5.28678227e-02 -2.44606146e+00] [-4.73432717e-04 9.99998811e-01 -1.46726445e-03 5.19270175e-02] [ 5.28671800e-02 1.49024175e-03 9.98600441e-01 -2.60398112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.253133365 meters Centerline goodness : 0.109570 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98594961e-01 4.95685453e-04 -5.29892253e-02 -2.44555811e+00] [-5.57059829e-04 9.99999191e-01 -1.14347938e-03 5.00458045e-02] [ 5.29886156e-02 1.17139091e-03 9.98594429e-01 -2.60688038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28313336499997 meters Centerline goodness : 0.104554 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98585189e-01 5.88877044e-04 -5.31721127e-02 -2.44490594e+00] [-6.36910955e-04 9.99999404e-01 -8.86426195e-04 4.86130293e-02] [ 5.31715591e-02 9.19037970e-04 9.98584969e-01 -2.60994281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.313133365 meters Centerline goodness : 0.104271 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98574364e-01 7.49401605e-04 -5.33730060e-02 -2.44407219e+00] [-7.83500622e-04 9.99999502e-01 -6.17960387e-04 4.74335272e-02] [ 5.33725164e-02 6.58897184e-04 9.98574454e-01 -2.61546108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34313336499997 meters Centerline goodness : 0.108657 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98579268e-01 7.87330155e-04 -5.32806288e-02 -2.44415461e+00] [-8.20854089e-04 9.99999479e-01 -6.07315101e-04 4.75147730e-02] [ 5.32801228e-02 6.50187891e-04 9.98579394e-01 -2.61767165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.373133365 meters Centerline goodness : 0.107103 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98586415e-01 8.02209720e-04 -5.31462841e-02 -2.44432147e+00] [-8.38119481e-04 9.99999435e-01 -6.53393962e-04 4.78501468e-02] [ 5.31457299e-02 6.97013271e-04 9.98586524e-01 -2.62005081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.403133365 meters Centerline goodness : 0.108860 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98593640e-01 7.31109258e-04 -5.30113945e-02 -2.44456047e+00] [-7.74750399e-04 9.99999378e-01 -8.02695693e-04 4.83715243e-02] [ 5.30107746e-02 8.42637413e-04 9.98593585e-01 -2.62153230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.433133365 meters Centerline goodness : 0.107258 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98597037e-01 6.16471439e-04 -5.29488129e-02 -2.44468354e+00] [-6.72205857e-04 9.99999239e-01 -1.03480709e-03 4.91135854e-02] [ 5.29481346e-02 1.06894780e-03 9.98596692e-01 -2.62247728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.463133365 meters Centerline goodness : 0.109932 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98599609e-01 6.78428716e-04 -5.28995280e-02 -2.44492198e+00] [-7.33122349e-04 9.99999217e-01 -1.01451768e-03 4.93655542e-02] [ 5.28987983e-02 1.05187879e-03 9.98599324e-01 -2.62155779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.493133365 meters Centerline goodness : 0.112552 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98609562e-01 8.28015540e-04 -5.27091827e-02 -2.44548081e+00] [-8.71565840e-04 9.99999298e-01 -8.03257053e-04 4.89273134e-02] [ 5.27084806e-02 8.48079696e-04 9.98609582e-01 -2.62039849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.523133365 meters Centerline goodness : 0.109078 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98617518e-01 9.02174444e-04 -5.25569963e-02 -2.44604630e+00] [-9.38301615e-04 9.99999340e-01 -6.62720178e-04 4.84572107e-02] [ 5.25563637e-02 7.11118294e-04 9.98617706e-01 -2.61732783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.553133365 meters Centerline goodness : 0.114689 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98617444e-01 8.76393187e-04 -5.25588518e-02 -2.44611659e+00] [-9.10716471e-04 9.99999387e-01 -6.29098680e-04 4.78819446e-02] [ 5.25582683e-02 6.76095127e-04 9.98617630e-01 -2.61592916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.583133365 meters Centerline goodness : 0.107592 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98606933e-01 7.64153415e-04 -5.27599191e-02 -2.44551825e+00] [-8.05510865e-04 9.99999385e-01 -7.62620379e-04 4.78707359e-02] [ 5.27593039e-02 8.04056685e-04 9.98606934e-01 -2.61771668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.613133365 meters Centerline goodness : 0.108290 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.05, Z:-0.26 [[ 9.98595330e-01 7.93878197e-04 -5.29786490e-02 -2.44462412e+00] [-8.45600152e-04 9.99999188e-01 -9.53871257e-04 4.93852212e-02] [ 5.29778487e-02 9.97330136e-04 9.98595190e-01 -2.62407529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.643133365 meters Centerline goodness : 0.126411 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.05, Z:-0.26 [[ 9.98617962e-01 9.70458624e-04 -5.25473441e-02 -2.44589498e+00] [-1.02250125e-03 9.99999013e-01 -9.63520693e-04 5.07145545e-02] [ 5.25463572e-02 1.01591880e-03 9.98617969e-01 -2.62126238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67313336499996 meters Centerline goodness : 0.110337 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.05, Z:-0.26 [[ 9.98642894e-01 9.32446167e-03 -5.12388890e-02 -2.46814336e+00] [-9.40998210e-03 9.99954705e-01 -1.42806447e-03 4.70300153e-02] [ 5.12232522e-02 1.90828347e-03 9.98685404e-01 -2.63480172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.703133365 meters Centerline goodness : 0.114103 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.05, Z:-0.26 [[ 9.98668131e-01 9.25090842e-03 -5.07580914e-02 -2.46963943e+00] [-9.34994851e-03 9.99954819e-01 -1.71411386e-03 4.85209148e-02] [ 5.07399410e-02 2.18641643e-03 9.98709506e-01 -2.62964309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73313336499996 meters Centerline goodness : 0.111915 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98625658e-01 2.85229407e-03 -5.23322080e-02 -2.45232629e+00] [-2.91826306e-03 9.99995041e-01 -1.18421216e-03 5.69467551e-02] [ 5.23285707e-02 1.33530380e-03 9.98629029e-01 -2.60392290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.763133365 meters Centerline goodness : 0.159241 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98624199e-01 2.78915015e-03 -5.23634405e-02 -2.45187235e+00] [-2.87022875e-03 9.99994796e-01 -1.47324639e-03 5.86788815e-02] [ 5.23590589e-02 1.62151455e-03 9.98627007e-01 -2.61040007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79313336499996 meters Centerline goodness : 0.119477 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98638726e-01 2.74806173e-03 -5.20878489e-02 -2.45231749e+00] [-2.83782307e-03 9.99994613e-01 -1.64938839e-03 5.97635307e-02] [ 5.20830357e-02 1.79495922e-03 9.98641145e-01 -2.61415793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.823133365 meters Centerline goodness : 0.124305 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98653837e-01 2.68236290e-03 -5.18007582e-02 -2.45307125e+00] [-2.77743885e-03 9.99994588e-01 -1.76351814e-03 6.01060336e-02] [ 5.17957475e-02 1.90501759e-03 9.98655882e-01 -2.61342878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85313336499996 meters Centerline goodness : 0.125837 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98662988e-01 2.60890750e-03 -5.16278094e-02 -2.45369502e+00] [-2.70654477e-03 9.99994679e-01 -1.82135307e-03 5.99792145e-02] [ 5.16227829e-02 1.95865088e-03 9.98664735e-01 -2.61041011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.883133365 meters Centerline goodness : 0.127828 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98659041e-01 2.61958373e-03 -5.17035483e-02 -2.45359196e+00] [-2.71198803e-03 9.99994848e-01 -1.71711867e-03 5.92264478e-02] [ 5.16987838e-02 1.85503549e-03 9.98661001e-01 -2.60942615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91313336499996 meters Centerline goodness : 0.144080 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98642444e-01 2.65149408e-03 -5.20215142e-02 -2.45272286e+00] [-2.73946292e-03 9.99994936e-01 -1.61977789e-03 5.87723112e-02] [ 5.20169559e-02 1.76008996e-03 9.98644651e-01 -2.61109258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.943133365 meters Centerline goodness : 0.112974 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98617011e-01 2.69324016e-03 -5.25053489e-02 -2.45119770e+00] [-2.77397157e-03 9.99995080e-01 -1.46477056e-03 5.79396813e-02] [ 5.25011455e-02 1.60839314e-03 9.98619569e-01 -2.61610696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97313336499997 meters Centerline goodness : 0.125747 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98619510e-01 2.67785584e-03 -5.24585836e-02 -2.45131540e+00] [-2.75741441e-03 9.99995155e-01 -1.44428143e-03 5.76202667e-02] [ 5.24544619e-02 1.58693767e-03 9.98622056e-01 -2.61602179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.003133365 meters Centerline goodness : 0.110653 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98626514e-01 2.68754433e-03 -5.23245941e-02 -2.45170653e+00] [-2.76451106e-03 9.99995201e-01 -1.39862732e-03 5.72613673e-02] [ 5.23205842e-02 1.54135824e-03 9.98629151e-01 -2.61502547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03313336499997 meters Centerline goodness : 0.166061 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98625043e-01 2.73731572e-03 -5.23500734e-02 -2.45156554e+00] [-2.80899159e-03 9.99995215e-01 -1.29563767e-03 5.67818083e-02] [ 5.23462764e-02 1.44090714e-03 9.98627954e-01 -2.61622201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.063133365 meters Centerline goodness : 0.155614 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98614975e-01 2.76389075e-03 -5.25403937e-02 -2.45075312e+00] [-2.83244289e-03 9.99995232e-01 -1.23033559e-03 5.64056526e-02] [ 5.25367427e-02 1.37744921e-03 9.98618042e-01 -2.62157120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09313336499997 meters Centerline goodness : 0.155614 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98614975e-01 2.76389075e-03 -5.25403937e-02 -2.45075312e+00] [-2.83244289e-03 9.99995232e-01 -1.23033559e-03 5.64056526e-02] [ 5.25367427e-02 1.37744921e-03 9.98618042e-01 -2.62157120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.123133365 meters Centerline goodness : 0.124207 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98583653e-01 2.71943047e-03 -5.31346671e-02 -2.44865025e+00] [-2.78707218e-03 9.99995397e-01 -1.19896792e-03 5.57264110e-02] [ 5.31311620e-02 1.34535992e-03 9.98586636e-01 -2.63139466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.153133365 meters Centerline goodness : 0.119703 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98576541e-01 2.69035395e-03 -5.32696288e-02 -2.44819177e+00] [-2.76069323e-03 9.99995412e-01 -1.24689982e-03 5.57846452e-02] [ 5.32660298e-02 1.39218601e-03 9.98579387e-01 -2.63368251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.183133365 meters Centerline goodness : 0.186521 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98573204e-01 2.66869487e-03 -5.33332455e-02 -2.44806946e+00] [-2.74191985e-03 9.99995396e-01 -1.29984784e-03 5.60164639e-02] [ 5.33295311e-02 1.44422871e-03 9.98575924e-01 -2.63354766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.213133365 meters Centerline goodness : 0.121725 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98577037e-01 2.63292511e-03 -5.32632093e-02 -2.44831661e+00] [-2.71091415e-03 9.99995357e-01 -1.39202511e-03 5.64885601e-02] [ 5.32592969e-02 1.53443629e-03 9.98579538e-01 -2.63247662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.243133365 meters Centerline goodness : 0.107168 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98583688e-01 2.56057703e-03 -5.31418960e-02 -2.44859201e+00] [-2.65168158e-03 9.99995133e-01 -1.64392725e-03 5.79909720e-02] [ 5.31374280e-02 1.78251432e-03 9.98585618e-01 -2.63321690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.273133365 meters Centerline goodness : 0.106969 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.06, Z:-0.26 [[ 9.98586289e-01 2.43958730e-03 -5.30987045e-02 -2.44865329e+00] [-2.54097135e-03 9.99995075e-01 -1.84192555e-03 5.86497835e-02] [ 5.30939495e-02 1.97424388e-03 9.98587570e-01 -2.63389414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.303133365 meters Centerline goodness : 0.127820 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.06, Z:-0.26 [[ 9.98588800e-01 -5.16580765e-03 -5.28556871e-02 -2.42988685e+00] [ 5.12318102e-03 9.99986433e-01 -9.41930400e-04 6.40204592e-02] [ 5.28598359e-02 6.69811895e-04 9.98601717e-01 -2.61360143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.333133365 meters Centerline goodness : 0.103077 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.06, Z:-0.26 [[ 9.98603328e-01 -5.17148778e-03 -5.25799252e-02 -2.43069483e+00] [ 5.12710443e-03 9.99986377e-01 -9.78962674e-04 6.43151596e-02] [ 5.25842716e-02 7.08012617e-04 9.98616239e-01 -2.61202517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.363133365 meters Centerline goodness : 0.463818 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98623506e-01 -5.17113082e-03 -5.21953303e-02 -2.43189919e+00] [ 5.12225644e-03 9.99986309e-01 -1.07010226e-03 6.51030492e-02] [ 5.22001493e-02 8.01271404e-04 9.98636321e-01 -2.60808905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.393133365 meters Centerline goodness : 0.099833 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.07, Z:-0.26 [[ 9.98640155e-01 -5.19656873e-03 -5.18732761e-02 -2.43275896e+00] [ 5.14043690e-03 9.99986049e-01 -1.21545307e-03 6.61516508e-02] [ 5.18788686e-02 9.47148941e-04 9.98652936e-01 -2.60724545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42313336499996 meters Centerline goodness : 0.103320 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.07, Z:-0.26 [[ 0.99866601 0.00326372 -0.05153193 -2.4123698 ] [-0.00340148 0.99999087 -0.00258593 0.06841914] [ 0.05152302 0.00275777 0.998668 -0.25906493] [ 0. 0. 0. 1. ]] SLAMing on 363.453133365 meters Centerline goodness : 0.101174 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.07, Z:-0.26 [[ 0.99866016 0.00313378 -0.05165329 -2.41198268] [-0.00329601 0.9999899 -0.00305588 0.07096562] [ 0.05164319 0.00322203 0.9986604 -0.25931571] [ 0. 0. 0. 1. ]] SLAMing on 363.48313336499996 meters Centerline goodness : 0.103749 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.98680679e-01 -3.04852600e-03 -5.12601938e-02 -2.43508768e+00] [ 3.02114119e-03 9.99995249e-01 -6.11706195e-04 7.46593778e-02] [ 5.12618151e-02 4.56034875e-04 9.98685145e-01 -2.60671235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.513133365 meters Centerline goodness : 0.104635 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.08, Z:-0.26 [[ 9.98817106e-01 6.37290498e-03 -4.82055530e-02 -2.41740516e+00] [-6.44051800e-03 9.99978482e-01 -1.24740214e-03 8.04231614e-02] [ 4.81965661e-02 1.55639532e-03 9.98836658e-01 -2.58707261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54313336499996 meters Centerline goodness : 0.104240 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.09, Z:-0.26 [[ 9.98961957e-01 -7.43395773e-04 -4.55461941e-02 -2.43820492e+00] [ 7.30478433e-04 9.99999688e-01 -3.00252884e-04 8.73934265e-02] [ 4.55464031e-02 2.66670696e-04 9.98962188e-01 -2.61714769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.573133365 meters Centerline goodness : 0.153901 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.26 [[ 9.98976653e-01 7.38929025e-03 -4.46211285e-02 -2.41855729e+00] [-7.47176259e-03 9.99970672e-01 -1.68177828e-03 8.94939445e-02] [ 4.46073927e-02 2.01345571e-03 9.99002566e-01 -2.60053235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60313336499996 meters Centerline goodness : 0.106018 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.26 [[ 9.98966837e-01 7.16835556e-03 -4.48761930e-02 -2.41767953e+00] [-7.27738140e-03 9.99970951e-01 -2.26657704e-03 9.25665772e-02] [ 4.48586417e-02 2.59081647e-03 9.98989985e-01 -2.60552352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.633133365 meters Centerline goodness : 0.194001 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.26 [[ 0.99895227 0.00690812 -0.04523984 -2.41652747] [-0.00704398 0.99997115 -0.00284433 0.09527659] [ 0.04521888 0.00316002 0.99897211 -0.26108533] [ 0. 0. 0. 1. ]] SLAMing on 363.66313336499996 meters Centerline goodness : 0.094819 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.26 [[ 0.99894252 0.00666221 -0.04549128 -2.41584889] [-0.00682376 0.99997095 -0.00339688 0.09797224] [ 0.04546733 0.00370371 0.99895896 -0.2612855 ] [ 0. 0. 0. 1. ]] SLAMing on 363.693133365 meters Centerline goodness : 0.288645 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98833769e-01 1.10580375e-03 -4.82688249e-02 -2.40217852e+00] [-1.27609135e-03 9.99993070e-01 -3.49722714e-03 1.09038920e-01] [ 4.82646232e-02 3.55474400e-03 9.98828258e-01 -2.57638426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72313336499997 meters Centerline goodness : 0.093524 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98835701e-01 9.17080573e-04 -4.82327819e-02 -2.40242628e+00] [-1.10495736e-03 9.99991906e-01 -3.86869065e-03 1.10881274e-01] [ 4.82288436e-02 3.91748150e-03 9.98828630e-01 -2.57423979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.753133365 meters Centerline goodness : 0.182762 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98830781e-01 7.07242178e-04 -4.83380873e-02 -2.40220006e+00] [-9.12472682e-04 9.99990663e-01 -4.22379615e-03 1.12447202e-01] [ 4.83346488e-02 4.26296479e-03 9.98822101e-01 -2.57429802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78313336499997 meters Centerline goodness : 0.133854 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98814560e-01 2.38418171e-04 -4.86766768e-02 -2.40144410e+00] [-4.71878672e-04 9.99988442e-01 -4.78471186e-03 1.14216452e-01] [ 4.86749734e-02 4.80200935e-03 9.98803128e-01 -2.57376846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 363.84313336499997 meters Centerline goodness : 0.453525 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98822319e-01 2.38026380e-05 -4.85177778e-02 -2.40206211e+00] [-2.62084745e-04 9.99987937e-01 -4.90487720e-03 1.14610614e-01] [ 4.85170758e-02 4.91181659e-03 9.98810276e-01 -2.56899687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.873133365 meters Centerline goodness : 0.101259 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.11, Z:-0.26 [[ 9.98826206e-01 2.99769580e-05 -4.84376911e-02 -2.40234411e+00] [-2.67749597e-04 9.99987948e-01 -4.90235417e-03 1.14956739e-01] [ 4.84369604e-02 4.90956899e-03 9.98814175e-01 -2.56761021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.903133365 meters Centerline goodness : 0.455657 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98829371e-01 1.41326906e-05 -4.83723761e-02 -2.40248842e+00] [-2.53124214e-04 9.99987793e-01 -4.93453910e-03 1.15303973e-01] [ 4.83717159e-02 4.94100680e-03 9.98817182e-01 -2.56771193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.933133365 meters Centerline goodness : 0.257918 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98827210e-01 -4.07136907e-05 -4.84169765e-02 -2.40233435e+00] [-2.01677810e-04 9.99987472e-01 -5.00143714e-03 1.15530617e-01] [ 4.84165736e-02 5.00533613e-03 9.98814689e-01 -2.56829227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.963133365 meters Centerline goodness : 0.179069 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98817360e-01 -1.97971817e-04 -4.86193616e-02 -2.40184160e+00] [-4.82856479e-05 9.99987178e-01 -5.06378146e-03 1.15053744e-01] [ 4.86197407e-02 5.06014045e-03 9.98804543e-01 -2.56824423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.993133365 meters Centerline goodness : 0.454826 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99879447 0.0073811 -0.04852966 -2.42079209] [-0.00769772 0.99995027 -0.00634065 0.10863472] [ 0.04848045 0.00670657 0.99880162 -0.25914358] [ 0. 0. 0. 1. ]] SLAMing on 364.023133365 meters Centerline goodness : 0.451495 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99880178 0.0073891 -0.04837766 -2.42130418] [-0.00770146 0.99995066 -0.00627358 0.10821035] [ 0.04832892 0.00663864 0.99880941 -0.25891058] [ 0. 0. 0. 1. ]] SLAMing on 364.053133365 meters Centerline goodness : 0.454167 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99881218 0.00734524 -0.04816928 -2.4218821 ] [-0.0076576 0.99995081 -0.00630323 0.10821003] [ 0.04812062 0.00666461 0.9988193 -0.25876647] [ 0. 0. 0. 1. ]] SLAMing on 364.083133365 meters Centerline goodness : 0.097834 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882157 0.00729611 -0.04798164 -2.42217017] [-0.00761333 0.99995033 -0.00643185 0.10887121] [ 0.04793232 0.00678957 0.99882751 -0.25902632] [ 0. 0. 0. 1. ]] SLAMing on 364.113133365 meters Centerline goodness : 0.136316 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882366 0.00727508 -0.04794138 -2.42180771] [-0.00760887 0.99994804 -0.00678369 0.11108342] [ 0.04788954 0.00714049 0.99882711 -0.2597633 ] [ 0. 0. 0. 1. ]] SLAMing on 364.143133365 meters Centerline goodness : 0.141838 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882464 0.00722229 -0.04792879 -2.42166867] [-0.00756939 0.9999464 -0.0070644 0.11276118] [ 0.0478752 0.00741889 0.99882577 -0.26007436] [ 0. 0. 0. 1. ]] SLAMing on 364.17313336499996 meters Centerline goodness : 0.110080 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.11, Z:-0.26 [[ 0.99882357 0.00716392 -0.04795991 -2.42147202] [-0.00752633 0.99994444 -0.00738004 0.11452242] [ 0.04790438 0.00773232 0.998822 -0.26033108] [ 0. 0. 0. 1. ]] SLAMing on 364.203133365 meters Centerline goodness : 0.100283 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98829895e-01 2.60025687e-04 -4.83608739e-02 -2.40416656e+00] [-5.53569113e-04 9.99981506e-01 -6.05655932e-03 1.21627812e-01] [ 4.83584047e-02 6.07624359e-03 9.98811566e-01 -2.57781644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23313336499996 meters Centerline goodness : 0.160048 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98826220e-01 2.80417080e-04 -4.84365918e-02 -2.40369450e+00] [-5.90740890e-04 9.99979393e-01 -6.39260891e-03 1.23859603e-01] [ 4.84338011e-02 6.41371887e-03 9.98805803e-01 -2.58369431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.263133365 meters Centerline goodness : 0.089663 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.12, Z:-0.26 [[ 9.98818093e-01 2.29614451e-04 -4.86041582e-02 -2.40310290e+00] [-5.48834691e-04 9.99978368e-01 -6.55451194e-03 1.24613445e-01] [ 4.86016018e-02 6.57344077e-03 9.98796613e-01 -2.58709606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29313336499996 meters Centerline goodness : 0.095779 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98805458e-01 2.05250208e-04 -4.88632362e-02 -2.40214061e+00] [-5.33927379e-04 9.99977322e-01 -6.71351414e-03 1.25533592e-01] [ 4.88607501e-02 6.73158399e-03 9.98782916e-01 -2.59285273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.323133365 meters Centerline goodness : 0.455953 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98793342e-01 1.18985676e-04 -4.91105559e-02 -2.40131185e+00] [-4.59921957e-04 9.99975875e-01 -6.93097801e-03 1.26498968e-01] [ 4.91085464e-02 6.94520171e-03 9.98769300e-01 -2.59701210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35313336499996 meters Centerline goodness : 0.098400 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98787930e-01 5.34913141e-05 -4.92206141e-02 -2.40087350e+00] [-4.03557196e-04 9.99974697e-01 -7.10227009e-03 1.27284946e-01] [ 4.92189888e-02 7.11352497e-03 9.98762679e-01 -2.60038831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.383133365 meters Centerline goodness : 0.457227 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.13, Z:-0.26 [[ 9.98789408e-01 2.80162605e-06 -4.91906383e-02 -2.40096587e+00] [-3.58145626e-04 9.99973907e-01 -7.21500100e-03 1.27815555e-01] [ 4.91893346e-02 7.22388399e-03 9.98763348e-01 -2.60029723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41313336499996 meters Centerline goodness : 0.090169 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98916048e-01 2.71611101e-04 -4.65473510e-02 -2.36020249e+00] [-6.00921693e-04 9.99974891e-01 -7.06089679e-03 1.31160660e-01] [ 4.65442644e-02 7.08121443e-03 9.98891129e-01 -2.56899721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.443133365 meters Centerline goodness : 0.099874 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98914413e-01 2.68812992e-04 -4.65824400e-02 -2.36018636e+00] [-5.97839482e-04 9.99974973e-01 -7.04952791e-03 1.31041401e-01] [ 4.65793792e-02 7.06972385e-03 9.98889574e-01 -2.56813752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47313336499997 meters Centerline goodness : 0.091307 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98905041e-01 2.48176059e-04 -4.67830956e-02 -2.35950893e+00] [-5.81392361e-04 9.99974561e-01 -7.10910661e-03 1.31328801e-01] [ 4.67801412e-02 7.12852177e-03 9.98879774e-01 -2.57142434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.503133365 meters Centerline goodness : 0.092514 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98889545e-01 2.23710878e-04 -4.71129066e-02 -2.35831711e+00] [-5.63341834e-04 9.99973952e-01 -7.19571859e-03 1.31756431e-01] [ 4.71100696e-02 7.21426874e-03 9.98863652e-01 -2.57774741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53313336499997 meters Centerline goodness : 0.090632 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.13, Z:-0.26 [[ 9.98869450e-01 3.01304276e-04 -4.75366280e-02 -2.35672503e+00] [-6.59448427e-04 9.99971518e-01 -7.51856429e-03 1.34003565e-01] [ 4.75330087e-02 7.54141213e-03 9.98841199e-01 -2.58790504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.563133365 meters Centerline goodness : 0.452232 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.26 [[ 9.98878396e-01 2.63010892e-04 -4.73484988e-02 -2.35723967e+00] [-6.30287898e-04 9.99969831e-01 -7.74212526e-03 1.35384506e-01] [ 4.73450340e-02 7.76328485e-03 9.98848427e-01 -2.58783036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59313336499997 meters Centerline goodness : 0.102408 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.14, Z:-0.26 [[ 9.98896267e-01 2.25354833e-04 -4.69701636e-02 -2.35843017e+00] [-5.98804385e-04 9.99968323e-01 -7.93686336e-03 1.36614271e-01] [ 4.69668871e-02 7.95622913e-03 9.98864761e-01 -2.58425311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.623133365 meters Centerline goodness : 0.448197 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.26 [[ 0.99894525 -0.00725724 -0.0453401 -2.34119996] [ 0.00696225 0.99995358 -0.00666087 0.14301428] [ 0.04538633 0.00633817 0.9989494 -0.25602913] [ 0. 0. 0. 1. ]] SLAMing on 364.653133365 meters Centerline goodness : 0.206854 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.14, Z:-0.26 [[ 0.9989237 -0.00666555 -0.04590215 -2.38973131] [ 0.00638658 0.99996025 -0.00622131 0.13952694] [ 0.04594179 0.00592146 0.99892657 -0.2561908 ] [ 0. 0. 0. 1. ]] SLAMing on 364.683133365 meters Centerline goodness : 0.408993 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.14, Z:-0.25 [[ 9.98975265e-01 1.36191417e-03 -4.52389858e-02 -2.36997273e+00] [-1.69177832e-03 9.99972258e-01 -7.25410397e-03 1.38964576e-01] [ 4.52278513e-02 7.32320477e-03 9.98949855e-01 -2.54263184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.713133365 meters Centerline goodness : 0.194822 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.14, Z:-0.26 [[ 9.98867068e-01 1.47113936e-03 -4.75648536e-02 -2.41453188e+00] [-1.82014387e-03 9.99971735e-01 -7.29496606e-03 1.36465111e-01] [ 4.75527773e-02 7.37327624e-03 9.98841513e-01 -2.55692320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.743133365 meters Centerline goodness : 0.096650 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.14, Z:-0.25 [[ 0.99882048 -0.0059173 -0.04819374 -2.3962369 ] [ 0.00560553 0.9999625 -0.00660163 0.14425407] [ 0.048231 0.00632369 0.99881619 -0.25358972] [ 0. 0. 0. 1. ]] SLAMing on 364.773133365 meters Centerline goodness : 0.100208 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.15, Z:-0.25 [[ 0.99881779 -0.00610359 -0.04822627 -2.39628158] [ 0.00576878 0.99995831 -0.00707864 0.1464242 ] [ 0.04826747 0.00679207 0.99881135 -0.25352945] [ 0. 0. 0. 1. ]] SLAMing on 364.803133365 meters Centerline goodness : 0.100356 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.25 [[ 9.98885881e-01 1.83212293e-03 -4.71554801e-02 -2.37750632e+00] [-2.24059489e-03 9.99960416e-01 -8.61083782e-03 1.47787502e-01] [ 4.71378374e-02 8.70690065e-03 9.98850446e-01 -2.50839505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.833133365 meters Centerline goodness : 0.452749 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.25 [[ 0.99893376 0.00415334 -0.04597919 -2.38297184] [-0.0044668 0.99996747 -0.0067167 0.15162504] [ 0.0459498 0.00691492 0.99891982 -0.24797288] [ 0. 0. 0. 1. ]] SLAMing on 364.863133365 meters Centerline goodness : 0.454039 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.15, Z:-0.25 [[ 0.99894565 0.00407874 -0.04572694 -2.3835222 ] [-0.00440181 0.99996604 -0.00696657 0.15311889] [ 0.04569697 0.00716051 0.99892968 -0.24809491] [ 0. 0. 0. 1. ]] SLAMing on 364.893133365 meters Centerline goodness : 0.096799 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.16, Z:-0.25 [[ 0.9989466 0.00380269 -0.04572992 -2.38345653] [-0.00415091 0.99996309 -0.00752215 0.15540602] [ 0.04569963 0.00770404 0.99892552 -0.24827715] [ 0. 0. 0. 1. ]] SLAMing on 364.92313336499996 meters Centerline goodness : 0.437177 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.16, Z:-0.25 [[ 0.99893501 0.00371568 -0.04598965 -2.38309189] [-0.00407424 0.99996201 -0.00770534 0.15630743] [ 0.04595927 0.00788451 0.9989122 -0.24794659] [ 0. 0. 0. 1. ]] SLAMing on 364.953133365 meters Centerline goodness : 0.453679 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.24 [[ 0.99889519 -0.00338513 -0.04687159 -2.36523427] [ 0.00310206 0.99997652 -0.00611072 0.16332897] [ 0.04689117 0.00595857 0.99888223 -0.24489992] [ 0. 0. 0. 1. ]] SLAMing on 364.98313336499996 meters Centerline goodness : 0.453679 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.16, Z:-0.24 [[ 0.99889519 -0.00338513 -0.04687159 -2.36523427] [ 0.00310206 0.99997652 -0.00611072 0.16332897] [ 0.04689117 0.00595857 0.99888223 -0.24489992] [ 0. 0. 0. 1. ]] SLAMing on 365.013133365 meters Centerline goodness : 0.105176 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.16, Z:-0.24 [[ 0.99888747 -0.00336268 -0.04703739 -2.36477919] [ 0.0030776 0.99997646 -0.00613178 0.16395319] [ 0.0470569 0.00598019 0.99887431 -0.24499079] [ 0. 0. 0. 1. ]] SLAMing on 365.04313336499996 meters Centerline goodness : 0.403591 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.16, Z:-0.25 [[ 0.99888367 -0.00338688 -0.04711633 -2.36447501] [ 0.0030988 0.99997607 -0.00618585 0.16434151] [ 0.04713615 0.00603294 0.99887026 -0.24515287] [ 0. 0. 0. 1. ]] SLAMing on 365.073133365 meters Centerline goodness : 0.449759 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.16, Z:-0.25 [[ 0.99888513 -0.00348969 -0.04707778 -2.36459551] [ 0.00319466 0.9999748 -0.00634059 0.16483582] [ 0.04709872 0.00618312 0.9988711 -0.2451129 ] [ 0. 0. 0. 1. ]] SLAMing on 365.10313336499996 meters Centerline goodness : 0.201985 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.17, Z:-0.25 [[ 0.99887819 -0.00366202 -0.04721169 -2.36434293] [ 0.00335575 0.99997282 -0.00656471 0.16551343] [ 0.04723445 0.00639891 0.99886333 -0.24502545] [ 0. 0. 0. 1. ]] SLAMing on 365.133133365 meters Centerline goodness : 0.290918 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.17, Z:-0.25 [[ 0.99887102 -0.00369212 -0.04736088 -2.36377734] [ 0.00338213 0.99997234 -0.00662373 0.16579668] [ 0.04738403 0.00645607 0.99885588 -0.24532573] [ 0. 0. 0. 1. ]] SLAMing on 365.16313336499996 meters Centerline goodness : 0.274871 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.9988684 0.00385601 -0.04740314 -2.34385798] [-0.00422684 0.99996123 -0.00772516 0.16422187] [ 0.04737151 0.00791678 0.99884597 -0.24347595] [ 0. 0. 0. 1. ]] SLAMing on 365.193133365 meters Centerline goodness : 0.090467 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99886992 0.00381844 -0.04737415 -2.34396488] [-0.00419078 0.99996109 -0.00776269 0.16424852] [ 0.04734266 0.00795245 0.99884705 -0.24337277] [ 0. 0. 0. 1. ]] SLAMing on 365.22313336499997 meters Centerline goodness : 0.103626 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99887862 0.00371076 -0.04719887 -2.34448438] [-0.00408612 0.99996077 -0.00785862 0.16424338] [ 0.04716786 0.00804266 0.9988546 -0.2432304 ] [ 0. 0. 0. 1. ]] SLAMing on 365.253133365 meters Centerline goodness : 0.424168 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99887981 0.00358066 -0.04718377 -2.34442252] [-0.00395648 0.99996117 -0.00787399 0.16376653] [ 0.04715374 0.00805185 0.99885519 -0.24331996] [ 0. 0. 0. 1. ]] SLAMing on 365.28313336499997 meters Centerline goodness : 0.094593 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99885967 0.0035143 -0.04761306 -2.34300457] [-0.00389514 0.99996114 -0.00790824 0.16373163] [ 0.04758341 0.00808468 0.99883455 -0.24388685] [ 0. 0. 0. 1. ]] SLAMing on 365.313133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 365.34313336499997 meters Centerline goodness : 0.219190 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.24 [[ 0.99881932 0.00332834 -0.04846528 -2.3403606 ] [-0.0037176 0.99996154 -0.00794384 0.16303305] [ 0.04843698 0.00811463 0.99879328 -0.24476327] [ 0. 0. 0. 1. ]] SLAMing on 365.373133365 meters Centerline goodness : 0.452668 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.16, Z:-0.25 [[ 0.99881235 0.00330448 -0.04861029 -2.33983248] [-0.00369347 0.99996186 -0.00791456 0.16263827] [ 0.04858228 0.0080847 0.99878646 -0.24504164] [ 0. 0. 0. 1. ]] SLAMing on 365.403133365 meters Centerline goodness : 0.096945 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99882434 -0.00444425 -0.04827206 -2.32182838] [ 0.00413354 0.99997011 -0.00653456 0.16775735] [ 0.04829966 0.00632735 0.99881285 -0.24258294] [ 0. 0. 0. 1. ]] SLAMing on 365.433133365 meters Centerline goodness : 0.103657 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99884756 -0.00440741 -0.04779247 -2.32378111] [ 0.00410165 0.9999705 -0.00649384 0.16812296] [ 0.04781968 0.00629033 0.99883618 -0.24133232] [ 0. 0. 0. 1. ]] SLAMing on 365.463133365 meters Centerline goodness : 0.451933 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99885197 -0.00444773 -0.04769645 -2.32427117] [ 0.00413876 0.99996982 -0.00657468 0.1685049 ] [ 0.04772425 0.00636972 0.99884024 -0.24095829] [ 0. 0. 0. 1. ]] SLAMing on 365.493133365 meters Centerline goodness : 0.306840 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99883531 -0.00454884 -0.04803462 -2.32353582] [ 0.00423493 0.99996902 -0.00663499 0.16798911] [ 0.04806331 0.00642384 0.99882363 -0.2408719 ] [ 0. 0. 0. 1. ]] SLAMing on 365.523133365 meters Centerline goodness : 0.298094 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99883246 -0.00449189 -0.04809937 -2.32337008] [ 0.00418508 0.99997026 -0.00647748 0.16718603] [ 0.04812704 0.00626861 0.99882155 -0.24087387] [ 0. 0. 0. 1. ]] SLAMing on 365.553133365 meters Centerline goodness : 0.103255 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.17, Z:-0.24 [[ 0.99883604 -0.00440113 -0.04803325 -2.3235648 ] [ 0.00410742 0.99997227 -0.00621159 0.16576507] [ 0.04805925 0.00600706 0.99882642 -0.24078833] [ 0. 0. 0. 1. ]] SLAMing on 365.583133365 meters Centerline goodness : 0.456306 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.16, Z:-0.24 [[ 0.998845 -0.0043037 -0.04785535 -2.32410322] [ 0.00402773 0.99997471 -0.00586174 0.16375979] [ 0.04787936 0.00566223 0.99883708 -0.2405513 ] [ 0. 0. 0. 1. ]] SLAMing on 365.613133365 meters Centerline goodness : 0.435115 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.16, Z:-0.24 [[ 0.99885436 -0.00420294 -0.04766868 -2.3247 ] [ 0.00394796 0.9999774 -0.00544191 0.16115802] [ 0.04769047 0.00524748 0.99884838 -0.24022722] [ 0. 0. 0. 1. ]] SLAMing on 365.643133365 meters Centerline goodness : 0.088129 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.16, Z:-0.24 [[ 0.99886537 -0.00417008 -0.04744031 -2.32515538] [ 0.00393372 0.99997939 -0.00507463 0.15847213] [ 0.0474605 0.00488225 0.99886118 -0.24022595] [ 0. 0. 0. 1. ]] SLAMing on 365.67313336499996 meters Centerline goodness : 0.454033 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99885322 -0.00406194 -0.0477047 -2.32423953] [ 0.00384966 0.99998228 -0.00454088 0.15461725] [ 0.0477223 0.00435203 0.99885116 -0.24056064] [ 0. 0. 0. 1. ]] SLAMing on 365.703133365 meters Centerline goodness : 0.271136 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99884581 -0.00392356 -0.04787125 -2.32358517] [ 0.00372137 0.99998378 -0.00431195 0.15372505] [ 0.0478874 0.00412883 0.99884421 -0.24096894] [ 0. 0. 0. 1. ]] SLAMing on 365.73313336499996 meters Centerline goodness : 0.216274 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99884741 -0.00374506 -0.04785208 -2.32336426] [ 0.00355363 0.99998534 -0.0040848 0.15326481] [ 0.04786668 0.00391004 0.99884608 -0.24139215] [ 0. 0. 0. 1. ]] SLAMing on 365.763133365 meters Centerline goodness : 0.313721 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99885521 -0.00357925 -0.04770168 -2.32357692] [ 0.00339759 0.99998667 -0.00388867 0.15287077] [ 0.04771496 0.00372214 0.99885406 -0.24162505] [ 0. 0. 0. 1. ]] SLAMing on 365.79313336499996 meters Centerline goodness : 0.092616 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.15, Z:-0.24 [[ 0.99886669 -0.0034806 -0.04746803 -2.32406118] [ 0.00330592 0.99998747 -0.00375796 0.15252331] [ 0.04748052 0.00359678 0.99886569 -0.24177509] [ 0. 0. 0. 1. ]] SLAMing on 365.823133365 meters Centerline goodness : 0.109035 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.15, Z:-0.24 [[ 0.99887401 0.00440905 -0.04723633 -2.34315397] [-0.00464563 0.9999772 -0.00489986 0.14597279] [ 0.04721365 0.00511378 0.99887172 -0.24427072] [ 0. 0. 0. 1. ]] SLAMing on 365.85313336499996 meters Centerline goodness : 0.090907 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.15, Z:-0.25 [[ 0.99885012 0.00448051 -0.04773213 -2.34144899] [-0.00471377 0.99997749 -0.00477545 0.14513413] [ 0.04770966 0.00499496 0.99884876 -0.24512227] [ 0. 0. 0. 1. ]] SLAMing on 365.883133365 meters Centerline goodness : 0.113412 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.25 [[ 0.99883626 0.0045152 -0.04801818 -2.34053828] [-0.00474629 0.99997769 -0.0046997 0.14470013] [ 0.04799589 0.00492214 0.99883541 -0.24548788] [ 0. 0. 0. 1. ]] SLAMing on 365.91313336499996 meters Centerline goodness : 0.095306 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.25 [[ 0.99883526 0.00455288 -0.04803536 -2.34051413] [-0.00477956 0.99997797 -0.00460517 0.14420484] [ 0.04801334 0.00482939 0.99883502 -0.24546121] [ 0. 0. 0. 1. ]] SLAMing on 365.943133365 meters Centerline goodness : 0.106846 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.14, Z:-0.24 [[ 0.99884475 0.00464176 -0.04782915 -2.3413519 ] [-0.00485691 0.9999786 -0.00438316 0.14315591] [ 0.04780778 0.0046104 0.99884591 -0.24493987] [ 0. 0. 0. 1. ]] SLAMing on 365.97313336499997 meters Centerline goodness : 0.105017 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.14, Z:-0.24 [[ 0.99894129 0.00294498 -0.04590883 -2.34825102] [-0.00320026 0.99997982 -0.00548823 0.13916338] [ 0.04589174 0.00562934 0.99893056 -0.24224581] [ 0. 0. 0. 1. ]] SLAMing on 366.003133365 meters Centerline goodness : 0.094272 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.14, Z:-0.24 [[ 0.99894538 0.00305697 -0.04581248 -2.34846054] [-0.00329135 0.99998187 -0.00504151 0.13649157] [ 0.04579624 0.00518698 0.99893734 -0.24218381] [ 0. 0. 0. 1. ]] SLAMing on 366.03313336499997 meters Centerline goodness : 0.103276 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99893516 0.00316951 -0.04602708 -2.34760096] [-0.00338432 0.99998374 -0.00458981 0.13367518] [ 0.04601178 0.0047407 0.99892965 -0.24261343] [ 0. 0. 0. 1. ]] SLAMing on 366.063133365 meters Centerline goodness : 0.453132 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99891778 0.00332274 -0.04639217 -2.34638828] [-0.00351706 0.99998538 -0.00410763 0.13092156] [ 0.04637784 0.00426635 0.99891486 -0.24308307] [ 0. 0. 0. 1. ]] SLAMing on 366.09313336499997 meters Centerline goodness : 0.344452 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99890947 0.00345158 -0.04656142 -2.34587512] [-0.00363011 0.99998638 -0.00375028 0.12889136] [ 0.04654784 0.00391522 0.99890839 -0.24321433] [ 0. 0. 0. 1. ]] SLAMing on 366.123133365 meters Centerline goodness : 0.456005 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99890536 0.00369341 -0.04663098 -2.34579376] [-0.00384941 0.99998729 -0.00325608 0.12644786] [ 0.04661836 0.00343202 0.99890688 -0.24308798] [ 0. 0. 0. 1. ]] SLAMing on 366.153133365 meters Centerline goodness : 0.103263 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.13, Z:-0.24 [[ 0.99890518 0.00383434 -0.04662347 -2.3457139 ] [-0.00397793 0.99998763 -0.0029875 0.12521435] [ 0.04661144 0.0031697 0.99890807 -0.24323309] [ 0. 0. 0. 1. ]] SLAMing on 366.183133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 366.213133365 meters Centerline goodness : 0.182375 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.12, Z:-0.24 [[ 0.99890386 0.00416217 -0.04662346 -2.34525248] [-0.00427698 0.99998806 -0.00236298 0.12230712] [ 0.04661306 0.0025598 0.99890974 -0.24391306] [ 0. 0. 0. 1. ]] SLAMing on 366.243133365 meters Centerline goodness : 0.184785 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.24 [[ 9.98896390e-01 4.38636578e-03 -4.67628235e-02 -2.34454975e+00] [-4.47385973e-03 9.99988432e-01 -1.76651643e-03 1.18814019e-01] [ 4.67545340e-02 1.97377719e-03 9.98904459e-01 -2.44415848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.273133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 366.303133365 meters Centerline goodness : 0.103433 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.12, Z:-0.24 [[ 9.98899520e-01 4.55980826e-03 -4.66793097e-02 -2.34447350e+00] [-4.62109429e-03 9.99988597e-01 -1.20508633e-03 1.15188027e-01] [ 4.66732824e-02 1.41946965e-03 9.98909200e-01 -2.44728884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.333133365 meters Centerline goodness : 0.106625 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.24 [[ 9.98911038e-01 4.62674671e-03 -4.64255389e-02 -2.34502710e+00] [-4.67872452e-03 9.99988544e-01 -1.01099236e-03 1.14049666e-01] [ 4.64203294e-02 1.22710374e-03 9.98921242e-01 -2.44817222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.363133365 meters Centerline goodness : 0.451811 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.24 [[ 9.98921455e-01 4.67022663e-03 -4.61964944e-02 -2.34561735e+00] [-4.71810649e-03 9.99988440e-01 -9.27454861e-04 1.13625345e-01] [ 4.61916289e-02 1.14441454e-03 9.98931941e-01 -2.44771258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.393133365 meters Centerline goodness : 0.102347 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.11, Z:-0.24 [[ 9.98926342e-01 4.71039072e-03 -4.60866142e-02 -2.34585353e+00] [-4.75622321e-03 9.99988298e-01 -8.84878453e-04 1.13520182e-01] [ 4.60819068e-02 1.10312662e-03 9.98937056e-01 -2.44843153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42313336499996 meters Centerline goodness : 0.103813 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.98899179e-01 4.80562733e-03 -4.66619381e-02 -2.34382579e+00] [-4.85634495e-03 9.99987734e-01 -9.73611424e-04 1.14512887e-01] [ 4.66566869e-02 1.19914612e-03 9.98910264e-01 -2.45949765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.453133365 meters Centerline goodness : 0.104088 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.11, Z:-0.25 [[ 9.98889319e-01 4.76712188e-03 -4.68764660e-02 -2.34298933e+00] [-4.82303963e-03 9.99987786e-01 -1.07984084e-03 1.14924100e-01] [ 4.68707457e-02 1.30472854e-03 9.98900111e-01 -2.46468033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48313336499996 meters Centerline goodness : 0.096254 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.11, Z:-0.25 [[ 9.98788089e-01 4.14314342e-03 -4.90427052e-02 -2.38807173e+00] [-4.21707570e-03 9.99990122e-01 -1.40413311e-03 1.11424148e-01] [ 4.90364033e-02 1.60924822e-03 9.98795696e-01 -2.47731198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.513133365 meters Centerline goodness : 0.251946 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.25 [[ 9.98825068e-01 -3.38573680e-03 -4.83427368e-02 -2.37024430e+00] [ 3.38813510e-03 9.99994260e-01 -3.23335407e-05 1.16203154e-01] [ 4.83425687e-02 -1.31496172e-04 9.98830806e-01 -2.45260007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54313336499996 meters Centerline goodness : 0.091919 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.12, Z:-0.24 [[ 9.98840258e-01 -3.33439056e-03 -4.80314585e-02 -2.37123680e+00] [ 3.34675928e-03 9.99994384e-01 1.77093660e-04 1.15128385e-01] [ 4.80305982e-02 -3.37638006e-04 9.98845808e-01 -2.44856038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.573133365 meters Centerline goodness : 0.450253 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.11, Z:-0.25 [[ 9.98842116e-01 -3.34541639e-03 -4.79920398e-02 -2.37116455e+00] [ 3.36038330e-03 9.99994327e-01 2.31183099e-04 1.14572072e-01] [ 4.79909942e-02 -3.92187065e-04 9.98847691e-01 -2.45069642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60313336499996 meters Centerline goodness : 0.091035 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.11, Z:-0.25 [[ 9.98833806e-01 -3.39705626e-03 -4.81610675e-02 -2.37049316e+00] [ 3.41026033e-03 9.99994167e-01 1.91998755e-04 1.14424611e-01] [ 4.81601344e-02 -3.56016625e-04 9.98839564e-01 -2.45472160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.633133365 meters Centerline goodness : 0.097700 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.11, Z:-0.25 [[ 9.98822712e-01 -3.43631571e-03 -4.83878348e-02 -2.36961138e+00] [ 3.44522875e-03 9.99994060e-01 1.00798625e-04 1.14843510e-01] [ 4.83872010e-02 -2.67387115e-04 9.98828618e-01 -2.46002827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66313336499996 meters Centerline goodness : 0.103610 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.11, Z:-0.25 [[ 9.98643882e-01 -1.74637597e-03 -5.20321816e-02 -2.41055521e+00] [ 1.83808531e-03 9.99996841e-01 1.71475027e-03 1.13875180e-01] [ 5.20290226e-02 -1.80806445e-03 9.98643936e-01 -2.48651264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.693133365 meters Centerline goodness : 0.131342 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.11, Z:-0.25 [[ 9.98657090e-01 6.63472027e-03 -5.13809088e-02 -2.39004281e+00] [-6.60440196e-03 9.99977902e-01 7.59831103e-04 1.14742532e-01] [ 5.13848147e-02 -4.19470543e-04 9.98678840e-01 -2.47133600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72313336499997 meters Centerline goodness : 0.108256 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.25 [[ 9.98668228e-01 6.47615437e-03 -5.11842815e-02 -2.39062977e+00] [-6.46591079e-03 9.99979029e-01 3.65715577e-04 1.16749350e-01] [ 5.11855765e-02 -3.42755289e-05 9.98689159e-01 -2.47057823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.753133365 meters Centerline goodness : 0.093530 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.12, Z:-0.25 [[ 9.98680788e-01 6.34846211e-03 -5.09546912e-02 -2.39140454e+00] [-6.35439949e-03 9.99979810e-01 4.54765965e-05 1.18406810e-01] [ 5.09539511e-02 2.78369861e-04 9.98700965e-01 -2.46806628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78313336499997 meters Centerline goodness : 0.092570 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.13, Z:-0.24 [[ 9.98708575e-01 -9.16798152e-04 -5.07970712e-02 -2.37465827e+00] [ 9.78394546e-04 9.99998816e-01 1.18774479e-03 1.27346282e-01] [ 5.07959221e-02 -1.23591048e-03 9.98708289e-01 -2.43940144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.813133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 366.84313336499997 meters Centerline goodness : 0.200392 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98715286e-01 -1.08880790e-03 -5.06615435e-02 -2.37527400e+00] [ 1.13697725e-03 9.99998929e-01 9.21997879e-04 1.28390707e-01] [ 5.06604853e-02 -9.78414398e-04 9.98715454e-01 -2.43528467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.873133365 meters Centerline goodness : 0.411385 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98721840e-01 -1.12750210e-03 -5.05313223e-02 -2.37600451e+00] [ 1.17661522e-03 9.99998864e-01 9.42197769e-04 1.28098480e-01] [ 5.05302026e-02 -1.00044941e-03 9.98722032e-01 -2.42874896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.903133365 meters Centerline goodness : 0.411385 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98721840e-01 -1.12750210e-03 -5.05313223e-02 -2.37600451e+00] [ 1.17661522e-03 9.99998864e-01 9.42197769e-04 1.28098480e-01] [ 5.05302026e-02 -1.00044941e-03 9.98722032e-01 -2.42874896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.933133365 meters Centerline goodness : 0.114447 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98728444e-01 -1.16108384e-03 -5.03998655e-02 -2.37667205e+00] [ 1.21085286e-03 9.99998809e-01 9.56961770e-04 1.27944544e-01] [ 5.03986944e-02 -1.01677176e-03 9.98728661e-01 -2.42327789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.963133365 meters Centerline goodness : 0.091811 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98733671e-01 -1.11955628e-03 -5.02971264e-02 -2.37709686e+00] [ 1.17501235e-03 9.99998734e-01 1.07301436e-03 1.27727006e-01] [ 5.02958614e-02 -1.13075531e-03 9.98733722e-01 -2.42054039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.993133365 meters Centerline goodness : 0.090236 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98724964e-01 -1.13443813e-03 -5.04693964e-02 -2.37642396e+00] [ 1.19177512e-03 9.99998678e-01 1.10599584e-03 1.27265624e-01] [ 5.04680750e-02 -1.16473383e-03 9.98724996e-01 -2.42384199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.023133365 meters Centerline goodness : 0.444556 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.13, Z:-0.24 [[ 9.98711384e-01 -1.14207061e-03 -5.07372369e-02 -2.37527996e+00] [ 1.20292680e-03 9.99998593e-01 1.16891840e-03 1.26605614e-01] [ 5.07358305e-02 -1.22844530e-03 9.98711353e-01 -2.43066042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.053133365 meters Centerline goodness : 0.118541 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98543628e-01 -1.90376169e-03 -5.39165962e-02 -2.41752179e+00] [ 1.95088137e-03 9.99997760e-01 8.21319108e-04 1.21430233e-01] [ 5.39149118e-02 -9.25307845e-04 9.98545105e-01 -2.45420625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.083133365 meters Centerline goodness : 0.411124 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98522821e-01 -1.78875547e-03 -5.43044729e-02 -2.41635974e+00] [ 1.85427574e-03 9.99997612e-01 1.15617449e-03 1.19656989e-01] [ 5.43022751e-02 -1.25516208e-03 9.98523754e-01 -2.45732744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.113133365 meters Centerline goodness : 0.238270 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98524930e-01 -1.66822472e-03 -5.42695207e-02 -2.41660795e+00] [ 1.76073824e-03 9.99997077e-01 1.65693710e-03 1.16434660e-01] [ 5.42665980e-02 -1.75004742e-03 9.98524949e-01 -2.45361760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.143133365 meters Centerline goodness : 0.270160 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.12, Z:-0.25 [[ 9.98538648e-01 -1.59893706e-03 -5.40186192e-02 -2.41737885e+00] [ 1.70320848e-03 9.99996774e-01 1.88430569e-03 1.15040602e-01] [ 5.40154321e-02 -1.97355703e-03 9.98538151e-01 -2.45073288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17313336499996 meters Centerline goodness : 0.094164 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.11, Z:-0.25 [[ 9.98547436e-01 6.21954357e-03 -5.35194872e-02 -2.43653433e+00] [-6.17691998e-03 9.99980460e-01 9.61788610e-04 1.08238163e-01] [ 5.35244233e-02 -6.29805961e-04 9.98566342e-01 -2.47385462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.203133365 meters Centerline goodness : 0.219643 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.11, Z:-0.25 [[ 9.98546791e-01 6.30183065e-03 -5.35218893e-02 -2.43632837e+00] [-6.25645725e-03 9.99979913e-01 1.01526221e-03 1.08387053e-01] [ 5.35272122e-02 -6.78929407e-04 9.98566160e-01 -2.47660616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23313336499996 meters Centerline goodness : 0.177373 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.11, Z:-0.25 [[ 9.98522181e-01 6.47169212e-03 -5.39589866e-02 -2.43455610e+00] [-6.42630230e-03 9.99978836e-01 1.01465537e-03 1.09187775e-01] [ 5.39644111e-02 -6.66399136e-04 9.98542637e-01 -2.48734441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.263133365 meters Centerline goodness : 0.451840 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.11, Z:-0.25 [[ 9.98520455e-01 6.46824985e-03 -5.39913123e-02 -2.43433025e+00] [-6.42445743e-03 9.99978878e-01 9.84622674e-04 1.09259782e-01] [ 5.39965407e-02 -6.36300993e-04 9.98540920e-01 -2.48969438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29313336499996 meters Centerline goodness : 0.097635 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98591065e-01 -1.76063422e-03 -5.30356946e-02 -2.45575512e+00] [ 1.85746976e-03 9.99996697e-01 1.77662050e-03 1.11706701e-01] [ 5.30323914e-02 -1.87262956e-03 9.98591037e-01 -2.51170395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.323133365 meters Centerline goodness : 0.444016 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98610991e-01 -1.69478508e-03 -5.26613322e-02 -2.45695951e+00] [ 1.79973783e-03 9.99996488e-01 1.94561813e-03 1.10958034e-01] [ 5.26578498e-02 -2.03769224e-03 9.98610534e-01 -2.50667109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35313336499996 meters Centerline goodness : 0.106732 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98626568e-01 -1.58338074e-03 -5.23685940e-02 -2.45793678e+00] [ 1.70117669e-03 9.99996122e-01 2.20486438e-03 1.09807250e-01] [ 5.23648998e-02 -2.29092438e-03 9.98625390e-01 -2.50128605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.383133365 meters Centerline goodness : 0.454308 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.11, Z:-0.25 [[ 9.98715083e-01 -2.52742361e-03 -5.06141816e-02 -2.41354594e+00] [ 2.60750034e-03 9.99995451e-01 1.51613248e-03 1.10983772e-01] [ 5.06101195e-02 -1.64616087e-03 9.98717130e-01 -2.48658471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41313336499996 meters Centerline goodness : 0.374769 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.11, Z:-0.25 [[ 9.98624349e-01 -3.28499859e-03 -5.23318184e-02 -2.45849986e+00] [ 3.36384506e-03 9.99993336e-01 1.41865656e-03 1.05317252e-01] [ 5.23268093e-02 -1.59274111e-03 9.98628744e-01 -2.50956425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.443133365 meters Centerline goodness : 0.410029 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98631787e-01 -3.16675441e-03 -5.21969910e-02 -2.45860295e+00] [ 3.25975871e-03 9.99993247e-01 1.69675763e-03 1.04083978e-01] [ 5.21912653e-02 -1.86458570e-03 9.98635366e-01 -2.51158101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47313336499997 meters Centerline goodness : 0.101561 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98639239e-01 -3.05741251e-03 -5.20607583e-02 -2.45861396e+00] [ 3.16125025e-03 9.99993175e-01 1.91232139e-03 1.03333561e-01] [ 5.20545562e-02 -2.07429626e-03 9.98642088e-01 -2.51461616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.503133365 meters Centerline goodness : 0.173921 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98644441e-01 -2.91399060e-03 -5.19691226e-02 -2.45795516e+00] [ 3.02803597e-03 9.99993177e-01 2.11588286e-03 1.02777663e-01] [ 5.19626023e-02 -2.27037903e-03 9.98646451e-01 -2.52475945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53313336499997 meters Centerline goodness : 0.089854 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98640061e-01 -2.88911892e-03 -5.20546064e-02 -2.45716157e+00] [ 3.00391971e-03 9.99993226e-01 2.12728943e-03 1.02669944e-01] [ 5.20481077e-02 -2.28076431e-03 9.98641974e-01 -2.53299586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.563133365 meters Centerline goodness : 0.090511 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98641328e-01 -2.81314361e-03 -5.20344553e-02 -2.45667140e+00] [ 2.93411073e-03 9.99993168e-01 2.24850706e-03 1.02197161e-01] [ 5.20277744e-02 -2.39812693e-03 9.98642759e-01 -2.53998216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59313336499997 meters Centerline goodness : 0.100085 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.25 [[ 9.98648356e-01 -2.71759153e-03 -5.19044826e-02 -2.45662991e+00] [ 2.84574298e-03 9.99993082e-01 2.39524245e-03 1.01824659e-01] [ 5.18976142e-02 -2.53971175e-03 9.98649181e-01 -2.54403263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.623133365 meters Centerline goodness : 0.145780 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.26 [[ 0.99866821 -0.00261559 -0.05152629 -2.45674131] [ 0.00275346 0.99999282 0.00260505 0.10079182] [ 0.05151911 -0.00274346 0.99866824 -0.255181 ] [ 0. 0. 0. 1. ]] SLAMing on 367.653133365 meters Centerline goodness : 0.365498 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.10, Z:-0.26 [[ 0.99868198 -0.00261953 -0.05125858 -2.45699528] [ 0.00276098 0.99999257 0.00268887 0.09988085] [ 0.05125116 -0.00282685 0.9986818 -0.25564541] [ 0. 0. 0. 1. ]] SLAMing on 367.683133365 meters Centerline goodness : 0.092463 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.25 [[ 9.98676944e-01 4.89001825e-03 -5.11903251e-02 -2.43823088e+00] [-4.83908356e-03 9.99987666e-01 1.11889810e-03 9.68603525e-02] [ 5.11951651e-02 -8.69703474e-04 9.98688289e-01 -2.52799423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.713133365 meters Centerline goodness : 0.123235 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.25 [[ 9.98697409e-01 4.96519203e-03 -5.07821931e-02 -2.43886241e+00] [-4.90893735e-03 9.99987192e-01 1.23242843e-03 9.66465645e-02] [ 5.07876619e-02 -9.81536477e-04 9.98708992e-01 -2.53162452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.743133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 367.773133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 367.803133365 meters Centerline goodness : 0.192690 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.25 [[ 9.98755880e-01 5.31580337e-03 -4.95826078e-02 -2.44018578e+00] [-5.25784679e-03 9.99985333e-01 1.29924602e-03 9.91074741e-02] [ 4.95887872e-02 -1.03693185e-03 9.98769181e-01 -2.54770050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.833133365 meters Centerline goodness : 0.172803 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98753661e-01 5.25893552e-03 -4.96333469e-02 -2.43949471e+00] [-5.20860281e-03 9.99985781e-01 1.14337680e-03 1.00009360e-01] [ 4.96386542e-02 -8.83431378e-04 9.98766851e-01 -2.55531616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.863133365 meters Centerline goodness : 0.125551 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98752576e-01 5.22411560e-03 -4.96588448e-02 -2.43886764e+00] [-5.17810621e-03 9.99986037e-01 1.05511392e-03 1.00520269e-01] [ 4.96636634e-02 -7.96658972e-04 9.98765681e-01 -2.56305378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.893133365 meters Centerline goodness : 0.128721 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98768350e-01 5.08796417e-03 -4.93547959e-02 -2.43918938e+00] [-5.04137367e-03 9.99986721e-01 1.06843002e-03 9.95351022e-02] [ 4.93595767e-02 -8.18298123e-04 9.98780738e-01 -2.56506967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92313336499996 meters Centerline goodness : 0.133208 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.10, Z:-0.26 [[ 9.98790803e-01 5.05556583e-03 -4.89016714e-02 -2.44032064e+00] [-4.99891435e-03 9.99986685e-01 1.28070959e-03 9.79048159e-02] [ 4.89074950e-02 -1.03470569e-03 9.98802776e-01 -2.56213239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.953133365 meters Centerline goodness : 0.142318 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.25 [[ 0.9988279 -0.00279109 -0.04832219 -2.42166025] [ 0.00292499 0.99999208 0.00270049 0.10122045] [ 0.04831427 -0.00283867 0.99882815 -0.25341576] [ 0. 0. 0. 1. ]] SLAMing on 367.98313336499996 meters Centerline goodness : 0.168216 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.25 [[ 0.99884336 -0.00272024 -0.0480056 -2.42228012] [ 0.00287126 0.99999114 0.00307715 0.09928538] [ 0.0479968 -0.00321143 0.99884233 -0.25330223] [ 0. 0. 0. 1. ]] SLAMing on 368.013133365 meters Centerline goodness : 0.101791 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.10, Z:-0.25 [[ 0.99885145 -0.00269478 -0.04783846 -2.42227432] [ 0.00286178 0.99999005 0.00342266 0.09702666] [ 0.04782876 -0.00355563 0.99884922 -0.25356767] [ 0. 0. 0. 1. ]] SLAMing on 368.04313336499996 meters Centerline goodness : 0.104714 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.25 [[ 0.99886143 -0.00274905 -0.04762648 -2.42220318] [ 0.00292981 0.99998877 0.00372591 0.09446017] [ 0.0476157 -0.00386121 0.99885827 -0.25407015] [ 0. 0. 0. 1. ]] SLAMing on 368.073133365 meters Centerline goodness : 0.093276 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.09, Z:-0.26 [[ 9.98890947e-01 -5.64992120e-03 -4.67434870e-02 -2.42158370e+00] [ 5.73488315e-03 9.99982138e-01 1.68371238e-03 8.92554371e-02] [ 4.67331392e-02 -1.94991349e-03 9.98905507e-01 -2.56565738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10313336499996 meters Centerline goodness : 0.103086 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.08, Z:-0.26 [[ 9.99134526e-01 -2.72192956e-03 -4.15064957e-02 -2.45664303e+00] [ 2.81523421e-03 9.99993640e-01 2.18966813e-03 8.12361826e-02] [ 4.15002716e-02 -2.30462354e-03 9.99135835e-01 -2.62902606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.133133365 meters Centerline goodness : 0.091911 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.08, Z:-0.26 [[ 9.99166845e-01 2.86983851e-03 -4.07109379e-02 -2.43431379e+00] [-2.89500845e-03 9.99995653e-01 -5.59319688e-04 7.94105715e-02] [ 4.07091558e-02 6.76712198e-04 9.99170810e-01 -2.62076363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16313336499996 meters Centerline goodness : 0.155821 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.99206509e-01 3.08836053e-03 -3.97091312e-02 -2.43557640e+00] [-3.08355243e-03 9.99995229e-01 1.82329339e-04 7.46605376e-02] [ 3.97095048e-02 -5.97394749e-05 9.99211265e-01 -2.62967257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.193133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.22313336499997 meters Centerline goodness : 0.110445 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.26 [[ 9.99266210e-01 3.48210095e-03 -3.81433674e-02 -2.43773048e+00] [-3.45434617e-03 9.99993719e-01 7.93523985e-04 7.29625732e-02] [ 3.81458910e-02 -6.61181310e-04 9.99271962e-01 -2.64474287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.253133365 meters Centerline goodness : 0.090763 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99305206e-01 3.72509227e-03 -3.70840909e-02 -2.43942549e+00] [-3.68838998e-03 9.99992638e-01 1.05806945e-03 7.30551943e-02] [ 3.70877593e-02 -9.20553721e-04 9.99311588e-01 -2.65183414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28313336499997 meters Centerline goodness : 0.107831 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99344715e-01 3.87510769e-03 -3.59878285e-02 -2.44114510e+00] [-3.83296967e-03 9.99991886e-01 1.23981531e-03 7.30502200e-02] [ 3.59923409e-02 -1.10106262e-03 9.99351459e-01 -2.66025567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.313133365 meters Centerline goodness : 0.115755 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99406433e-01 3.96672558e-03 -3.42205690e-02 -2.44322847e+00] [-3.92062609e-03 9.99991314e-01 1.41412609e-03 7.25796845e-02] [ 3.42258812e-02 -1.27912065e-03 9.99413304e-01 -2.68263504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34313336499997 meters Centerline goodness : 0.092559 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.07, Z:-0.27 [[ 9.99426993e-01 3.93989819e-03 -3.36178940e-02 -2.44350802e+00] [-3.89366890e-03 9.99991382e-01 1.44049581e-03 7.21159220e-02] [ 3.36232796e-02 -1.30877345e-03 9.99433721e-01 -2.69713544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.373133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.403133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.433133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.463133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.493133365 meters Centerline goodness : 0.129885 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.06, Z:-0.29 [[ 9.99746273e-01 1.52956906e-03 -2.24733063e-02 -2.49160453e+00] [-1.46871679e-03 9.99995211e-01 2.72401390e-03 6.44069864e-02] [ 2.24773652e-02 -2.69031582e-03 9.99743732e-01 -2.91497576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.523133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.553133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.583133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.613133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.643133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.67313336499996 meters Centerline goodness : 0.129458 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.06, Z:-0.31 [[ 0.99991135 0.004944 -0.01236303 -2.48403825] [-0.0048793 0.99997427 0.00525792 0.06482473] [ 0.01238871 -0.00519713 0.99990975 -0.31278654] [ 0. 0. 0. 1. ]] SLAMing on 368.703133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.73313336499996 meters Centerline goodness : 0.146459 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.06, Z:-0.33 [[ 9.99980103e-01 6.08481710e-03 1.66406180e-03 -2.53508881e+00] [-6.09623295e-03 9.99957311e-01 6.94342940e-03 6.09262305e-02] [-1.62174127e-03 -6.95343576e-03 9.99974510e-01 -3.33346386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.763133365 meters Centerline goodness : 0.132557 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.33 [[ 9.99995540e-01 -1.91726168e-03 2.29001404e-03 -2.51480333e+00] [ 1.89940528e-03 9.99967975e-01 7.77439025e-03 6.36420229e-02] [-2.30484625e-03 -7.77000591e-03 9.99967157e-01 -3.33390679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79313336499996 meters Centerline goodness : 0.132557 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.33 [[ 9.99995540e-01 -1.91726168e-03 2.29001404e-03 -2.51480333e+00] [ 1.89940528e-03 9.99967975e-01 7.77439025e-03 6.36420229e-02] [-2.30484625e-03 -7.77000591e-03 9.99967157e-01 -3.33390679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.823133365 meters Centerline goodness : 0.129751 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.06, Z:-0.34 [[ 9.99992785e-01 -1.91095050e-03 3.28291244e-03 -2.51542525e+00] [ 1.88477718e-03 9.99966564e-01 7.95726940e-03 6.20993047e-02] [-3.29800862e-03 -7.95102444e-03 9.99962951e-01 -3.35822000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.883133365 meters Centerline goodness : 0.134181 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.06, Z:-0.35 [[ 0.9999026 -0.00272533 0.01368831 -2.52859139] [ 0.00259318 0.99994995 0.00966272 0.05636622] [-0.01371396 -0.00962629 0.99985962 -0.35313362] [ 0. 0. 0. 1. ]] SLAMing on 368.91313336499996 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.943133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 368.97313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.003133365 meters Centerline goodness : 0.164791 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.05, Z:-0.38 [[ 0.99960863 -0.00355615 0.02774765 -2.54790491] [ 0.00324794 0.99993262 0.0111446 0.05036082] [-0.02778542 -0.01105012 0.99955283 -0.37515773] [ 0. 0. 0. 1. ]] SLAMing on 369.03313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.063133365 meters Centerline goodness : 0.190033 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.05, Z:-0.39 [[ 0.99949977 -0.00508076 0.03121524 -2.54795964] [ 0.00478103 0.99994182 0.00966899 0.05044486] [-0.03126255 -0.00951491 0.99946592 -0.38597129] [ 0. 0. 0. 1. ]] SLAMing on 369.09313336499997 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.123133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.153133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.183133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.213133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.243133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.273133365 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 369.303133365 meters Centerline goodness : 0.186009 Centerline is valid? [False, False] Translation: X:-2.57, Y:0.04, Z:-0.44 [[ 0.99775636 -0.02767488 0.06096181 -2.57206323] [ 0.02702873 0.99956967 0.01139869 0.04078388] [-0.06125104 -0.0097254 0.99807501 -0.44352316] [ 0. 0. 0. 1. ]] SLAMing on 369.333133365 meters Centerline goodness : 0.214067 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.04, Z:-0.45 [[ 0.99788003 -0.02237609 0.06111261 -2.54977227] [ 0.02195242 0.99973017 0.00759522 0.03855845] [-0.06126607 -0.00623755 0.99810198 -0.44525295] [ 0. 0. 0. 1. ]] SLAMing on 369.363133365 meters Centerline goodness : 0.215313 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.45 [[ 0.99794741 -0.01695555 0.06175342 -2.52805859] [ 0.01675653 0.99985261 0.00373933 0.03635512] [-0.06180772 -0.00269688 0.99808443 -0.4468321 ] [ 0. 0. 0. 1. ]] SLAMing on 369.393133365 meters Centerline goodness : 0.211413 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.03, Z:-0.45 [[ 9.97982589e-01 -9.52415538e-03 6.27697545e-02 -2.50955324e+00] [ 9.42216410e-03 9.99953766e-01 1.92065926e-03 3.16610563e-02] [-6.27851450e-02 -1.32535757e-03 9.98026187e-01 -4.46598540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42313336499996 meters Centerline goodness : 0.246761 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.03, Z:-0.45 [[ 0.99778136 -0.0088552 0.06598434 -2.51126819] [ 0.00865482 0.99995703 0.00332206 0.02638412] [-0.06601092 -0.00274361 0.99781513 -0.45472538] [ 0. 0. 0. 1. ]] SLAMing on 369.453133365 meters Centerline goodness : 0.141026 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.46 [[ 9.97837863e-01 -8.82038640e-04 6.57177444e-02 -2.48994945e+00] [ 7.68714554e-04 9.99998174e-01 1.74967268e-03 2.35934386e-02] [-6.57191677e-02 -1.69537146e-03 9.97836718e-01 -4.55151434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48313336499996 meters Centerline goodness : 0.233077 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.02, Z:-0.46 [[ 9.97685406e-01 5.76283954e-03 6.77541173e-02 -2.50746761e+00] [-5.70249836e-03 9.99983153e-01 -1.08396456e-03 2.10312630e-02] [-6.77592225e-02 6.95087884e-04 9.97701461e-01 -4.63977152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.513133365 meters Centerline goodness : 0.213463 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.47 [[ 9.97732432e-01 1.39673311e-04 6.73050860e-02 -2.48413665e+00] [-3.13973443e-04 9.99996625e-01 2.57913119e-03 2.11929677e-02] [-6.73044986e-02 -2.59441485e-03 9.97729108e-01 -4.66077705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54313336499996 meters Centerline goodness : 0.233309 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.48 [[ 9.97562668e-01 2.45173638e-04 6.97758093e-02 -2.48296565e+00] [-4.43717462e-04 9.99995897e-01 2.82996850e-03 1.96962366e-02] [-6.97748292e-02 -2.85403167e-03 9.97558684e-01 -4.76193902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.573133365 meters Centerline goodness : 0.219819 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.48 [[ 9.97505846e-01 2.46614852e-04 7.05834756e-02 -2.48335886e+00] [-4.54745833e-04 9.99995596e-01 2.93266743e-03 1.87741466e-02] [-7.05824416e-02 -2.95745045e-03 9.97501565e-01 -4.79148694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60313336499996 meters Centerline goodness : 0.138802 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.48 [[ 9.97450943e-01 2.02401137e-04 7.13552730e-02 -2.48369578e+00] [-4.16477141e-04 9.99995457e-01 2.98527762e-03 1.78873410e-02] [-7.13543446e-02 -3.00738582e-03 9.97446496e-01 -4.82071246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.633133365 meters Centerline goodness : 0.217839 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.49 [[ 9.97396974e-01 1.54364947e-04 7.21058468e-02 -2.48388748e+00] [-3.76471461e-04 9.99995227e-01 3.06670396e-03 1.67679797e-02] [-7.21050292e-02 -3.08586705e-03 9.97392271e-01 -4.85151142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66313336499996 meters Centerline goodness : 0.228542 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.02, Z:-0.49 [[ 9.97336669e-01 1.28856955e-04 7.29352532e-02 -2.48432111e+00] [-3.57348550e-04 9.99995070e-01 3.11976011e-03 1.61113020e-02] [-7.29344916e-02 -3.13751446e-03 9.97331798e-01 -4.88157667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.693133365 meters Centerline goodness : 0.162928 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.49 [[ 9.97258133e-01 1.10177919e-04 7.40013839e-02 -2.48517312e+00] [-3.45158340e-04 9.99994939e-01 3.16257059e-03 1.56449285e-02] [-7.40006610e-02 -3.17944144e-03 9.97253124e-01 -4.91361449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72313336499997 meters Centerline goodness : 0.161603 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.50 [[ 9.96992388e-01 4.45181023e-04 7.74982632e-02 -2.48661573e+00] [-7.24258406e-04 9.99993355e-01 3.57300979e-03 1.58349683e-02] [-7.74961576e-02 -3.61839233e-03 9.96986085e-01 -5.01314008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.753133365 meters Centerline goodness : 0.319285 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.02, Z:-0.51 [[ 9.96915437e-01 4.44087400e-04 7.84819356e-02 -2.48695313e+00] [-7.17549563e-04 9.99993770e-01 3.45622978e-03 1.67925257e-02] [-7.84799118e-02 -3.50188350e-03 9.96909545e-01 -5.05166453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78313336499997 meters Centerline goodness : 0.181488 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.52 [[ 9.96579752e-01 3.75887262e-04 8.26356816e-02 -2.52494504e+00] [-6.98086386e-04 9.99992267e-01 3.87017322e-03 1.62869751e-02] [-8.26335879e-02 -3.91462312e-03 9.96572308e-01 -5.18664943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.813133365 meters Centerline goodness : 0.244206 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.53 [[ 9.96399613e-01 1.25037613e-03 8.47717357e-02 -2.52201792e+00] [-1.65407291e-03 9.99987624e-01 4.69209393e-03 1.68787911e-02] [-8.47648196e-02 -4.81541921e-03 9.96389350e-01 -5.31388455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84313336499997 meters Centerline goodness : 0.280178 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.54 [[ 9.96281163e-01 1.19779295e-03 8.61534122e-02 -2.52292707e+00] [-1.59748757e-03 9.99988279e-01 4.57054284e-03 1.73082637e-02] [-8.61469278e-02 -4.69117474e-03 9.96271399e-01 -5.35823799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.873133365 meters Centerline goodness : 0.277491 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.54 [[ 9.96174773e-01 1.10404716e-03 8.73762087e-02 -2.52375671e+00] [-1.49598132e-03 9.99989112e-01 4.42023893e-03 1.75287514e-02] [-8.73703772e-02 -4.53404369e-03 9.96165578e-01 -5.39857784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.903133365 meters Centerline goodness : 0.216034 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.54 [[ 9.96057614e-01 1.02277684e-03 8.87027775e-02 -2.52479522e+00] [-1.40729797e-03 9.99989883e-01 4.27250847e-03 1.79184566e-02] [-8.86975103e-02 -4.38049583e-03 9.96048976e-01 -5.43983991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.933133365 meters Centerline goodness : 0.214118 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.02, Z:-0.55 [[ 9.95973726e-01 9.54777781e-04 8.96405397e-02 -2.52518409e+00] [-1.32571459e-03 9.99990804e-01 4.07859990e-03 1.88902007e-02] [-8.96358212e-02 -4.18101611e-03 9.95965832e-01 -5.47803349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.963133365 meters Centerline goodness : 0.274842 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.02, Z:-0.55 [[ 9.95894340e-01 9.97775621e-04 9.05177815e-02 -2.52529557e+00] [-1.35982554e-03 9.99991321e-01 3.93818314e-03 2.07056410e-02] [-9.05130664e-02 -4.04510269e-03 9.95887053e-01 -5.51759024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.993133365 meters Centerline goodness : 0.231997 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.02, Z:-0.56 [[ 0.99578501 0.00290018 0.09167223 -2.52178521] [-0.00342298 0.99997876 0.00554623 0.02344904] [-0.0916542 -0.00583665 0.99577379 -0.56244215] [ 0. 0. 0. 1. ]] SLAMing on 370.023133365 meters Centerline goodness : 0.275406 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.02, Z:-0.58 [[ 0.99555824 0.00319163 0.09409363 -2.55782533] [-0.00377334 0.99997485 0.00600494 0.02287508] [-0.0940721 -0.00633332 0.99554524 -0.57565911] [ 0. 0. 0. 1. ]] SLAMing on 370.053133365 meters Centerline goodness : 0.221757 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.03, Z:-0.57 [[ 0.99582993 0.00341997 0.09116499 -2.51533294] [-0.00387467 0.99998092 0.00481115 0.02663025] [-0.0911468 -0.00514433 0.99582418 -0.5740281 ] [ 0. 0. 0. 1. ]] SLAMing on 370.083133365 meters Centerline goodness : 0.188037 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.03, Z:-0.58 [[ 0.99580066 0.0033081 0.09148829 -2.5144458 ] [-0.00373728 0.9999828 0.00452016 0.02775526] [-0.09147176 -0.0048431 0.99579589 -0.57761263] [ 0. 0. 0. 1. ]] SLAMing on 370.113133365 meters Centerline goodness : 0.203489 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.59 [[ 9.95705455e-01 -2.80584500e-03 9.25352585e-02 -2.52889495e+00] [ 2.00063130e-03 9.99959337e-01 8.79331209e-03 2.75251497e-02] [-9.25561684e-02 -8.57041988e-03 9.95670580e-01 -5.91046315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.143133365 meters Centerline goodness : 0.168218 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.59 [[ 9.95643073e-01 -2.90468028e-03 9.32010415e-02 -2.52872573e+00] [ 2.10114076e-03 9.99959785e-01 8.71854233e-03 2.73196019e-02] [-9.32226181e-02 -8.48472777e-03 9.95609137e-01 -5.94591745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17313336499996 meters Centerline goodness : 0.144166 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.60 [[ 9.95569715e-01 -3.01863797e-03 9.39778172e-02 -2.52882030e+00] [ 2.21259863e-03 9.99959881e-01 8.67992790e-03 2.66683484e-02] [-9.40002485e-02 -8.43353816e-03 9.95536453e-01 -5.98055575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.203133365 meters Centerline goodness : 0.238993 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.61 [[ 0.99540044 -0.00418835 0.09571006 -2.52764377] [ 0.00352113 0.99996832 0.00713916 0.0280225 ] [-0.09573693 -0.00676931 0.99538365 -0.60704429] [ 0. 0. 0. 1. ]] SLAMing on 370.23313336499996 meters Centerline goodness : 0.214303 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.62 [[ 0.99513522 -0.00376731 0.09844647 -2.56439176] [ 0.00298442 0.99996275 0.00809849 0.02623571] [-0.09847332 -0.00776529 0.99510939 -0.6195359 ] [ 0. 0. 0. 1. ]] SLAMing on 370.263133365 meters Centerline goodness : 0.157358 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.62 [[ 0.99508208 -0.00366625 0.09898595 -2.56413039] [ 0.00287425 0.99996272 0.00814265 0.0268836 ] [-0.09901212 -0.00781809 0.99505552 -0.62279402] [ 0. 0. 0. 1. ]] SLAMing on 370.29313336499996 meters Centerline goodness : 0.215062 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.63 [[ 0.99504549 -0.00356968 0.09935663 -2.56343132] [ 0.00276828 0.99996253 0.00820254 0.02710042] [-0.09938219 -0.00788686 0.99501808 -0.62612308] [ 0. 0. 0. 1. ]] SLAMing on 370.323133365 meters Centerline goodness : 0.212980 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.63 [[ 0.99503304 -0.00346746 0.0994848 -2.56208853] [ 0.00265824 0.99996231 0.00826551 0.0272568 ] [-0.09950971 -0.00796 0.99500475 -0.62960997] [ 0. 0. 0. 1. ]] SLAMing on 370.35313336499996 meters Centerline goodness : 0.212528 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.03, Z:-0.63 [[ 9.95038080e-01 -3.35401229e-03 9.94382682e-02 -2.56030434e+00] [ 2.54173508e-03 9.99962372e-01 8.29422012e-03 2.76870768e-02] [-9.94623455e-02 -8.00031913e-03 9.95009164e-01 -6.33178263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.383133365 meters Centerline goodness : 0.213488 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.64 [[ 9.95073710e-01 -1.47441906e-03 9.91268744e-02 -2.55407819e+00] [ 4.46746187e-04 9.99945937e-01 1.03886456e-02 2.63496655e-02] [-9.91368325e-02 -1.02931835e-02 9.95020572e-01 -6.42587938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41313336499996 meters Centerline goodness : 0.213792 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.65 [[ 9.95050328e-01 -1.42836030e-03 9.93619898e-02 -2.55325563e+00] [ 3.98459458e-04 9.99946003e-01 1.03842119e-02 2.65844206e-02] [-9.93714570e-02 -1.02932218e-02 9.94997167e-01 -6.45608660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.443133365 meters Centerline goodness : 0.211467 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.65 [[ 9.95003616e-01 -1.39275761e-03 9.98291778e-02 -2.55306467e+00] [ 3.55387636e-04 9.99945767e-01 1.04084809e-02 2.65067366e-02] [-9.98382603e-02 -1.03209981e-02 9.94950149e-01 -6.48433756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47313336499997 meters Centerline goodness : 0.210524 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.65 [[ 9.94938699e-01 -1.34860653e-03 1.00474709e-01 -2.55330831e+00] [ 2.97488822e-04 9.99945083e-01 1.04757639e-02 2.61329991e-02] [-1.00483319e-01 -1.03928528e-02 9.94884461e-01 -6.51208996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.503133365 meters Centerline goodness : 0.208127 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.02, Z:-0.66 [[ 9.94829314e-01 3.61024093e-04 1.01560351e-01 -2.55096415e+00] [-1.62810808e-03 9.99921871e-01 1.23935546e-02 2.41136037e-02] [-1.01547942e-01 -1.24948226e-02 9.94752178e-01 -6.59649892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53313336499997 meters Centerline goodness : 0.207798 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.03, Z:-0.66 [[ 9.94783398e-01 5.37224946e-04 1.02008348e-01 -2.55038135e+00] [-1.81192736e-03 9.99921428e-01 1.24038135e-02 2.52899801e-02] [-1.01993669e-01 -1.25239395e-02 9.94706209e-01 -6.63180249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.563133365 meters Centerline goodness : 0.214098 Centerline is valid? [False, False] Translation: X:-2.55, Y:0.02, Z:-0.67 [[ 9.94823694e-01 1.43186550e-03 1.01605942e-01 -2.54693030e+00] [-2.79463129e-03 9.99908029e-01 1.32711886e-02 2.44901613e-02] [-1.01577595e-01 -1.34864440e-02 9.94736200e-01 -6.67704344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59313336499997 meters Centerline goodness : 0.207603 Centerline is valid? [False, False] Translation: X:-2.56, Y:0.02, Z:-0.68 [[ 0.99474799 0.01057232 0.10180701 -2.559499 ] [-0.01185796 0.99985731 0.01203129 0.0230668 ] [-0.10166529 -0.01317533 0.99473141 -0.68203196] [ 0. 0. 0. 1. ]] SLAMing on 370.623133365 meters Centerline goodness : 0.225615 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.02, Z:-0.68 [[ 0.99477308 0.00530234 0.10197256 -2.53702844] [-0.00700511 0.99984183 0.01634749 0.02435692] [-0.10186975 -0.01697637 0.99465288 -0.68431508] [ 0. 0. 0. 1. ]] SLAMing on 370.653133365 meters Centerline goodness : 0.228279 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99474118 0.0054512 0.10227546 -2.5360816 ] [-0.00714036 0.99984397 0.01615703 0.02665426] [-0.10217143 -0.01680235 0.99462489 -0.68777869] [ 0. 0. 0. 1. ]] SLAMing on 370.683133365 meters Centerline goodness : 0.157925 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99468359 0.00551229 0.10283078 -2.53582818] [-0.00718013 0.9998485 0.0158562 0.029178 ] [-0.1027278 -0.01651024 0.99457248 -0.69123349] [ 0. 0. 0. 1. ]] SLAMing on 370.713133365 meters Centerline goodness : 0.157925 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99468359 0.00551229 0.10283078 -2.53582818] [-0.00718013 0.9998485 0.0158562 0.029178 ] [-0.1027278 -0.01651024 0.99457248 -0.69123349] [ 0. 0. 0. 1. ]] SLAMing on 370.743133365 meters Centerline goodness : 0.204353 Centerline is valid? [False, False] Translation: X:-2.54, Y:0.03, Z:-0.69 [[ 0.99462149 0.00544273 0.10343336 -2.5357156 ] [-0.00708085 0.99985515 0.01547688 0.03142144] [-0.10333414 -0.01612603 0.99451597 -0.69472021] [ 0. 0. 0. 1. ]] SLAMing on 370.773133365 meters Centerline goodness : 0.213384 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.03, Z:-0.70 [[ 0.99458368 0.0053388 0.10380177 -2.53477813] [-0.00693643 0.99986289 0.01503629 0.03368126] [-0.10370726 -0.01567486 0.99448434 -0.69854406] [ 0. 0. 0. 1. ]] SLAMing on 370.803133365 meters Centerline goodness : 0.152218 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.71 [[ 0.99458325 0.00673179 0.10372482 -2.52793583] [-0.00842906 0.99983752 0.01593356 0.03845908] [-0.10360071 -0.01672155 0.9944784 -0.70987096] [ 0. 0. 0. 1. ]] SLAMing on 370.833133365 meters Centerline goodness : 0.236804 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.71 [[ 0.99456587 0.0066294 0.1038979 -2.52660256] [-0.00828511 0.99984535 0.01551251 0.04115625] [-0.10377899 -0.01628902 0.99446699 -0.71354151] [ 0. 0. 0. 1. ]] SLAMing on 370.863133365 meters Centerline goodness : 0.239688 Centerline is valid? [False, False] Translation: X:-2.53, Y:0.04, Z:-0.72 [[ 0.99453226 0.00649607 0.1042276 -2.52556207] [-0.00812035 0.999852 0.01516721 0.04302132] [-0.10411365 -0.01593064 0.99443781 -0.71732008] [ 0. 0. 0. 1. ]] SLAMing on 370.893133365 meters Centerline goodness : 0.203542 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.72 [[ 0.99449876 0.00561982 0.10459751 -2.52326571] [-0.00710646 0.99987889 0.01384565 0.04593097] [-0.10450703 -0.0145128 0.99441825 -0.72293664] [ 0. 0. 0. 1. ]] SLAMing on 370.92313336499996 meters Centerline goodness : 0.277496 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.73 [[ 0.99443874 0.00373571 0.10525039 -2.51931766] [-0.00497638 0.99992117 0.01152759 0.04716702] [-0.10519903 -0.01198725 0.99437894 -0.73253497] [ 0. 0. 0. 1. ]] SLAMing on 370.953133365 meters Centerline goodness : 0.093396 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.74 [[ 0.99439209 0.00361444 0.10569439 -2.51877128] [-0.00484313 0.99992362 0.01137064 0.04742247] [-0.10564522 -0.01181877 0.99433365 -0.73592546] [ 0. 0. 0. 1. ]] SLAMing on 370.98313336499996 meters Centerline goodness : 0.184088 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.74 [[ 0.99435962 0.00352403 0.1060025 -2.51786203] [-0.00473351 0.99992652 0.01116056 0.04863755] [-0.10595538 -0.01159937 0.99430323 -0.73938743] [ 0. 0. 0. 1. ]] SLAMing on 371.013133365 meters Centerline goodness : 0.093606 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.74 [[ 0.99433192 0.00351495 0.10626228 -2.51658481] [-0.00470747 0.99992871 0.01097372 0.05029715] [-0.10621613 -0.01141174 0.99427758 -0.74315702] [ 0. 0. 0. 1. ]] SLAMing on 371.04313336499996 meters Centerline goodness : 0.093826 Centerline is valid? [False, False] Translation: X:-2.52, Y:0.05, Z:-0.75 [[ 0.99430379 0.00345387 0.10652721 -2.51527708] [-0.00461156 0.99993294 0.0106231 0.05248851] [-0.10648337 -0.01105385 0.99425304 -0.74707728] [ 0. 0. 0. 1. ]] SLAMing on 371.073133365 meters Centerline goodness : 0.093851 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.05, Z:-0.75 [[ 0.99426749 0.00336838 0.10686821 -2.51442129] [-0.00449143 0.99993718 0.01026981 0.05428755] [-0.1068269 -0.01069093 0.99422016 -0.75061257] [ 0. 0. 0. 1. ]] SLAMing on 371.10313336499996 meters Centerline goodness : 0.094283 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.76 [[ 0.99423166 0.00513316 0.10713102 -2.5091682 ] [-0.00641914 0.99991139 0.01166244 0.05742644] [-0.10706166 -0.01228286 0.99417651 -0.76059458] [ 0. 0. 0. 1. ]] SLAMing on 371.133133365 meters Centerline goodness : 0.096629 Centerline is valid? [False, False] Translation: X:-2.51, Y:0.06, Z:-0.76 [[ 0.99425447 0.00531199 0.10691041 -2.50679016] [-0.00656592 0.99991369 0.01138014 0.06069246] [-0.10684073 -0.01201672 0.99420353 -0.76425326] [ 0. 0. 0. 1. ]] SLAMing on 371.16313336499996 meters Centerline goodness : 0.099461 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.07, Z:-0.78 [[ 0.99428261 0.00684836 0.10656073 -2.49920123] [-0.00819145 0.99989237 0.01217141 0.06781219] [-0.1064659 -0.01297471 0.9942317 -0.77527886] [ 0. 0. 0. 1. ]] SLAMing on 371.193133365 meters Centerline goodness : 0.099652 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.07, Z:-0.78 [[ 0.99426596 0.00664936 0.10672852 -2.49781207] [-0.0079196 0.99990272 0.01148218 0.07122048] [-0.10664179 -0.01226158 0.9942219 -0.77897527] [ 0. 0. 0. 1. ]] SLAMing on 371.22313336499997 meters Centerline goodness : 0.099288 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.08, Z:-0.78 [[ 0.9942324 0.00643359 0.10705392 -2.4972215 ] [-0.00762406 0.99991353 0.01071469 0.07535017] [-0.10697573 -0.01146908 0.99419548 -0.78214027] [ 0. 0. 0. 1. ]] SLAMing on 371.253133365 meters Centerline goodness : 0.098742 Centerline is valid? [False, False] Translation: X:-2.50, Y:0.08, Z:-0.79 [[ 0.99421242 0.00632496 0.10724577 -2.49619937] [-0.00742705 0.99992361 0.00988002 0.08076166] [-0.10717509 -0.01061936 0.99418345 -0.78531042] [ 0. 0. 0. 1. ]] SLAMing on 371.28313336499997 meters Centerline goodness : 0.099326 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.09, Z:-0.79 [[ 0.99425996 0.00681576 0.10677397 -2.49271108] [-0.00789537 0.99992186 0.00969171 0.08636453] [-0.10669957 -0.0104791 0.99423608 -0.7893986 ] [ 0. 0. 0. 1. ]] SLAMing on 371.313133365 meters Centerline goodness : 0.097613 Centerline is valid? [False, False] Translation: X:-2.49, Y:0.09, Z:-0.79 [[ 0.99431449 0.00702534 0.10625129 -2.48931135] [-0.00804187 0.99992588 0.00914181 0.091967 ] [-0.10617919 -0.00994429 0.99429728 -0.79321458] [ 0. 0. 0. 1. ]] SLAMing on 371.34313336499997 meters Centerline goodness : 0.091698 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.10, Z:-0.80 [[ 0.99431846 0.00830981 0.10612142 -2.48257916] [-0.00936903 0.99991111 0.00948664 0.1017723 ] [-0.10603315 -0.010427 0.99430792 -0.8033151 ] [ 0. 0. 0. 1. ]] SLAMing on 371.373133365 meters Centerline goodness : 0.087741 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.11, Z:-0.81 [[ 0.99429568 0.008007 0.1063578 -2.48160501] [-0.00899153 0.99992102 0.00878046 0.10549752] [-0.1062791 -0.00968669 0.99428915 -0.80641051] [ 0. 0. 0. 1. ]] SLAMing on 371.403133365 meters Centerline goodness : 0.345929 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.11, Z:-0.81 [[ 0.99427887 0.00769127 0.10653809 -2.48050581] [-0.00860915 0.99992966 0.00815824 0.10847813] [-0.10646785 -0.00902877 0.99427515 -0.80942756] [ 0. 0. 0. 1. ]] SLAMing on 371.433133365 meters Centerline goodness : 0.343710 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.11, Z:-0.81 [[ 0.99427106 0.00735053 0.10663504 -2.47898298] [-0.00820153 0.99993791 0.00754407 0.11152109] [-0.10657297 -0.00837542 0.99426961 -0.81260684] [ 0. 0. 0. 1. ]] SLAMing on 371.463133365 meters Centerline goodness : 0.346847 Centerline is valid? [False, False] Translation: X:-2.48, Y:0.12, Z:-0.82 [[ 0.99427837 0.00684898 0.10660021 -2.47678726] [-0.00761233 0.99994821 0.00675554 0.11539283] [-0.10654842 -0.00752836 0.99427901 -0.81609745] [ 0. 0. 0. 1. ]] SLAMing on 371.493133365 meters Centerline goodness : 0.082783 Centerline is valid? [False, False] Translation: X:-2.47, Y:0.12, Z:-0.83 [[ 0.99434067 0.00614612 0.10606065 -2.46681191] [-0.00675128 0.99996291 0.00534767 0.12499948] [-0.10602384 -0.00603345 0.99434528 -0.82856991] [ 0. 0. 0. 1. ]] SLAMing on 371.523133365 meters Centerline goodness : 0.074376 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.13, Z:-0.83 [[ 0.99435046 0.005505 0.10600408 -2.46378289] [-0.00597852 0.99997352 0.00414972 0.13044797] [-0.10597843 -0.00476003 0.99435704 -0.83321175] [ 0. 0. 0. 1. ]] SLAMing on 371.553133365 meters Centerline goodness : 0.214421 Centerline is valid? [False, False] Translation: X:-2.46, Y:0.14, Z:-0.84 [[ 0.99436748 0.0051893 0.10586025 -2.4614704 ] [-0.00557397 0.99997889 0.00333828 0.13517135] [-0.1058407 -0.00390954 0.99437541 -0.83662627] [ 0. 0. 0. 1. ]] SLAMing on 371.583133365 meters Centerline goodness : 0.223268 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.14, Z:-0.85 [[ 0.99441522 0.00629282 0.10535066 -2.45281155] [-0.0067004 0.99997137 0.00351535 0.14443311] [-0.10532552 -0.00420161 0.99442892 -0.84735897] [ 0. 0. 0. 1. ]] SLAMing on 371.613133365 meters Centerline goodness : 0.139199 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.15, Z:-0.85 [[ 0.99443319 0.00605405 0.105195 -2.45047421] [-0.00638226 0.99997576 0.00278369 0.1488274 ] [-0.1051756 -0.00343957 0.99444772 -0.85073871] [ 0. 0. 0. 1. ]] SLAMing on 371.643133365 meters Centerline goodness : 0.220262 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.15, Z:-0.85 [[ 9.94438111e-01 5.75661450e-03 1.05165133e-01 -2.44868179e+00] [-6.01042609e-03 9.99979739e-01 2.09669206e-03 1.52694850e-01] [-1.05150932e-01 -2.71711774e-03 9.94452562e-01 -8.53815290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67313336499996 meters Centerline goodness : 0.202011 Centerline is valid? [False, False] Translation: X:-2.45, Y:0.16, Z:-0.86 [[ 9.94440689e-01 5.48536482e-03 1.05155252e-01 -2.44701330e+00] [-5.67389738e-03 9.99982788e-01 1.49382945e-03 1.56046554e-01] [-1.05145248e-01 -2.08216489e-03 9.94454696e-01 -8.56483689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.703133365 meters Centerline goodness : 0.328307 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.16, Z:-0.87 [[ 9.94476358e-01 5.15393901e-03 1.04834206e-01 -2.43847400e+00] [-5.25692653e-03 9.99985933e-01 7.06092382e-04 1.62222389e-01] [-1.04829093e-01 -1.25329790e-03 9.94489462e-01 -8.67148256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73313336499996 meters Centerline goodness : 0.236714 Centerline is valid? [False, False] Translation: X:-2.44, Y:0.16, Z:-0.87 [[ 9.94502644e-01 4.99245535e-03 1.04592383e-01 -2.43589260e+00] [-5.05401569e-03 9.99987176e-01 3.23547875e-04 1.64471452e-01] [-1.04589427e-01 -8.50380764e-04 9.94515122e-01 -8.70317791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.763133365 meters Centerline goodness : 0.184441 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.17, Z:-0.87 [[ 9.94533417e-01 4.84250773e-03 1.04306435e-01 -2.43312845e+00] [-4.86048007e-03 9.99988184e-01 -8.18804370e-05 1.66717073e-01] [-1.04305599e-01 -4.25546518e-04 9.94545203e-01 -8.73531545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79313336499996 meters Centerline goodness : 0.304299 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.17, Z:-0.88 [[ 9.94551900e-01 4.70326745e-03 1.04136434e-01 -2.43099131e+00] [-4.67986882e-03 9.99988939e-01 -4.69028971e-04 1.69121648e-01] [-1.04137488e-01 -2.08711968e-05 9.94562911e-01 -8.76366821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.823133365 meters Centerline goodness : 0.215825 Centerline is valid? [False, False] Translation: X:-2.43, Y:0.17, Z:-0.88 [[ 9.94558367e-01 4.61431899e-03 1.04078635e-01 -2.42913867e+00] [-4.55653915e-03 9.99989305e-01 -7.92914900e-04 1.71521430e-01] [-1.04081181e-01 3.14361773e-04 9.94568755e-01 -8.79153889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85313336499996 meters Centerline goodness : 0.227747 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.17, Z:-0.89 [[ 9.94568478e-01 6.12815143e-03 1.03903747e-01 -2.42255463e+00] [-6.22733688e-03 9.99980411e-01 6.30213751e-04 1.73920117e-01] [-1.03897849e-01 -1.27383436e-03 9.94587158e-01 -8.87259579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.883133365 meters Centerline goodness : 0.074130 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.17, Z:-0.89 [[ 9.94572176e-01 6.11287777e-03 1.03869245e-01 -2.42037244e+00] [-6.20329007e-03 9.99980610e-01 5.47423451e-04 1.74657097e-01] [-1.03863885e-01 -1.18878319e-03 9.94590810e-01 -8.90092768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91313336499996 meters Centerline goodness : 0.124359 Centerline is valid? [False, False] Translation: X:-2.42, Y:0.17, Z:-0.89 [[ 9.94600662e-01 6.10045466e-03 1.03596851e-01 -2.41760812e+00] [-6.18803733e-03 9.99980717e-01 5.24041039e-04 1.74386519e-01] [-1.03591657e-01 -1.16227275e-03 9.94619233e-01 -8.93142469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.943133365 meters Centerline goodness : 0.251570 Centerline is valid? [False, False] Translation: X:-2.41, Y:0.17, Z:-0.90 [[ 9.94633369e-01 6.08424432e-03 1.03283313e-01 -2.41468635e+00] [-6.17235279e-03 9.99980809e-01 5.33488899e-04 1.74052353e-01] [-1.03278085e-01 -1.16812691e-03 9.94651835e-01 -8.96300969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97313336499997 meters Centerline goodness : 0.247647 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.91 [[ 9.94694756e-01 6.27724098e-03 1.02678817e-01 -2.40418466e+00] [-6.37045428e-03 9.99979540e-01 5.79914355e-04 1.75912495e-01] [-1.02673076e-01 -1.23094848e-03 9.94714393e-01 -9.07627896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.003133365 meters Centerline goodness : 0.278585 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.91 [[ 9.94713718e-01 6.27842897e-03 1.02494880e-01 -2.40184802e+00] [-6.36432542e-03 9.99979617e-01 5.11057762e-04 1.76640629e-01] [-1.02489583e-01 -1.16066694e-03 9.94733401e-01 -9.10189141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03313336499997 meters Centerline goodness : 0.250878 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.91 [[ 9.94722337e-01 6.26268957e-03 1.02412159e-01 -2.40001575e+00] [-6.33825290e-03 9.99979828e-01 4.12436404e-04 1.77215287e-01] [-1.02407510e-01 -1.05937387e-03 9.94741966e-01 -9.12452395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.063133365 meters Centerline goodness : 0.241535 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.92 [[ 9.94720557e-01 6.27329165e-03 1.02428800e-01 -2.39802100e+00] [-6.33334084e-03 9.99979910e-01 2.61046727e-04 1.78227505e-01] [-1.02425105e-01 -9.08385050e-04 9.94740304e-01 -9.15056300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09313336499997 meters Centerline goodness : 0.107637 Centerline is valid? [False, False] Translation: X:-2.40, Y:0.18, Z:-0.92 [[ 9.94745752e-01 6.26358454e-03 1.02184420e-01 -2.39539100e+00] [-6.30218237e-03 9.99980140e-01 5.48909180e-05 1.79872943e-01] [-1.02182047e-01 -6.98587358e-04 9.94765470e-01 -9.17715554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.123133365 meters Centerline goodness : 0.108167 Centerline is valid? [False, False] Translation: X:-2.39, Y:0.18, Z:-0.92 [[ 9.94785037e-01 6.32029368e-03 1.01797762e-01 -2.39196453e+00] [-6.34346606e-03 9.99979875e-01 -9.60862465e-05 1.81554684e-01] [-1.01796321e-01 -5.50165488e-04 9.94805110e-01 -9.20956803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.153133365 meters Centerline goodness : 0.108605 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.18, Z:-0.93 [[ 9.94891637e-01 7.17178460e-03 1.00693572e-01 -2.37969255e+00] [-7.23046646e-03 9.99973836e-01 2.17825823e-04 1.84542042e-01] [-1.00689375e-01 -9.44774583e-04 9.94917462e-01 -9.32336003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.183133365 meters Centerline goodness : 0.105956 Centerline is valid? [False, False] Translation: X:-2.38, Y:0.18, Z:-0.94 [[ 9.94903513e-01 7.24600894e-03 1.00570849e-01 -2.37682708e+00] [-7.31445306e-03 9.99973200e-01 3.11822819e-04 1.84456897e-01] [-1.00565894e-01 -1.04585437e-03 9.94929850e-01 -9.35183062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.213133365 meters Centerline goodness : 0.106152 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.18, Z:-0.94 [[ 9.94920637e-01 7.33105302e-03 1.00395132e-01 -2.37440459e+00] [-7.41279508e-03 9.99972428e-01 4.41175843e-04 1.83554619e-01] [-1.00389129e-01 -1.18314349e-03 9.94947548e-01 -9.37589351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.243133365 meters Centerline goodness : 0.102240 Centerline is valid? [False, False] Translation: X:-2.37, Y:0.18, Z:-0.95 [[ 9.94867041e-01 7.15816512e-03 1.00937261e-01 -2.36657013e+00] [-7.22685121e-03 9.99973836e-01 3.14831685e-04 1.82175608e-01] [-1.00932367e-01 -1.04267424e-03 9.94892743e-01 -9.47828583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.273133365 meters Centerline goodness : 0.103359 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.18, Z:-0.95 [[ 9.94880966e-01 7.29732311e-03 1.00789941e-01 -2.36413185e+00] [-7.38960275e-03 9.99972549e-01 5.42239925e-04 1.80753382e-01] [-1.00783217e-01 -1.28426180e-03 9.94907581e-01 -9.50136858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.303133365 meters Centerline goodness : 0.103701 Centerline is valid? [False, False] Translation: X:-2.36, Y:0.18, Z:-0.95 [[ 9.94895796e-01 7.43027417e-03 1.00633723e-01 -2.36149288e+00] [-7.53663758e-03 9.99971370e-01 6.76787094e-04 1.79597589e-01] [-1.00625813e-01 -1.43177253e-03 9.94923312e-01 -9.52696722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.333133365 meters Centerline goodness : 0.101668 Centerline is valid? [False, False] Translation: X:-2.35, Y:0.18, Z:-0.96 [[ 9.94936315e-01 8.91283604e-03 1.00111394e-01 -2.35098394e+00] [-9.13060532e-03 9.99956841e-01 1.71728149e-03 1.79834606e-01] [-1.00091767e-01 -2.62266334e-03 9.94974753e-01 -9.63056659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.363133365 meters Centerline goodness : 0.099657 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.18, Z:-0.97 [[ 0.99499055 0.01014627 0.09945281 -2.34417111] [-0.01046029 0.99994181 0.00263654 0.17994658] [-0.09942027 -0.00366364 0.99503879 -0.96902006] [ 0. 0. 0. 1. ]] SLAMing on 372.393133365 meters Centerline goodness : 0.097612 Centerline is valid? [False, False] Translation: X:-2.34, Y:0.18, Z:-0.98 [[ 0.99503869 0.01152206 0.09881928 -2.33714571] [-0.01194078 0.99992206 0.00364685 0.18070685] [-0.09876956 -0.00480873 0.99509871 -0.97536231] [ 0. 0. 0. 1. ]] SLAMing on 372.42313336499996 meters Centerline goodness : 0.095962 Centerline is valid? [False, False] Translation: X:-2.33, Y:0.18, Z:-0.98 [[ 0.99509525 0.01274155 0.09809743 -2.33022813] [-0.01324214 0.9999024 0.0044536 0.18148635] [-0.09803111 -0.00573077 0.99516685 -0.98123714] [ 0. 0. 0. 1. ]] SLAMing on 372.453133365 meters Centerline goodness : 0.097268 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.18, Z:-0.99 [[ 0.99515958 0.01375118 0.09730524 -2.32349744] [-0.01431128 0.99988478 0.00506051 0.1818346 ] [-0.09722444 -0.00642858 0.99524172 -0.98668258] [ 0. 0. 0. 1. ]] SLAMing on 372.48313336499996 meters Centerline goodness : 0.096963 Centerline is valid? [False, False] Translation: X:-2.32, Y:0.18, Z:-0.99 [[ 0.99521161 0.01412433 0.09671792 -2.31884945] [-0.01468816 0.99987901 0.00512013 0.18265204] [-0.0966339 -0.00651622 0.99529866 -0.99037237] [ 0. 0. 0. 1. ]] SLAMing on 372.513133365 meters Centerline goodness : 0.095695 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.18, Z:-1.00 [[ 0.99525568 0.01393256 0.09629132 -2.30960462] [-0.01444117 0.9998852 0.00458711 0.18499302] [-0.09621635 -0.00595591 0.99534262 -0.99935276] [ 0. 0. 0. 1. ]] SLAMing on 372.54313336499996 meters Centerline goodness : 0.093268 Centerline is valid? [False, False] Translation: X:-2.31, Y:0.19, Z:-1.00 [[ 0.99526216 0.01384485 0.09623692 -2.30733824] [-0.01435136 0.99988656 0.00457297 0.18532312] [-0.09616269 -0.00593244 0.99534795 -1.00131911] [ 0. 0. 0. 1. ]] SLAMing on 372.573133365 meters Centerline goodness : 0.094193 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.19, Z:-1.00 [[ 0.99529499 0.01367298 0.09592145 -2.30447502] [-0.01417794 0.99988898 0.00458475 0.18540977] [-0.09584811 -0.00592315 0.99537835 -1.00312154] [ 0. 0. 0. 1. ]] SLAMing on 372.60313336499996 meters Centerline goodness : 0.094193 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.19, Z:-1.00 [[ 0.99529499 0.01367298 0.09592145 -2.30447502] [-0.01417794 0.99988898 0.00458475 0.18540977] [-0.09584811 -0.00592315 0.99537835 -1.00312154] [ 0. 0. 0. 1. ]] SLAMing on 372.633133365 meters Centerline goodness : 0.092560 Centerline is valid? [False, False] Translation: X:-2.30, Y:0.18, Z:-1.01 [[ 0.99533222 0.01349411 0.09555987 -2.30120978] [-0.0140091 0.99989073 0.00472032 0.18451349] [-0.09548574 -0.00603699 0.99541249 -1.00503196] [ 0. 0. 0. 1. ]] SLAMing on 372.66313336499996 meters Centerline goodness : 0.092239 Centerline is valid? [False, False] Translation: X:-2.28, Y:0.18, Z:-1.01 [[ 0.99573954 0.00729464 0.09192143 -2.27699716] [-0.00780669 0.99995594 0.00521217 0.18451727] [-0.09187936 -0.00590757 0.99575262 -1.00589141] [ 0. 0. 0. 1. ]] SLAMing on 372.693133365 meters Centerline goodness : 0.404808 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.18, Z:-1.01 [[ 0.99578971 0.00711379 0.0913906 -2.27262326] [-0.00763621 0.99995644 0.00536792 0.18329825] [-0.09134843 -0.0060432 0.99580065 -1.00854003] [ 0. 0. 0. 1. ]] SLAMing on 372.72313336499997 meters Centerline goodness : 0.090257 Centerline is valid? [False, False] Translation: X:-2.27, Y:0.18, Z:-1.01 [[ 0.99583983 0.0070535 0.09084758 -2.26862758] [-0.00759501 0.99995539 0.00561631 0.18150872] [-0.09080391 -0.00628294 0.99584897 -1.01094082] [ 0. 0. 0. 1. ]] SLAMing on 372.753133365 meters Centerline goodness : 0.089289 Centerline is valid? [False, False] Translation: X:-2.26, Y:0.18, Z:-1.01 [[ 0.9958873 0.00712887 0.09031975 -2.26457359] [-0.00769775 0.99995266 0.00595176 0.17919013] [-0.09027304 -0.00662254 0.99589503 -1.01352539] [ 0. 0. 0. 1. ]] SLAMing on 372.78313336499997 meters Centerline goodness : 0.090306 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.18, Z:-1.02 [[ 0.9959852 0.00666921 0.0892693 -2.25206556] [-0.00721293 0.99995734 0.00576958 0.17788684] [-0.08922701 -0.00639031 0.99599082 -1.02338623] [ 0. 0. 0. 1. ]] SLAMing on 372.813133365 meters Centerline goodness : 0.089350 Centerline is valid? [False, False] Translation: X:-2.25, Y:0.18, Z:-1.03 [[ 0.99603772 0.00709457 0.08864833 -2.24693024] [-0.00766984 0.99995167 0.00615034 0.17708254] [-0.08860042 -0.00680589 0.996044 -1.02731757] [ 0. 0. 0. 1. ]] SLAMing on 372.84313336499997 meters Centerline goodness : 0.093730 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.18, Z:-1.03 [[ 0.99609054 0.00752295 0.08801724 -2.24198158] [-0.00812114 0.99994628 0.00644015 0.1770489 ] [-0.08796407 -0.00712977 0.99609813 -1.03098371] [ 0. 0. 0. 1. ]] SLAMing on 372.873133365 meters Centerline goodness : 0.411805 Centerline is valid? [False, False] Translation: X:-2.24, Y:0.18, Z:-1.03 [[ 0.99612575 0.00811282 0.08756526 -2.23674087] [-0.00873929 0.99993887 0.0067733 0.1772076 ] [-0.08750495 -0.00751232 0.99613576 -1.03492654] [ 0. 0. 0. 1. ]] Total time of SLAM: 37075.57 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%| | 0/11228 [00:00